Vehicle control method and device, vehicle and computer readable storage medium

Abstract

The invention discloses a vehicle control method and device, a vehicle and a storage medium, and the method comprises the steps that in response to an out-of-trap mode of the vehicle, a circulation process is executed till the vehicle can be out of trap, and the circulation process comprises the steps that first target driving force is output to the vehicle so that a target monitoring part can move in the first direction, the first direction is the height direction of the vehicle, and the target monitoring part is one of the head part and the tail part of the vehicle; acquiring the movement speed of the target monitoring part in the first direction; if the movement speed of the target monitoring part in the first direction is equal to a first preset escape speed, the target monitoring part is controlled to move to a second preset escape speed in a second direction, and the second direction is opposite to the first direction. By means of the technical scheme, when the vehicle is trapped, the escape capacity of the vehicle can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and in particular to a vehicle control method, a vehicle control device, a vehicle and a computer-readable storage medium. Background Art

[0002] In the daily driving process of the vehicle, if the wheel is stuck or the wheel slips, it is generally difficult for the vehicle to get out of the trap. Therefore, in this situation, it will cause great trouble to the driver and passengers, thus affecting the driving experience, and there may be safety hazards if the operation is not done properly. Summary of the invention

[0004] In view of the above problems, the present application provides a vehicle control method, device, vehicle and computer-readable storage medium, which can increase the vehicle's ability to escape when the vehicle is trapped.

[0005] According to one aspect of an embodiment of the present application, a vehicle control method is provided, the method comprising: in response to a vehicle escape mode, executing a cyclic process until the vehicle can escape, the cyclic process comprising: outputting a first target driving force to the vehicle so that a target monitoring unit can move in a first direction, the first direction being a height direction of the vehicle, the target monitoring unit being one of the front and rear parts of the vehicle; obtaining a movement speed of the target monitoring unit in the first direction; if the movement speed of the target monitoring unit in the first direction is equal to a first preset escape speed, controlling the target monitoring unit to move in a second direction to a second preset escape speed, the second direction being opposite to the first direction.

[0006] In an optional manner, the method for controlling the target monitoring unit to move in a second direction to a second preset escape speed includes: outputting a second target driving force to the vehicle to cause the target monitoring unit to accelerate in the second direction, the direction of the second target driving force being opposite to the direction of the first target driving force; obtaining the movement speed of the target monitoring unit in the second direction; if the movement speed of the target monitoring unit in the second direction is equal to a speed threshold, stopping outputting driving force to the vehicle to cause the target escape unit to decelerate and move to the second preset escape speed; wherein, along the height direction of the vehicle: the first direction is the direction of the vehicle toward the sky, and the second direction is the direction of the vehicle toward the ground.

[0007] In an optional embodiment, the vehicle includes front wheels connected to the front of the vehicle and rear wheels connected to the rear of the vehicle, and the method further includes: obtaining an escape direction of the vehicle; outputting a first target driving force to the vehicle based on the escape direction; wherein the escape direction is the same as the driving direction of the vehicle.

[0008] In an optional manner, if the vehicle can be displaced in the escape direction, the vehicle is controlled to be displaced at a first preset displacement speed; if the vehicle can be displaced in a direction opposite to the escape direction, the vehicle is controlled to be displaced at a second preset displacement speed; wherein the first preset displacement speed is greater than the second preset displacement speed, and both the first preset displacement speed and the second preset escape speed are greater than the first preset escape speed and the second preset escape speed.

[0009] In an optional embodiment, the method further includes: obtaining the number of times the target monitoring unit moves to a speed equal to the first preset escape speed; if the number of movements is greater than a threshold number, obtaining the maximum movement value of the vehicle each time the target monitoring unit moves toward the sky direction to a speed equal to the first preset escape speed, so as to obtain corresponding multiple movement reference values; determining the movement change information of the vehicle based on the size relationship of the multiple movement reference values; if the movement change information does not meet the preset movement change information, adjusting the wheel direction of the vehicle.

[0010] In an optional embodiment, the method of controlling the target monitoring unit to move in a second direction to a second preset escape speed includes: controlling the target monitoring unit to freely fall in the second direction to a speed equal to the second preset escape speed; wherein, along the height direction of the vehicle: the first direction is the direction of the vehicle toward the sky, and the second direction is the direction of the vehicle toward the ground.

[0011] In an optional manner, the method further includes: if the movement speed of the target escape part is equal to the first preset escape speed; and\or, if the movement speed of the target escape part is equal to the second preset escape speed, controlling the vehicle's on-board terminal to generate a reminder message; wherein the reminder information includes one or more of animation information, voice information and vibration information.

[0012] According to another aspect of an embodiment of the present application, a control device for a vehicle is provided, the device comprising: a circulation module, in response to a vehicle escape mode, executing a circulation process until the vehicle can escape, the circulation process comprising: a power output module, outputting a first target driving force to the vehicle so that a target monitoring part can move in a first direction, the first direction being a height direction of the vehicle, the target monitoring part being one of a front part and a rear part of the vehicle;

[0013] An acquisition module is provided to acquire the movement speed of the target monitoring unit in the first direction; a control module is provided to control the target monitoring unit to move in a second direction to a second preset escape speed if the movement speed of the target monitoring unit in the first direction is equal to a first preset escape speed, and the second direction is opposite to the first direction.

[0014] According to another aspect of an embodiment of the present application, a vehicle is provided, characterized in that it includes: a controller; and a memory for storing one or more programs, which, when the one or more programs are executed by the controller, enables the controller to implement the above-mentioned vehicle control method.

[0015] According to another aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program includes at least one executable instruction, and when the executable instruction is run on a control device of a vehicle / vehicle, the control device of the vehicle / vehicle performs the operation of the above-mentioned vehicle control method.

[0016] In an embodiment of the present application, when the vehicle is trapped, a first target driving force can be output to the vehicle along the wheelbase direction of the vehicle, so that the target monitoring part of the vehicle (one of the front and rear parts) will move in the first direction under the action of the first target driving force to a speed equal to the first preset escape speed, and then the target monitoring part is controlled to move in the second direction (the first direction and the second direction are two opposite directions in the height direction of the vehicle) to the second preset escape speed. In this process, the posture of the vehicle under the action of the first target driving force will be presented as: the front part of the vehicle tilts up and the rear part of the vehicle sinks down - the front part of the vehicle nods and the rear part of the vehicle lifts up; or, the front part of the vehicle nods and the rear part of the vehicle lifts up - the front part of the vehicle tilts up and the rear part of the vehicle sinks down, so that the vehicle moves out of trouble like a "swing", thereby increasing the vehicle's ability to escape.

[0017] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present application. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0019] Figure 1 The figure shows the movement direction of the front and rear ends of the vehicle provided by the embodiment of the present application when the vehicle accelerates backward after being trapped.

[0020] Figure 2The moving directions of the front and rear ends of the vehicle provided by the embodiment of the present application when the vehicle accelerates forward after being trapped are shown.

[0021] Figure 3 A schematic block diagram of the process of steps S210-S230 of a vehicle control method provided in an embodiment of the present application is shown.

[0022] Figure 4 A schematic block diagram of the process of steps S211-S213 of a vehicle control method provided in an embodiment of the present application is shown.

[0023] Figure 5 A schematic block diagram of the process of steps S231 - S233 of a vehicle control method provided in an embodiment of the present application is shown.

[0024] Figure 6 A schematic block diagram of the process of steps S240 - S270 of a vehicle control method provided in an embodiment of the present application is shown.

[0025] Figure 7 A schematic diagram showing the movement modes of the front and rear of a vehicle corresponding to different power output directions in a vehicle control method provided in an embodiment of the present application.

[0026] Figure 8 A schematic structural diagram of a vehicle control device provided in the present application is shown.

[0027] Fig. 9 A schematic structural diagram of an embodiment of the vehicle of the present application is shown. DETAILED DESCRIPTION

[0028] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0029] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0030] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0031] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0032] First, when the vehicle is stationary on the ground, the force points of the vehicle are at the contact points between each wheel and the ground. When the front of the vehicle is pressed down, since the vehicle itself is a large elastic object, a torque will be generated compared to the center of gravity of the vehicle, which will cause the rear of the vehicle to lift. At this time, the pressure of the front wheels on the ground is greater than when the vehicle is stationary, which can make the friction between the front wheels and the ground greater than when the vehicle is stationary, so that the front wheels have better grip; while the pressure of the rear wheels on the ground is smaller, the smaller the pressure, the smaller the resistance of the rear wheels, and the easier it is to turn, which can ultimately make it easier to get out of trouble when the rear wheels are trapped or the wheels slip.

[0033] Similarly, when the rear of the vehicle is pressed down, the vehicle itself is a large elastic object, which will also generate a torque compared to the center of gravity of the vehicle, which will cause the front of the vehicle to tilt. At this time, the pressure of the rear wheels on the ground is greater than when the vehicle is stationary, which can make the friction between the rear wheels and the ground greater than when the vehicle is stationary, so that the rear wheels have better grip; while the pressure of the front wheels on the ground is smaller, the smaller the pressure, the smaller the resistance of the front wheels, and the easier it is to turn, which can eventually make it easier to get out of trouble when the front wheels are stuck or the wheels slip.

[0034] Based on the above principle, although the adjustable suspension (such as air adjustable suspension, hydraulic adjustable suspension, electromagnetic adjustable suspension, etc.) can be used to regularly adjust the height of the suspension when the vehicle's wheels are trapped or slipping, so that the vehicle can shake up and down, thereby increasing or decreasing the pressure of the wheels on the road surface, thereby changing the friction between the wheels and the ground, and improving the grip to get the vehicle out of trouble. However, the adjustable suspension is generally more expensive, which in turn leads to a higher cost for realizing the vehicle's escape function.

[0035] Based on this, combined Figures 1 to 9 As shown, the embodiments of the present application respectively provide a vehicle control method, a vehicle control device 300, a vehicle, a computer-readable storage medium, and a computer program product to solve the above problems. These embodiments will be described in detail below.

[0036] In an exemplary embodiment of the present application, Figure 3 The schematic flow chart of steps S210-S230 of a vehicle control method provided by an embodiment of the present application is shown, and the method is executed by a vehicle terminal. Figure 1 As shown, the method includes: after the user triggers the escape mode or the vehicle automatically recognizes that it is trapped (for example, the wheel is trapped or the wheel slips), the vehicle terminal responds to the escape mode of the vehicle and executes a loop process until the vehicle can escape. The loop process includes steps S210 to S230, which are described in detail as follows:

[0037] Step S210: Output a first target driving force to the vehicle so that the target monitoring part can move in a first direction, the first direction is the height direction of the vehicle, and the target monitoring part is one of the front part and the rear part of the vehicle. The width direction of the vehicle is the wheelbase direction of the vehicle, and the length direction of the vehicle is the wheelbase direction of the vehicle.

[0038] In an exemplary embodiment of the present application, the direction of the first target driving force includes forward driving force and backward driving force. When the vehicle is a front-wheel drive vehicle, the forward driving force or the backward driving force is output to the front wheels of the vehicle; when the vehicle is a rear-wheel drive vehicle, the forward driving force or the backward driving force is output to the rear wheels of the vehicle; and when the vehicle is a four-wheel drive vehicle, the forward driving force or the backward driving force can be output to the rear wheels and the front wheels of the vehicle at the same time. Therefore, when outputting the forward driving force or the backward driving force to the vehicle, it is not necessary to consider whether the vehicle is a front-wheel drive vehicle or a rear-wheel drive vehicle.

[0039] Figure 1 The figure shows the movement direction of the front and rear of the vehicle provided by the embodiment of the present application when the vehicle accelerates backward after being trapped. Figure 1 As shown, when the target monitoring part is the front part of the vehicle, if the target escape part is the front wheel, and the rear driving force is output to the vehicle. Since the front wheel is trapped or slipping, the front part of the vehicle will move toward the ground under the action of the torque, with the center of gravity of the vehicle as the rotation center, and the rear part of the vehicle will move toward the sky under the action of the torque, with the center of gravity of the vehicle as the rotation center. At this time, along the height direction of the vehicle: the first direction is the direction of the vehicle toward the ground.

[0040] Figure 2 The figure shows the movement direction of the front and rear of the vehicle provided by the embodiment of the present application when the vehicle accelerates forward after being trapped. Figure 2As shown, when the target monitoring part is the front part of the vehicle, if the target escape part is the front wheel, and the forward driving force is output to the vehicle, because the front wheel is trapped or slipping, the front part of the vehicle will move toward the sky under the action of the moment with the center of gravity of the vehicle as the rotation center, and the rear part of the vehicle will move toward the ground under the action of the moment with the center of gravity of the vehicle as the rotation center. At this time, along the height direction of the vehicle: the first direction is the direction of the vehicle toward the sky.

[0041] Step S220: Obtain the movement speed of the target monitoring unit in the first direction.

[0042] In an exemplary embodiment of the present application, an acceleration sensor can be installed at the center of gravity of the vehicle body, which mainly reflects the overall horizontal movement trend of the vehicle body; and a speed sensor can be installed at the front and rear of the vehicle body, which mainly reflects the vertical movement speed direction of the front of the vehicle relative to the front wheel axis, and the vertical movement speed direction of the rear of the vehicle relative to the rear wheel axis, so that the movement speed of the target monitoring part in the first direction can be obtained.

[0043] In an exemplary embodiment of the present application, when the first direction is the direction of the vehicle toward the sky, obtaining the movement speed of the target monitoring unit toward the first direction may refer to: the speed at which the target monitoring unit tilts its head or tail.

[0044] For example, the target monitoring part is the front of the vehicle. After the first target driving force (for example, forward driving force) is output to the vehicle, the front of the vehicle will be lifted (tilted) or lowered (nodded) relative to the wheel or the ground due to the influence of the torque. At this time, the speed at which the front of the vehicle is lifted or lowered toward the wheel or the ground can be obtained as the movement speed of the target monitoring part in the first direction.

[0045] Step S230: If the moving speed of the target monitoring unit in the first direction is equal to the first preset escape speed, the target monitoring unit is controlled to move in the second direction to the second preset escape speed, wherein the second direction is opposite to the first direction.

[0046] In an exemplary embodiment of the present application, the target monitoring part is the front of the vehicle, and the first preset escape speed and the second preset escape speed can be set by the driver and the passenger. In order to make it easier for the vehicle to escape, the first preset escape speed and the second preset escape speed can both be set to 0.

[0047] For example, when the first preset escape speed and the second preset escape speed can both be set to be equal to 0, if the target monitoring part is the front of the vehicle, and the first target driving force output to the vehicle is the forward driving force, then the movement speed of the front of the vehicle changes as follows: the front of the vehicle first accelerates to the maximum speed in the first direction (for example, along the height direction of the vehicle: the first direction is the direction of the vehicle toward the sky), and then starts to decelerate until the speed of the front of the vehicle in the first direction is equal to 0. At this time, the tilting degree of the front of the vehicle in the first direction reaches the maximum, the friction between the rear wheels and the ground reaches the maximum, and the pressure of the front wheels relative to the ground reaches the minimum, so it is easier to escape.

[0048] Of course, in other embodiments, the first preset escape speed and the second preset escape speed can also be other speed values ​​other than 0, which can be specifically determined according to the height to which the front of the vehicle needs to be lifted and the height to which the front of the vehicle needs to nod when the wheels are unstuck, as long as the front of the vehicle can lift and nod and the rear of the vehicle can lift and sink the tail.

[0049] In this application, Figure 7 A schematic diagram showing the movement modes of the front and rear of a vehicle corresponding to different power output directions in a vehicle control method provided by an embodiment of the present application. Figure 1 , Figure 2 and Figure 7 As shown, after the vehicle is trapped, by outputting the first target driving force (for example, forward driving force) to the vehicle, because the vehicle is trapped, after the vehicle is affected by the torque, the target monitoring part (for example, the head of the vehicle) will move in the first direction (along the height direction of the vehicle: the first direction is the direction of the vehicle toward the sky) to gradually reduce the friction with the ground, and the rear part of the vehicle will move in the second direction (along the height direction of the vehicle: the first direction is the direction of the vehicle toward the ground) to gradually increase the friction with the ground. In this process, the probability of the vehicle moving forward to escape can be increased.

[0050] If the vehicle has not escaped after the speed of the front of the vehicle toward the sky is equal to the first preset escape speed, the front of the vehicle is controlled to move toward the ground to gradually increase the friction with the ground, and the rear of the vehicle moves toward the sky to gradually reduce the friction with the ground. In this process, the probability of the vehicle escaping backwards can also be increased. At the same time, since the vehicle itself is a large elastic body, it is also convenient for the front of the vehicle to move higher toward the sky next time, so as to increase the probability of the vehicle moving farther.

[0051] If the vehicle has not escaped after the moving speed of the vehicle head toward the ground is equal to the second preset escape speed, the above process is repeated so that the vehicle can escape by moving like a "swing".

[0052] In an exemplary embodiment of the present application, when the first target driving force is the forward driving force and the target monitoring unit is the front part of the vehicle, along the height direction of the vehicle: the first direction is the direction of the vehicle toward the sky, and the second direction is the direction of the vehicle toward the ground; when the first target driving force is the forward driving force and the target monitoring unit is the rear part of the vehicle, along the height direction of the vehicle: the first direction is the direction of the vehicle toward the ground, and the second direction is the direction of the vehicle toward the sky; when the first target driving force is the backward driving force and the target monitoring unit is the front part of the vehicle, along the height direction of the vehicle: the first direction is the direction of the vehicle toward the ground, and the second direction is the direction of the vehicle toward the sky; when the first target driving force is the backward driving force and the target monitoring unit is the rear part of the vehicle, along the height direction of the vehicle: the first direction is the direction of the vehicle toward the sky, and the second direction is the direction of the vehicle toward the ground. Among them, no matter the first target driving force is the forward driving force or the backward driving force, and the target monitoring part is the rear part or the front part of the vehicle, it follows the principle that after the vehicle is affected by the torque, the friction between the rear part and the front part of the vehicle and the ground increases, while the pressure and friction between the other part and the ground decreases. The principle of getting the vehicle out of trouble is the same and will not be repeated here.

[0053] In addition, for ease of understanding, the following description is based on the target monitoring part being the front of the vehicle. The principle of the target monitoring part being the rear of the vehicle is almost the same as the principle of the target monitoring part being the front of the vehicle, and will not be repeated here.

[0054] In an exemplary embodiment of the present application, Figure 4 A schematic flow chart of steps S211-S213 of a vehicle control method provided in an embodiment of the present application is shown, combined with Figure 4 As shown, outputting the first target driving force to the vehicle so that the target monitoring unit can move in the first direction includes steps S211 to S213, which are described in detail as follows:

[0055] Step S211: Acquire a target trapped part, wherein the target trapped part includes at least one of the front wheel and the rear wheel.

[0056] In an exemplary embodiment of the present application, the target trapped part can be determined by acquiring the movement information of the vehicle and the image information of each wheel and the ground features around the wheel.

[0057] For example, when it is determined based on the vehicle's motion information that the vehicle cannot move forward or backward, the camera can be used to collect image information of each wheel of the vehicle and the ground features around the wheels, and then analyze whether the target trapped part is the front wheel or the rear wheel.

[0058] Step S212: Determine the direction of escape of the vehicle based on the target trapped location.

[0059] In an exemplary embodiment of the present application, if the target trapped part is the front wheel, the escape direction of the vehicle can be determined as forward escape; if the target trapped part is the rear wheel, the escape direction of the vehicle can be determined as forward escape.

[0060] Of course, in other embodiments, affected by the ground features around the vehicle, if the target trapped part is the front wheel, the vehicle's escape direction can also be determined as backward and forward; if the target trapped part is the rear wheel, the vehicle's escape direction can also be determined as backward.

[0061] In another exemplary embodiment of the present application, the escape direction of the vehicle can be directly obtained by directly inputting the escape direction by the driver and passenger, so as to facilitate the driver and passenger to escape according to actual needs.

[0062] Step S213: outputting a first target driving force to the vehicle based on the escape direction; the escape direction is the same as the driving direction of the vehicle. When the escape direction is the same as the driving direction of the vehicle, it is easier to get the vehicle out of trouble from the escape direction.

[0063] For example, if the target trapped part is the front wheel, and the escape direction is forward. Then, to make it easier for the front wheel to escape forward, generally speaking, the front of the car should be lifted up as much as possible to reduce the friction between the front wheel and the ground, so that the front wheel will not be trapped deeper, and it will be easier to escape. If the target trapped part is the rear wheel, and the escape direction is backward. Then, to make it easier for the rear wheel to escape backward, generally speaking, the rear of the car should be lifted up as much as possible to reduce the friction between the rear wheel and the ground, so that the rear wheel will not be trapped deeper, and it will be easier to escape.

[0064] In an exemplary embodiment of the present application, the target monitoring part is the front of the vehicle, along the height direction of the vehicle: the first direction is the direction of the vehicle toward the sky, and the second direction is the direction of the vehicle toward the ground; the step method of controlling the target monitoring part to move toward the second direction to a second preset escape speed includes: if the movement speed of the target monitoring part toward the sky is equal to the first preset escape speed, then controlling the target monitoring part to freely fall toward the ground to a speed equal to the second preset escape speed (i.e., corresponding to the second preset escape speed). Figure 7 (The power output direction in the table is “None”).

[0065] For example, along the height direction of the vehicle: when the front of the vehicle accelerates toward the sky and then decelerates to the first preset escape speed, the vehicle is still not out of trouble. At this time, the front of the vehicle can be made to freely fall toward the ground to a speed equal to the second preset escape speed, so that the rear of the vehicle moves toward the sky, and the movement posture of the vehicle is like the posture of a swing. In this process, there is a certain probability that the vehicle will be out of trouble from the rear. Even if the vehicle has not been out of trouble, because the vehicle itself is an elastic body, when the front of the vehicle moves toward the ground, it can be understood that the vehicle enters an elastic compression state, which makes it easier for the front of the vehicle to move higher the next time it moves toward the sky, so that the pressure of the front of the vehicle on the ground is smaller, and the friction of the rear of the vehicle on the ground is greater, which can eventually make the displacement of the vehicle greater and increase the probability of the vehicle being out of trouble.

[0066] In an exemplary embodiment of the present application, when the vehicle supports power direction switching (corresponding to Figure 7 In the table, whether the power direction switching is supported is "yes" and the target monitoring part is the front of the vehicle, along the height direction of the vehicle: the first direction is the direction of the vehicle toward the sky, and the second direction is the direction of the vehicle toward the ground, the method for controlling the target monitoring part to move toward the second direction to the second preset escape speed includes steps S231 to S233, which are described in detail as follows:

[0067] Step S231: outputting a second target driving force to the vehicle so that the target monitoring unit accelerates in a second direction, wherein the direction of the second target driving force is opposite to the direction of the first target driving force.

[0068] For example, the first target driving force is, for example, a forward driving force, and the second target driving force is, for example, a backward driving force.

[0069] In an exemplary embodiment of the present application, after the movement speed of the front of the vehicle toward the sky is equal to the first preset escape speed, a second target driving force can be applied when the front of the vehicle falls back toward the ground to accelerate the nodding of the front of the vehicle, and then according to the "swinging" phenomenon, the front of the vehicle can be tilted higher toward the sky next time, the vehicle is displaced farther, and it is easier to escape.

[0070] Step S232: Acquire the movement speed of the target monitoring unit in the second direction, so as to stop outputting the second target driving force at an appropriate speed.

[0071] Step S233: If the moving speed of the target monitoring unit in the second direction is equal to the speed threshold, the output of driving force to the vehicle is stopped to decelerate the target escape unit to a second preset escape speed.

[0072] For example, along the height direction of the vehicle: the speed threshold is the maximum speed value of the vehicle head moving toward the ground, which can be the instantaneous speed when the wheels touch the ground, or the instantaneous speed when the vehicle head starts to elastically compress toward the ground.

[0073] In an exemplary embodiment of the present application, by first providing a second target driving force while the front of the vehicle is falling back toward the ground, so that the front of the vehicle can accelerate its fall, and then according to the "swinging" phenomenon, the front of the vehicle can move higher toward the sky next time, the vehicle is displaced farther, and it is easier to get out of trouble; and when the front of the vehicle accelerates back to the maximum speed, the second target driving force is suspended, and the front of the vehicle nods by relying on inertia, which can reduce the excessive backward range of the vehicle and make it easier to get out of trouble from the front.

[0074] In an exemplary embodiment of the present application, the loop process further includes steps S240 to S270, which are described in detail as follows:

[0075] Step S240: Obtain the number of times the target monitoring unit moves to a speed equal to the first preset escape speed.

[0076] Step S250: If the number of movements is greater than the number threshold, the maximum movement value of the vehicle is obtained each time the target monitoring unit moves toward the sky to a speed equal to the first preset escape speed, so as to obtain corresponding multiple movement reference values.

[0077] For example, the number threshold can be set according to the needs of the driver and passengers, but it needs to be greater than 0.

[0078] In an exemplary embodiment of the present application, the maximum movement value is the maximum distance the vehicle moves in the direction of escape; or the maximum movement distance of the front or rear of the vehicle in the direction toward the sky.

[0079] Step S260: Determine the movement change information of the vehicle based on the magnitude relationship of the multiple movement reference values.

[0080] In an exemplary embodiment of the present application, if it is determined based on the size relationship of multiple movement reference values ​​that each movement reference value is equal, the movement change information of the vehicle is determined to be that the maximum movement value of the vehicle has not changed. If it is determined based on the size relationship of multiple movement reference values ​​that each movement reference value is unequal, the movement change information of the vehicle is determined to be that the maximum movement value of the vehicle has changed.

[0081] Step S270: If the movement change information does not meet the preset movement change information, the wheel direction of the vehicle is adjusted.

[0082] In an exemplary embodiment of the present application, if the preset movement change information is that the maximum movement value of the vehicle has changed. Therefore, when the movement change information is that the maximum movement value of the vehicle has not changed, it is determined that the movement change information does not meet the preset movement change information, and then the wheel direction of the vehicle needs to be adjusted to change the trajectory of the vehicle during movement, thereby increasing the probability of escaping. If the movement change information meets the preset movement change information, the wheel direction of the vehicle is not adjusted.

[0083] In an exemplary embodiment of the present application, in order to facilitate the driver and passengers to control the power output by themselves, the vehicle control method further includes: if the movement speed of the target escape part is equal to the first preset escape speed, then the vehicle's on-board terminal is controlled to generate a reminder message to remind the driver when to step on the accelerator and when to release the accelerator, so as to facilitate the vehicle to shake out of the jam. And, if the movement speed of the target escape part is equal to the second preset escape speed, then the vehicle's on-board terminal is controlled to generate a reminder message to remind the driver when to step on the accelerator and when to release the accelerator, so as to facilitate the vehicle to shake out of the jam; wherein the reminder message includes one or more of animation information, voice information and vibration information.

[0084] In an exemplary embodiment of the present application, in order to prevent the vehicle from rushing out after escaping from the trapped state, if the vehicle can be displaced in the escape direction, the vehicle is controlled to be displaced at a first preset displacement speed, and if the vehicle can be displaced in the direction opposite to the escape direction, the vehicle is controlled to be displaced at a second preset displacement speed. The first preset displacement speed is greater than the second preset displacement speed, and both the first preset displacement speed and the second preset displacement speed are greater than the first preset escape speed and the second preset escape speed.

[0085] For example, the first preset displacement speed is 10 km / h, and the second preset displacement speed is 5 km / h.

[0086] In this application, combined Figure 1 , Figure 2 and Figure 7As shown, after the user triggers the escape mode or the vehicle automatically identifies that it is trapped (for example, the wheel is trapped or the wheel is slipping), the vehicle-mounted terminal responds to the escape mode of the vehicle and obtains the target trapped part. If the target trapped part is the front wheel, it can be determined that the escape direction of the vehicle is forward escape. Then, according to the escape direction, the first target driving force (forward driving force) is output to the vehicle, so that the target monitoring part of the vehicle (for example, the head of the vehicle) first accelerates and tilts its head toward the sky, and then decelerates and tilts its head to the first preset escape speed (for example, the first preset escape speed is 0). At this time, since the head of the vehicle has tilted its head to the highest point and the rear of the vehicle has sunk to the lowest point towards the ground, the friction between the head of the vehicle and the ground reaches the minimum, and the friction between the rear of the vehicle and the ground reaches the maximum. Therefore, in this process, the probability of the vehicle escaping forward is relatively large. If the vehicle is still not out of trouble after the above scenario, then the front of the vehicle is controlled to nod toward the ground to the second preset escape speed (for example, the second preset escape speed is 0), and the rear of the vehicle is lifted toward the sky. At this time, the friction between the front of the vehicle and the ground reaches the maximum, while the friction between the rear of the vehicle and the ground reaches the minimum, thereby facilitating the vehicle to escape backwards, and also allowing the front of the vehicle to move farther toward the sky next time. If the vehicle is still not out of trouble after the front of the vehicle lifts its head to the first preset escape speed and nods to the second preset escape speed once, the process of lifting the front of the vehicle to the first preset escape speed and nodding to the second preset escape speed is repeated until the vehicle is out of trouble.

[0087] If the target trapped part is the rear wheel, it can be determined that the direction of the vehicle's escape is backward escape. Then, according to the escape direction, the first target driving force (backward driving force) is output to the vehicle, so that the target monitoring part of the vehicle (for example, the head of the vehicle) first accelerates and nods toward the sky, and then decelerates and nods to the first preset escape speed (for example, the first preset escape speed is 0). At this time, since the rear of the vehicle has been lifted to the highest, and the head of the vehicle has been nodded to the ground to the lowest, the friction between the rear of the vehicle and the ground reaches the minimum, and the friction between the head of the vehicle and the ground reaches the maximum. Therefore, in this process, the probability of the vehicle escaping backward is relatively large. If the vehicle is still not escaped under the aforementioned scenario, then the rear of the vehicle is controlled to sink to the second preset escape speed (for example, the second preset escape speed is 0) in the direction of the ground, and the head of the vehicle tilts toward the sky. At this time, the friction between the rear of the vehicle and the ground reaches the maximum, and the friction between the head of the vehicle and the ground reaches the minimum, so as to facilitate the vehicle to escape forward, and can also make the rear of the vehicle farther when it is lifted toward the sky next time. If the vehicle is still not out of trouble after the rear end of the vehicle in front has lifted its tail to the first preset escape speed and lowered its tail to the second preset escape speed once, the process of lifting the rear end of the vehicle to the first preset escape speed and lowering its tail to the second preset escape speed will be repeated until the vehicle is out of trouble.

[0088] In addition, if the vehicle still cannot escape after multiple cycles of the escape steps, the number of times the target monitoring unit moves to a speed equal to the first preset escape speed can be obtained, and when the number of movements is greater than the number threshold, the maximum movement value of the vehicle each time the target monitoring unit moves toward the sky to a speed equal to the first preset escape speed is obtained to obtain the corresponding multiple movement reference values, and then when the multiple movement reference values ​​are equal or have a small difference, the direction of the vehicle's wheels is adjusted to change the vehicle's movement trajectory, so as to further increase the chance of the vehicle escaping.

[0089] In summary, the vehicle control method of the present application can activate the escape mode with one click when the vehicle's wheels are stuck, and then increase the vehicle's escape ability by shaking the vehicle body (such as swinging on a swing). It is not only suitable for all vehicles, but also simple and convenient to operate. Moreover, due to the forward and backward speed limits, it is safer than manual operation.

[0090] Figure 8 FIG. 3 is a schematic diagram showing the structure of a vehicle control device 300 provided in an embodiment of the present application. Figure 8 As shown, in this embodiment, a vehicle control device 300 is also provided for executing the vehicle control method in the above embodiment.

[0091] The vehicle control device 300 includes a loop module 310, which executes a loop process in response to the vehicle's escape mode until the vehicle can escape, and the loop process includes:

[0092] The power output module 311 outputs a first target driving force to the vehicle along the wheelbase direction of the vehicle so that the target monitoring unit can move in a first direction, where the first direction is the height direction of the vehicle, and the target monitoring unit is one of the front and rear parts of the vehicle.

[0093] The acquisition module 312 acquires the movement speed of the target monitoring unit in the first direction.

[0094] The control module 313 controls the target monitoring unit to move in a second direction to a second preset escape speed if the moving speed of the target monitoring unit in the first direction is equal to the first preset escape speed, and the second direction is opposite to the first direction.

[0095] The vehicle control device 300 provided in the above embodiment and the vehicle control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs operations has been described in detail in the method embodiment and will not be repeated here.

[0096] Fig. 9A schematic diagram of the structure of an embodiment of the vehicle of the present application is shown, which shows a schematic diagram of the structure of a computer system of the vehicle suitable for implementing the embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the vehicle.

[0097] See also Fig. 9 As shown, the vehicle includes: a controller; a memory for storing one or more programs, and when the one or more programs are executed by the controller, the above-mentioned vehicle control method is executed.

[0098] Please continue reading Fig. 9 As shown, the computer system 500 of the vehicle includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 502 or the program loaded from the storage part 508 to the random access memory (RAM) 503, such as executing the method in the above embodiment. In RAM 503, various programs and data required for system operation are also stored. CPU 501, ROM 502 and RAM 503 are connected to each other through bus 504. Input / output (I / O) interface 505 is also connected to bus 504.

[0099] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed so that a computer program read therefrom is installed into the storage section 508 as needed.

[0100] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 509, and / or installed from a removable medium 511. When the computer program is executed by a central processing unit (CPU) 501, various functions defined in the system of the present application are executed.

[0101] Another aspect of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the vehicle control method described above is implemented. The computer-readable storage medium may be included in the vehicle described in the above embodiment, or may exist independently without being assembled into the vehicle.

[0102] Another aspect of the present application also provides a computer program product or a computer program, which includes at least one executable instruction, and when the executable instruction is run on the vehicle control device 300 / vehicle, the vehicle control device 300 / vehicle executes the above vehicle control method.

[0103] The computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as a part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0104] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0105] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0106] According to one aspect of an embodiment of the present application, a computer system is also provided, including a central processing unit (CPU), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage portion into a random access memory (RAM), such as executing the method in the above embodiment. In RAM, various programs and data required for system operation are also stored. CPU, ROM and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0107] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that the computer program read therefrom is installed into the storage part as needed.

[0108] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: In response to the vehicle's escape mode, a loop process is performed until the vehicle can escape, the loop process comprising: Outputting a first target driving force to the vehicle so that the target monitoring part can move in a first direction, wherein the first direction is a height direction of the vehicle, and the target monitoring part is one of a front part and a rear part of the vehicle; Acquire the movement speed of the target monitoring unit toward the first direction; If the moving speed of the target monitoring unit in the first direction is equal to the first preset escape speed, the target monitoring unit is controlled to move in a second direction to a second preset escape speed, and the second direction is opposite to the first direction.

2. The method according to claim 1, characterized in that The method of controlling the target monitoring unit to move in the second direction to a second preset escape speed includes: outputting a second target driving force to the vehicle so that the target monitoring unit accelerates in the second direction, wherein the direction of the second target driving force is opposite to the direction of the first target driving force; Acquire a moving speed of the target monitoring unit toward the second direction; If the moving speed of the target monitoring unit in the second direction is equal to the speed threshold, stopping the output of driving force to the vehicle to decelerate the target escape unit to the second preset escape speed; Among them, along the height direction of the vehicle: the first direction is the direction of the vehicle toward the sky, and the second direction is the direction of the vehicle toward the ground.

3. The method according to claim 1, characterized in that The method further comprises: Obtaining the number of times the target monitoring unit moves to a speed equal to the first preset escape speed; If the movement times are greater than the times threshold, the maximum movement value of the vehicle is obtained each time the target monitoring unit moves toward the sky direction to a speed equal to the first preset escape speed, so as to obtain a corresponding plurality of movement reference values; Determining movement change information of the vehicle based on a magnitude relationship of the plurality of movement reference values; If the movement change information does not meet the preset movement change information, the wheel direction of the vehicle is adjusted.

4. The method according to claim 1, characterized in that The vehicle includes a front wheel connected to the front portion of the vehicle and a rear wheel connected to the rear portion of the vehicle, and the method further includes: Obtaining the escape direction of the vehicle; A first target driving force is output to the vehicle based on the escape direction; wherein the escape direction is the same as the driving direction of the vehicle.

5. The method according to claim 4, characterized in that The method further comprises: If the vehicle can be displaced in the escape direction, controlling the vehicle to displace at a first preset displacement speed; If the vehicle can be displaced in a direction opposite to the escape direction, controlling the vehicle to displace at a second preset displacement speed; The first preset displacement speed is greater than the second preset displacement speed, and both the first preset displacement speed and the second preset displacement speed are greater than the first preset escape speed and the second preset escape speed.

6. The method according to claim 1, characterized in that The method of controlling the target monitoring unit to move in the second direction to a second preset escape speed includes: Controlling the target monitoring unit to freely fall in the second direction until the speed is equal to the second preset escape speed; Among them, along the height direction of the vehicle: the first direction is the direction of the vehicle toward the sky, and the second direction is the direction of the vehicle toward the ground.

7. The method according to claim 1, characterized in that The method further comprises: If the moving speed of the target escape unit is equal to the first preset escape speed; and\or, if the moving speed of the target escape unit is equal to the second preset escape speed, controlling the vehicle-mounted terminal of the vehicle to generate a reminder message; The reminder information includes one or more of animation information, voice information and vibration information.

8. A vehicle control device, characterized in that: The device comprises: A loop module, in response to a vehicle escape mode, executes a loop process until the vehicle can escape, the loop process comprising: a power output module, outputting a first target driving force to the vehicle so that a target monitoring part can move in a first direction, wherein the first direction is a height direction of the vehicle, and the target monitoring part is one of a front part and a rear part of the vehicle; An acquisition module, for acquiring a movement speed of the target monitoring unit in the first direction; The control module controls the target monitoring unit to move in a second direction to a second preset escape speed if the movement speed of the target monitoring unit in the first direction is equal to a first preset escape speed, wherein the second direction is opposite to the first direction.

9. A vehicle, characterized in that: include: Controller; A memory for storing one or more programs, which, when executed by the controller, enables the controller to implement the vehicle control method described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, which includes at least one executable instruction. When the executable instruction is run on the vehicle control device / vehicle, the vehicle control device / vehicle performs the operation of the vehicle control method as described in any one of claims 1 to 7.

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