Vehicle, control method and computer readable storage medium

Abstract

The invention provides a vehicle, a control method and a computer readable storage medium, the vehicle comprises a plurality of functional modules, and the plurality of functional modules are configured to operate according to corresponding preset operation parameters in response to an escape function starting instruction of the vehicle. Thus, in the embodiment of the invention, the user can trigger the escape function starting instruction to start the escape function of the vehicle to assist the user in implementing vehicle escape, so that when the vehicle is trapped and the user does not have rich vehicle escape experience and driving skills, the difficulty of implementing vehicle escape by the user is reduced, and the user experience is improved. And the driving experience of the user can be improved to a certain extent. Moreover, according to the vehicle provided by the embodiment of the invention, a plurality of function modules in the vehicle can be operated according to the preset operation parameters based on the escape function starting instruction, so that the escape function of the vehicle can be realized based on cooperative work of the plurality of function modules of the vehicle, and the reliability and the effective degree of the escape function can be guaranteed.

Description

Technical Field

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

[0002] During the driving process, one or more wheels may get stuck or slip due to road collapse or mud. At this time, if the driver lacks the corresponding escape experience and driving skills, the whole vehicle will be stuck and unable to move forward, affecting the user's vehicle driving experience. Summary of the invention

[0003] The present application provides a vehicle, a control method and a computer-readable storage medium.

[0004] The vehicle provided in the embodiment of the present application includes multiple functional modules, and the multiple functional modules are configured to operate with corresponding preset operating parameters in response to the vehicle's escape function start instruction.

[0005] In the vehicle provided in the embodiment of the present application, the multiple functional modules included in the vehicle can respond to the vehicle's escape function start instruction and operate with corresponding preset operating parameters. In this way, in the embodiment of the present application, the user can trigger the escape function start instruction to start the vehicle's escape function to assist the user in implementing the vehicle's escape, and then when the vehicle is trapped and the user does not have rich vehicle escape experience and driving skills, the difficulty of the user's vehicle escape is reduced, and the user's driving experience can be improved to a certain extent. In addition, the vehicle of the embodiment of the present application can be based on the escape function start instruction, so that the multiple functional modules in the vehicle will respectively operate with preset operating parameters, so that the vehicle's escape function can be realized based on the coordinated work of multiple functional modules of the vehicle, so that the reliability and effectiveness of the escape function can be guaranteed.

[0006] In certain embodiments of the present application, at least one of the plurality of functional modules is configured to operate according to data of at least one other functional module in response to the escape function start instruction.

[0007] Thus, in the embodiment of the present application, at least one functional module among the multiple functional modules can operate according to the data of at least one other functional module, so that the vehicle's escape function can be realized based on the coordinated operation of the multiple functional modules.

[0008] In certain embodiments of the present application, the functional module includes a first functional module, a second functional module and a third functional module, and the first functional module is configured to respond to the escape function start instruction and operate according to the first data of the second functional module and the second data of the third functional module.

[0009] Thus, in the implementation manner of the present application, the first functional module may be operated according to the acquired first data of the second functional module and the second data of the third functional module.

[0010] In certain embodiments of the present application, the first functional module is configured to control the output torque of the vehicle according to the first data and the second data in response to the escape function start instruction.

[0011] Thus, in certain embodiments of the present application, the first functional module may adjust the output torque of the vehicle according to the first data and the second data, so that the vehicle can escape from trouble based on the adjustment of the output torque.

[0012] In some embodiments of the present application, the first functional module is configured to adjust the vehicle motor according to a target motor operating parameter to control the output torque, and the target motor operating parameter is determined according to the first data and the second data.

[0013] Thus, in the embodiment of the present application, the first functional module can control the vehicle motor according to the target motor operating parameters determined by the first data and the second data, thereby completing the output torque adjustment of the vehicle.

[0014] In certain embodiments of the present application, the target motor operating parameter includes at least one of a target torque response speed, a target current front and rear axle torque distribution ratio, and a target throttle data.

[0015] Thus, in the embodiment of the present application, the first functional module can adjust the torque response speed of the vehicle motor, the front and rear axle torque distribution ratio, and at least one of the throttle data, thereby adjusting the torque output of the vehicle motor so that the vehicle can be reliably rescued.

[0016] In certain embodiments of the present application, the second functional module is configured to respond to the escape function start instruction and determine the current driving road surface data based on the current driving environment image information, and the first data includes the current driving road surface data.

[0017] Thus, in the implementation mode of the present application, the second functional module can determine the current driving road surface data according to the current driving environment image information, and then obtain the first data for transmission to the first functional module.

[0018] In certain embodiments of the present application, the third functional module is configured to determine wheel slip data in response to the escape function activation instruction, and the second data includes the wheel slip data.

[0019] Thus, in the embodiment of the present application, the third functional module can determine the vehicle slip data to obtain the second data.

[0020] In certain embodiments of the present application, the functional modules include a fourth functional module, and the fourth functional module is configured to control each of the functional modules to operate with corresponding preset operating parameters in response to the escape function start instruction.

[0021] Thus, in the embodiment of the present application, the fourth functional module can control each functional module in the vehicle to operate with corresponding preset operating parameters based on the triggering of the escape function start instruction.

[0022] In certain embodiments of the present application, the fourth functional module is configured to control each of the functional modules to operate with corresponding preset operating parameters when each functional module responds to the escape function start instruction to enter the preset working mode.

[0023] Thus, in the embodiment of the present application, the fourth functional module can control each functional module to operate with preset operating parameters when each functional module enters the preset working mode, thereby activating the vehicle's escape function.

[0024] In certain embodiments of the present application, the functional module includes a fifth functional module, which is configured to reduce the frequency of adjusting the output torque of the vehicle in response to the escape function start instruction, and the fifth functional module is capable of adjusting the output torque.

[0025] Thus, in the embodiment of the present application, the fifth functional module can reduce the frequency of regulating the output torque of the vehicle in response to the escape function start instruction, thereby reducing the negative impact of the fifth functional module on the vehicle escape to a certain extent.

[0026] In certain embodiments of the present application, the fifth functional module includes a sub-functional module for adjusting the output torque, and the fifth functional module is configured to control the sub-functional module to enter a closed state in response to the escape function start instruction.

[0027] In this way, in the embodiment of the present application, the fifth functional module can shut down the sub-functional module used to perform output torque adjustment to suspend its own adjustment of the vehicle output torque, thereby reducing its own adjustment frequency of the vehicle output torque, so that its negative impact on the vehicle's escape from trouble can be reduced.

[0028] In certain embodiments of the present application, the fifth functional module increases the intervention threshold to reduce the adjustment frequency in response to the escape function start instruction, and the fifth functional module can adjust the output torque when a preset vehicle parameter is greater than or equal to the intervention threshold.

[0029] Thus, in the embodiment of the present application, the fifth functional module may increase the intervention threshold to increase the difficulty of its own intervention in output torque regulation, thereby reducing the frequency of its own output torque regulation.

[0030] In certain embodiments of the present application, the fifth functional module is configured to set the preset vehicle state parameter to a new intervention parameter to reduce the adjustment frequency in response to the escape function activation instruction, and the fifth functional module can adjust the output torque when each of the intervention parameters satisfies the corresponding preset intervention threshold.

[0031] Thus, in the embodiment of the present application, the fifth functional module may set the preset vehicle state parameter as a new intervention parameter to increase the difficulty of its own intervention in output torque regulation, thereby reducing the frequency of its own intervention in output torque regulation.

[0032] In certain embodiments of the present application, the preset vehicle state parameter includes vehicle speed.

[0033] In certain embodiments of the present application, the functional module includes a sixth functional module, and the sixth functional module is configured to determine a target braking torque of the wheel in response to the escape function start instruction.

[0034] Thus, in the embodiment of the present application, the sixth functional module can apply a target braking torque to the vehicle, thereby reducing the probability of wheel slippage during escape.

[0035] In certain embodiments of the present application, the target braking torque is determined according to the output torque of the vehicle.

[0036] In certain embodiments of the present application, the functional module includes a seventh functional module, and the seventh functional module is configured to adjust the first output power of the vehicle battery in response to the escape function start instruction.

[0037] Thus, in the embodiment of the present application, the seventh functional module can adjust the first output power of the vehicle battery in response to the escape function start instruction, so that during the vehicle escape, the vehicle battery can cooperate with other functional modules to achieve vehicle escape.

[0038] In certain embodiments of the present application, the seventh functional module is configured to determine a first operating parameter of the vehicle battery to adjust the first output power in response to the escape function activation instruction.

[0039] Thus, in the embodiment of the present application, the seventh functional module can determine the first operating parameter of the vehicle battery to adjust the first output power of the vehicle battery.

[0040] In certain embodiments of the present application, the first operating parameter includes a maximum discharge power and / or a maximum discharge current duration.

[0041] In certain embodiments of the present application, the functional module includes an eighth functional module, and the eighth functional module is configured to adjust the second output power of the target component for cooling the vehicle in response to the escape function start instruction.

[0042] Thus, in the embodiment of the present application, the eighth functional module can adjust the second output power of the target component for dissipating heat from the vehicle, so that the target component can cooperate with other functional modules to achieve the vehicle's escape, and can to a certain extent avoid the situation in which the functional modules cannot achieve the expected operating effect due to overheating during the vehicle's escape.

[0043] In certain embodiments of the present application, the target component includes at least one of a fan, a water pump, and an oil pump.

[0044] In certain embodiments of the present application, the eighth functional module is configured to determine a second operating parameter of the target component to adjust the second output power in response to the escape function start instruction.

[0045] Thus, in the embodiment of the present application, the eighth functional module can adjust the second output efficiency of the target component through the second working parameter of the target component, thereby improving the heat dissipation efficiency of the entire vehicle.

[0046] In some embodiments of the present application, the second operating parameter includes a duty cycle.

[0047] In certain embodiments of the present application, the functional module includes a ninth functional module, and the ninth functional module is configured to determine a third operating parameter of the vehicle suspension in response to the escape function start instruction.

[0048] Thus, in the embodiment of the present application, the ninth functional module can adjust the third working parameter of the vehicle suspension so that the deformation difficulty of the vehicle can be adjusted accordingly during the vehicle's escape from trouble, thereby further improving the possibility of the vehicle's escape from trouble.

[0049] In certain embodiments of the present application, the third operating parameter includes suspension damping and / or suspension height.

[0050] In certain embodiments of the present application, the functional module includes a tenth functional module, and the tenth functional module is configured to adjust a current torque output upper limit of the vehicle in response to the escape function activation instruction.

[0051] Thus, in the embodiment of the present application, the tenth functional module can adjust the current torque output upper limit of the vehicle so that other functional modules in the vehicle can operate with the adjusted current torque output upper limit, thereby realizing the rational use of the power of the whole vehicle during the escape period to a certain extent.

[0052] In certain embodiments of the present application, the tenth functional module is configured to set the steering mode of the vehicle to a target mode to adjust the current torque output upper limit in response to the escape function start instruction.

[0053] Thus, in the implementation manner of the present application, the tenth functional module may set the steering mode of the vehicle to the target mode to ensure reasonable adjustment of the current upper limit of the vehicle's torque output.

[0054] In certain embodiments of the present application, the functional modules include an eleventh functional module, a twelfth functional module, a thirteenth functional module, a fourteenth functional module, a fifteenth functional module, a sixteenth functional module and a seventeenth functional module, the eleventh functional module being configured to respond to the escape function start instruction, control the output torque of the vehicle according to data of the twelfth functional module and data of the thirteenth functional module, and control the twelfth functional module and the thirteenth functional module to reduce the frequency of adjusting the output torque, and control the thirteenth functional module to determine the braking torque of the wheel, and control the fourteenth functional module to adjust the output power of the vehicle battery, and control the fifteenth functional module to adjust the output power of the target components used to dissipate heat for the vehicle, and control the sixteenth functional module to determine the working parameters of the vehicle suspension, and control the seventeenth functional module to adjust the current torque output upper limit of the vehicle.

[0055] In this way, the implementation mode of the present application can respectively realize the control of the vehicle's output torque, reduction of the output torque adjustment frequency, determination of the vehicle's braking torque, adjustment of the vehicle's battery output power, adjustment of the target component output power, determination of the vehicle's suspension operating parameters and adjustment of the vehicle's current torque output upper limit based on the eleventh to seventeenth functional modules, thereby realizing the vehicle's escape function and ensuring the effectiveness of the vehicle's escape function. In addition, the eleventh functional module of the implementation mode of the present application can exchange data and coordinate with the twelfth to seventeenth functional modules, thereby ensuring the stable operation of the vehicle's escape function to a certain extent.

[0056] The present application provides a control method, the method comprising:

[0057] In response to the escape function start instruction, multiple functional modules in the vehicle are controlled to operate with corresponding preset operating parameters.

[0058] An embodiment of the present application provides a vehicle, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned control method is implemented.

[0059] An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by one or more processors, the above-mentioned control method is implemented.

[0060] In the control method, vehicle and computer-readable storage medium provided by the embodiments of the present application, the user can trigger the escape function start instruction to start the vehicle's escape function to assist the user in escaping the vehicle, thereby reducing the difficulty of the user in escaping the vehicle when the vehicle is trapped and the user does not have rich experience in escaping the vehicle and driving skills, and the user's driving experience can be improved to a certain extent. In addition, the vehicle of the embodiments of the present application can, based on the escape function start instruction, cause multiple functional modules in the vehicle to respectively operate with preset operating parameters, so that the vehicle's escape function can be realized based on the coordinated work of multiple functional modules of the vehicle, thereby ensuring the reliability and effectiveness of the escape function.

[0061] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0063] Figure 1 A schematic diagram of a vehicle in some embodiments of the present application;

[0064] Figure 2 This is a flow chart of a control method in certain embodiments of the present application;

[0065] Figure 3 This is a flow chart of a control method in certain embodiments of the present application;

[0066] Figure 4 A schematic diagram of application scenarios in certain embodiments of the present application;

[0067] Figure 5 A schematic diagram of application scenarios in certain embodiments of the present application;

[0068] Figure 6 A schematic diagram of application scenarios in certain embodiments of the present application;

[0069] Figure 7A schematic diagram of application scenarios in certain embodiments of the present application;

[0070] Figure 8 A schematic diagram of application scenarios in certain embodiments of the present application;

[0071] Fig. 9 A schematic diagram of application scenarios in certain embodiments of the present application;

[0072] Fig.10 A schematic diagram of an application scenario in certain embodiments of the present application. DETAILED DESCRIPTION

[0073] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0074] With the popularization of vehicles, the application scenarios of vehicles are constantly increasing, such as urban roads, highways, rural roads, etc. When a vehicle is driving on a collapsed or muddy road, one or more wheels may be trapped. At this time, if the driver lacks driving skills or driving experience to escape from a trapped situation, it is difficult for the driver to complete the vehicle's escape alone. Moreover, even if the driver steps on the accelerator when the vehicle is trapped, the wheels may continue to slip, making it more difficult to escape the vehicle.

[0075] Based on the above problems you may encounter, please refer to Figure 1 An embodiment of the present application provides a vehicle 100, which includes multiple functional modules, and the multiple functional modules are configured to operate with corresponding preset operating parameters in response to a vehicle escape function start instruction.

[0076] See also Figure 2 , the present application embodiment provides a control method, including:

[0077] 21: In response to the escape function start instruction, control multiple functional modules in the vehicle to operate with corresponding preset operating parameters.

[0078] The embodiment of the present application also provides a vehicle, the vehicle includes a memory and a processor. The control method of the embodiment of the present application can be implemented by the vehicle of the embodiment of the present application. Specifically, a computer program is stored in the memory, and the processor is used to control multiple functional modules in the vehicle to operate with corresponding preset operating parameters in response to an escape function start instruction.

[0079] Specifically, in the implementation mode of the present application, when one or more wheels are stuck and the whole vehicle is stuck, the user can trigger the escape function start command by voice, typing, touching a specific button, etc. When the vehicle obtains the escape function start command triggered by the user, it can control multiple functional modules in the vehicle to run with corresponding preset operating parameters respectively, so that the whole vehicle can assist the driver to complete the vehicle escape by the collaborative work of multiple software and hardware.

[0080] In summary, in the implementation of the present application, the user can trigger the escape function start command to start the vehicle's escape function to assist the user in implementing the vehicle escape, and then when the vehicle is trapped and the user does not have rich experience in vehicle escape and driving skills, the difficulty of the user in implementing the vehicle escape can be reduced, and the user's driving experience can be improved to a certain extent. In addition, the vehicle of the implementation of the present application can be based on the escape function start command, so that multiple functional modules in the vehicle will respectively operate with preset operating parameters, so that the vehicle's escape function can be realized based on the coordinated work of multiple functional modules of the vehicle, so that the reliability and effectiveness of the escape function can be guaranteed.

[0081] Moreover, compared with other vehicle escape methods that are only through hardware (such as hardware differential lock), or only through software (such as adjusting the torque distribution ratio of the front and rear axles), or only through the coordination of a single hardware and corresponding software (such as adjusting the suspension system), the implementation method of the present application realizes the vehicle escape function of multiple software and hardware working in coordination, can fully coordinate the functions of the vehicle-saving system, can be used for escape in variable terrains, and can reduce the impact of single component failure on the escape function.

[0082] In certain embodiments of the present application, at least one of the plurality of functional modules is configured to operate according to data of at least one other functional module in response to an escape function start instruction.

[0083] In the control method of the embodiment of the present application, step 21 includes:

[0084] At least one of the plurality of functional modules is configured to operate according to data of at least one other functional module in response to an escape function activation instruction.

[0085] The processor of the embodiment of the present application is also used for at least one of the multiple functional modules to be configured to respond to an escape function start instruction and operate according to data of at least one other functional module.

[0086] Specifically, the multiple functional modules of the implementation mode of the present application can work together to realize the vehicle's escape function. Specifically, among the multiple functional modules included in the vehicle of the implementation mode of the present application, there is at least one functional module that can obtain data from at least one other functional module and complete its own operation based on the data.

[0087] Thus, in the embodiment of the present application, at least one functional module among the multiple functional modules can operate according to the data of at least one other functional module, so that the vehicle's escape function can be realized based on the coordinated operation of the multiple functional modules.

[0088] In certain embodiments of the present application, the functional module includes a first functional module, a second functional module and a third functional module. The first functional module is configured to respond to an escape function start instruction and operate according to first data of the second functional module and second data of the third functional module.

[0089] In the control method of the embodiment of the present application, step 21 includes:

[0090] In response to the escape function start instruction, the first function module is controlled to operate according to the first data of the second function module and the second data of the third function module.

[0091] The processor of the embodiment of the present application is also used to control the first functional module to operate according to the first data of the second functional module and the second data of the third functional module in response to the escape function start instruction.

[0092] Specifically, in an embodiment of the present application, the vehicle includes a first functional module, a second functional module and a third functional module.

[0093] Furthermore, the first functional module may acquire or receive the first data of the second functional module and the second data of the third functional module, and execute its own operation according to the first data and the second data.

[0094] Thus, in the implementation manner of the present application, the first functional module may be operated according to the acquired first data of the second functional module and the second data of the third functional module.

[0095] In some embodiments of the present application, the first functional module is configured to control the output torque of the vehicle according to the first data and the second data.

[0096] In the control method of the embodiment of the present application, step 21 includes:

[0097] In response to the escape function start instruction, the first functional module is controlled to control the output torque of the vehicle according to the first data and the second data.

[0098] The processor of the embodiment of the present application is also used to control the first functional module to control the output torque of the vehicle according to the first data and the second data in response to the escape function start instruction.

[0099] Specifically, the first functional module of the implementation mode of the present application can adjust the output torque of the vehicle according to the first data of the second functional module and the second data of the third functional module, so that the vehicle escape function can be realized based on the adjustment of the output torque.

[0100] Optionally, in certain embodiments of the present application, the first functional module includes a vehicle control unit (VCU).

[0101] Thus, in certain embodiments of the present application, the first functional module may adjust the output torque of the vehicle according to the first data and the second data, so that the vehicle can escape from trouble based on the adjustment of the output torque.

[0102] In some embodiments of the present application, the first functional module is configured to adjust the vehicle motor according to a target motor operating parameter to control the output torque, and the target motor operating parameter is determined according to the first data and the second data.

[0103] In the control method of the embodiment of the present application, step 21 includes:

[0104] The first functional module is controlled to adjust the vehicle motor according to the target motor operating parameter to control the output torque, and the target motor operating parameter is determined according to the first data and the second data.

[0105] The processor of the embodiment of the present application is also used to control the first functional module to adjust the vehicle motor according to the target motor operating parameters to control the output torque, and the target motor operating parameters are determined based on the first data and the second data.

[0106] Specifically, in an embodiment of the present application, the first data and the second data may be used to determine target motor operating parameters of the vehicle motor, and the first functional module may control the vehicle motor according to the target motor operating parameters, thereby adjusting the output torque of the vehicle.

[0107] Optionally, in certain embodiments of the present application, the first functional module may determine the target motor operating parameters based on the first data and the second data when receiving the first data and the second data, and control the vehicle motor through the target motor operating parameters, thereby achieving output torque regulation of the vehicle.

[0108] Thus, in the embodiment of the present application, the first functional module can control the vehicle motor according to the target motor operating parameters determined by the first data and the second data, thereby completing the output torque adjustment of the vehicle.

[0109] In certain embodiments of the present application, the target motor operating parameter includes at least one of a target torque response speed, a target current front and rear axle torque distribution ratio, and a target throttle data.

[0110] It can be understood that the torque response speed refers to the time from the input of the control signal to the actuator (such as a motor or an engine) generating a corresponding torque change.

[0111] It can also be understood that the front and rear axle torque distribution ratio can be understood as the torque distribution ratio corresponding to the front axle and rear axle of the vehicle respectively.

[0112] Furthermore, the current throttle data may include a throttle curve, which is a curve that controls the relationship between the vehicle throttle opening and the engine power output in the vehicle engine control system. By adjusting the throttle curve, the output power of the engine in different speed ranges can be controlled, and the performance of the vehicle in different driving conditions can be adjusted.

[0113] It is understandable that a vehicle in a trapped state often requires a greater torque output than in a normal driving state. At the same time, to ensure that the user can more delicately control the vehicle torque when a large torque output is output, the throttle curve when the escape function is activated can be designed according to the actual situation of the vehicle. In one example, the vehicle controller can increase the peak torque under different throttles based on a preset throttle curve.

[0114] It can also be understood that simply increasing the peak torque under different throttles through the throttle curve may not be enough to allow the vehicle to escape smoothly. Therefore, in order to further improve the vehicle's escape ability under high torque, the vehicle controller of the implementation mode of the present application can also increase the torque response rate of the motor to reduce the time required for the vehicle motor to reach the specified torque, thereby being able to respond to user torque requirements efficiently and accurately.

[0115] Furthermore, the key to a vehicle's successful escape from trouble includes the torque distribution of the entire vehicle, and thus the implementation method of the present application can improve the vehicle's escape ability by adjusting the torque ratio of the front and rear axles of the vehicle.

[0116] Thus, in the embodiment of the present application, the first functional module can adjust the torque response speed of the vehicle motor, the front and rear axle torque distribution ratio, and at least one of the throttle data, thereby adjusting the torque output of the vehicle motor so that the vehicle can be reliably rescued.

[0117] In certain embodiments of the present application, the second functional module is configured to respond to an escape function start instruction and determine current driving surface data based on current driving environment image information, and the first data includes the current driving surface data.

[0118] In the control method of the embodiment of the present application, step 21 includes:

[0119] In response to the escape function start instruction, the second functional module is controlled to determine the current driving road surface data according to the current driving environment image information, and the first data includes the current driving road surface data.

[0120] The processor of the implementation mode of the present application is also used to respond to the escape function start instruction, control the second functional module to determine the current driving road surface data according to the current driving environment image information, and the first data includes the current driving road surface data.

[0121] Specifically, in the implementation manner of the present application, the second functional module can determine the current driving road surface data based on the acquired current driving environment image information to obtain the first data for transmission to the first functional module.

[0122] Optionally, in an embodiment of the present application, the current driving environment image information may include image information of the road surface on which the vehicle is currently driving.

[0123] Optionally, in the implementation mode of the present application, the current driving road surface data includes the adhesion coefficient of the current driving road surface of the vehicle. It is understood that the road surface adhesion coefficient can be understood as the ratio of the adhesion force to the wheel normal (direction perpendicular to the road surface) pressure, which can be regarded as the static friction coefficient between the wheel and the road surface. The larger the road surface adhesion coefficient, the greater the available adhesion force, and the more difficult it is for the wheel to slip.

[0124] Optionally, in certain embodiments of the present application, the second functional module may be understood as an advanced driver assistance system (ADAS).

[0125] Furthermore, in the implementation mode of the present application, the advanced driver assistance system can activate the preview function in response to the escape function activation command. The preview function can be understood as: collecting road surface data based on sensors such as vehicle cameras to identify various types of information on the road surface the vehicle is currently traveling on (including the adhesion coefficient of the road surface).

[0126] Thus, in the implementation mode of the present application, the second functional module can determine the current driving road surface data according to the current driving environment image information, and then obtain the first data for transmission to the first functional module.

[0127] In certain embodiments of the present application, the third functional module is configured to determine wheel slip data in response to an escape function activation instruction, and the second data includes the wheel slip data.

[0128] In the control method of the embodiment of the present application, step 21 includes:

[0129] In response to the escape function start instruction, the third functional module is controlled to determine the wheel slip data, and the second data includes the wheel slip data.

[0130] The processor of the embodiment of the present application is also used to respond to the escape function start instruction, control the third functional module to determine the wheel slip data, and the second data includes the wheel slip data.

[0131] Specifically, in the implementation mode of the present application, the third functional module can determine or detect the wheel slip data when the user triggers the escape function start instruction, so as to obtain the second data that can be transmitted to the first functional module.

[0132] Optionally, in certain embodiments of the present application, the third functional module includes a traction control system (Traction Control System, TCS).

[0133] Optionally, in some embodiments of the present application, the wheel slip data includes the slip rate of each tire of the vehicle.

[0134] Thus, in the embodiment of the present application, the third functional module can determine the vehicle slip data to obtain the second data.

[0135] Optionally, in certain embodiments of the present application, the first functional module may adjust the vehicle motor according to the adhesion coefficient of the current road surface so that the current torque response speed of the vehicle motor is the target torque response speed, and the current front and rear axle torque distribution ratio is the target front and rear axle torque distribution ratio, and the current throttle data is the target throttle data, so as to reduce the negative impact of wheel slip on the vehicle's escape from trouble to a certain extent.

[0136] It can also be understood that the vehicle torque distribution is not only related to the road adhesion coefficient, but also to the four-wheel slip rate. Therefore, in certain embodiments of the present application, the first functional module can also determine the target front and rear axle torque distribution ratio required for the vehicle to escape from trouble based on the current four-wheel slip rate and road adhesion coefficient.

[0137] For example, when the front wheels are trapped and slipping severely, by estimating the current maximum road adhesion and four-wheel slip rate, while ensuring that the vehicle can get out of trouble and the wheel slip rate is within a preset threshold, the first functional module can determine the current required target front and rear axle torque ratio, and adjust the vehicle's motor with the target front and rear axle torque ratio, thereby improving the vehicle's ability to get out of trouble.

[0138] In certain embodiments of the present application, the functional module includes a fourth functional module, and the fourth functional module is configured to control each functional module to operate with corresponding preset operating parameters in response to an escape function start instruction.

[0139] In the control method of the embodiment of the present application, step 21 includes:

[0140] In response to the escape function start instruction, each functional module is controlled by the fourth functional module to operate with corresponding preset operating parameters.

[0141] The processor of the embodiment of the present application is also used to respond to the escape function start instruction and control each functional module to operate with corresponding preset operating parameters through the fourth functional module.

[0142] Specifically, in the embodiment of the present application, the functional modules included in the vehicle include a fourth functional module, and the fourth functional module can be used to control the operating status of other functional modules in the vehicle. Therefore, when the user triggers the escape function start instruction, the fourth functional module can control each functional module in the vehicle (including itself) to operate with preset parameters, thereby achieving vehicle escape.

[0143] Optionally, in certain embodiments of the present application, the fourth functional module includes a vehicle controller.

[0144] Thus, in the embodiment of the present application, the fourth functional module can control each functional module in the vehicle to operate with corresponding preset operating parameters based on the triggering of the escape function start instruction.

[0145] In certain embodiments of the present application, the fourth functional module is configured to control each functional module to operate with corresponding preset operating parameters when each functional module responds to the escape function start instruction to enter the preset working mode.

[0146] In the control method provided in the embodiment of the present application, step 21 includes:

[0147] When each functional module responds to the escape function start instruction to enter the preset working mode, each functional module is controlled by the fourth functional module to operate with corresponding preset operating parameters.

[0148] The processor of the embodiment of the present application is also used to control each functional module to operate with corresponding preset operating parameters through the fourth functional module when each functional module responds to the escape function startup instruction to enter the preset working mode.

[0149] Specifically, the fourth functional module and other functional modules in the implementation mode of the present application can confirm whether they can enter the escape mode according to their current status when the user triggers the escape function start instruction.

[0150] Furthermore, the escape function of the embodiment of the present application can be started when all functional modules in the vehicle enter the escape mode. Furthermore, the fourth functional module of the embodiment of the present application can control the operation of each functional module (including itself) according to the instruction execution status of each functional module (including itself).

[0151] Optionally, in certain embodiments of the present application, the fourth functional module is further used to send a mode switching instruction to each functional module in the vehicle other than itself. In particular, each functional module in the embodiments of the present application can confirm whether it can enter the escape mode according to its current status upon receiving the mode switching instruction.

[0152] In one example, when the fourth functional module receives an escape function start instruction, but the fourth functional module does not enter the escape mode according to the escape function start instruction, the fourth functional module may not control each functional module (including itself) to operate with the corresponding preset operating parameters, that is, refuse to start the escape function.

[0153] For another example, when the fourth functional module receives an escape function start-up instruction, and the fourth functional module enters the escape mode according to the escape function start-up instruction, and the fourth functional module has sent an escape mode switching instruction to each functional module except itself, if there is at least one functional module that has not entered the escape mode according to the escape mode switching instruction, the fourth functional module may not control each functional module (including itself) to operate with the corresponding preset operating parameters, that is, refuse to start the escape function.

[0154] For another example, when the fourth functional module enters the escape mode (i.e., the preset working mode) according to the received escape function start instruction, and the other functional modules in the vehicle except the fourth functional module enter the escape mode (i.e., the preset working mode) according to the mode switching instruction sent by the fourth functional module, the fourth functional module can control each functional module (including itself) to operate according to the preset operating parameters, thereby starting the vehicle's escape function.

[0155] Optionally, in certain embodiments of the present application, if a functional module fails to enter a preset working mode, the vehicle may provide the user with prompt information corresponding to the functional module to remind the user that the vehicle has not entered the escape module and to prompt the user to start the escape mode.

[0156] Thus, in the embodiment of the present application, the fourth functional module can control each functional module to operate with preset operating parameters when each functional module enters the preset working mode, thereby activating the vehicle's escape function.

[0157] In certain embodiments of the present application, the functional module includes a fifth functional module, which is configured to reduce the frequency of adjusting the output torque of the vehicle in response to an escape function start instruction, and the fifth functional module can adjust the output torque.

[0158] The control method steps of the embodiment of the present application, step 21 includes:

[0159] In response to the escape function start instruction, the frequency of adjusting the output torque of the vehicle by the fifth function module is reduced, and the fifth function module can adjust the output torque.

[0160] The processor of the embodiment of the present application is also used to reduce the adjustment frequency of the fifth functional module on the output torque of the vehicle in response to the escape function start instruction, and the fifth functional module can adjust the output torque.

[0161] Specifically, in the embodiment of the present application, the fifth functional module can be used to adjust the output torque of the vehicle so that the vehicle performs specific operations, such as steering and lane changing.

[0162] Furthermore, in order to avoid the negative impact that may be caused by the advanced driver assistance system controlling the torque output of the vehicle's motor during the vehicle's escape period, the advanced driver assistance system of the embodiment of the present application can reduce the frequency of adjusting its own output torque of the vehicle when receiving the escape function start command, so as to reduce its own interference with the escape function.

[0163] Optionally, in certain embodiments of the present application, the fifth functional module includes an advanced driver assistance system (ADAS).

[0164] Thus, in the embodiment of the present application, the fifth functional module can reduce the frequency of regulating the output torque of the vehicle in response to the escape function start instruction, thereby reducing the negative impact of the fifth functional module on the vehicle escape to a certain extent.

[0165] In certain embodiments of the present application, the fifth functional module includes a sub-functional module for adjusting the output torque, and the fifth functional module is configured to control the sub-functional module to enter a closed state in response to an escape function start instruction.

[0166] The control method steps of the embodiment of the present application, step 21 includes:

[0167] In response to the escape function start instruction, the sub-function modules of the fifth function module are controlled to enter a closed state.

[0168] The processor of the embodiment of the present application is also used to control the sub-function modules of the fifth function module to enter a closed state in response to an escape function start instruction.

[0169] Specifically, in order to reliably avoid the negative impact of the fifth functional module on the vehicle's escape, the fifth functional module of the embodiment of the present application can shut down its own sub-functional modules to temporarily shut down its own vehicle output torque adjustment function, thereby reducing its own adjustment frequency of the vehicle output torque.

[0170] In one example, the sub-functional modules of the fifth functional module include an automatic steering functional module, an automatic lane changing functional module, and the like.

[0171] In this way, in the embodiment of the present application, the fifth functional module can shut down the sub-functional module used to perform output torque adjustment to suspend its own adjustment of the vehicle output torque, thereby reducing its own adjustment frequency of the vehicle output torque, so that its negative impact on the vehicle's escape from trouble can be reduced.

[0172] In certain embodiments of the present application, the fifth functional module increases the intervention threshold to reduce the adjustment frequency in response to the escape function start instruction, and the fifth functional module can adjust the output torque when the preset vehicle parameter is greater than or equal to the intervention threshold.

[0173] The control method steps of the embodiment of the present application, step 21 includes:

[0174] In response to an escape function start instruction, the fifth function module is controlled to increase an intervention threshold to reduce an adjustment frequency, wherein the fifth function module is capable of adjusting the output torque when a preset vehicle parameter is greater than or equal to the intervention threshold.

[0175] The processor of the embodiment of the present application is also used to control the fifth function module to increase the intervention threshold to reduce the adjustment frequency in response to the escape function start instruction, wherein the fifth function module can adjust the output torque when the preset vehicle parameters are greater than or equal to the intervention threshold.

[0176] Specifically, in the embodiment of the present application, the fifth functional module can adjust the output torque of the vehicle when the preset vehicle parameter is greater than or equal to the corresponding intervention threshold, wherein the preset vehicle parameter includes the wheel speed difference and / or the wheel slip rate.

[0177] Exemplarily, in one example, the fifth functional module may intervene in the output torque control of the vehicle, such as reducing the output torque of the vehicle, when the wheel speed difference satisfies the corresponding intervention threshold and / or the wheel slip rate satisfies the corresponding intervention threshold.

[0178] Based on this, the fifth functional module of the implementation mode of the present application can increase the numerical value of the intervention threshold, and then the fifth functional module can intervene in the output torque regulation of the vehicle only when the preset vehicle parameters meet the larger intervention threshold.

[0179] For example, in order to ensure that the four-wheel speed difference and slip rate are always under control during the escape period, and to prevent the vehicle parts from being damaged due to severe slipping, the fifth function module can control the wheel speed difference intervention threshold corresponding to the wheel speed difference, and the slip rate intervention threshold corresponding to the slip rate. Among them, the fifth function module can increase the wheel speed difference intervention threshold and the slip rate intervention threshold, so that the increased wheel speed difference intervention threshold and the slip rate intervention threshold are greater than the wheel speed difference intervention threshold and the slip rate intervention threshold of the vehicle in the non-trapped state.

[0180] Optionally, in certain embodiments of the present application, the fifth functional module includes a traction control system.

[0181] Thus, in the embodiment of the present application, the fifth functional module may increase the intervention threshold to increase the difficulty of its own intervention in output torque regulation, thereby reducing the frequency of its own output torque regulation.

[0182] In certain embodiments of the present application, the fifth functional module is configured to set the vehicle speed to a new intervention parameter to reduce the adjustment frequency in response to an escape function activation instruction, and the fifth functional module can adjust the output torque when each intervention parameter satisfies the corresponding preset intervention threshold.

[0183] The control method steps of the embodiment of the present application, step 21 includes:

[0184] In response to the escape function activation instruction, the fifth function module is controlled to set the vehicle speed to a new intervention parameter to reduce the adjustment frequency, wherein the fifth function module can adjust the output torque when each intervention parameter satisfies the corresponding preset intervention threshold.

[0185] The processor of the embodiment of the present application is also used to respond to the escape function activation instruction, control the fifth function module to set the vehicle speed to a new intervention parameter to reduce the adjustment frequency, wherein the fifth function module can adjust the output torque when each intervention parameter satisfies the corresponding preset intervention threshold.

[0186] Specifically, in the implementation mode of the present application, in order to increase the difficulty of the fifth functional module intervening in the output torque regulation process, the vehicle of the implementation mode of the present application can control the fifth functional module to set the preset vehicle state parameters as new intervention parameters when obtaining the user-triggered escape function start instruction.

[0187] It should be noted that the fifth functional module of the embodiment of the present application can intervene in the regulation of the vehicle output torque when each intervention parameter satisfies the corresponding preset intervention threshold.

[0188] For example, before adding intervention parameters, the fifth functional module may intervene in the output torque regulation of the vehicle, such as reducing the output torque of the vehicle, when the wheel speed difference meets the corresponding intervention threshold and the wheel slip rate meets the corresponding intervention threshold.

[0189] After the intervention parameters are added, the fifth functional module can intervene in the output torque regulation of the vehicle when the wheel speed difference meets the corresponding intervention threshold, the wheel slip rate meets the corresponding intervention threshold, and the newly added intervention parameters also meet the corresponding intervention threshold.

[0190] It is understandable that after the intervention parameters are added, the difficulty of the fifth functional module intervening in the torque output control process increases.

[0191] It can also be understood that since the vehicle speed is low when getting out of trouble, if the vehicle speed is set as the intervention parameter, the fifth functional module will not intervene in the output torque control because the vehicle speed is difficult to meet the corresponding intervention threshold during the escape period. Therefore, in certain embodiments of the present application, the preset vehicle state parameters include the vehicle speed.

[0192] Thus, in the embodiment of the present application, the fifth functional module may set the preset vehicle state parameter as a new intervention parameter to increase the difficulty of its own intervention in output torque regulation, thereby reducing the frequency of its own intervention in output torque regulation.

[0193] In certain embodiments of the present application, the functional module includes a sixth functional module, and the sixth functional module is configured to determine a target braking torque of the wheel in response to an escape function start instruction.

[0194] The control method steps of the embodiment of the present application, step 21 includes:

[0195] In response to the escape function start instruction, a target braking torque of the wheel is determined according to the sixth functional module.

[0196] The processor of the embodiment of the present application is also used to respond to the escape function start instruction and determine the target braking torque of the wheel according to the sixth functional module.

[0197] Specifically, during vehicle escape, the four-wheel slip state required for the wheels to escape may not be achieved by adjusting the output torque alone. At the same time, in order to avoid the situation where the wheels will slip when the user steps on the accelerator, which will make the escape more difficult, the vehicle of the implementation mode of the present application can also determine or set the target braking torque of the wheels based on the sixth functional module to apply appropriate braking force to each wheel to ensure that the four wheels are in the slipping or non-slipping state required for escape.

[0198] Optionally, in certain embodiments of the present application, the braking torque of the wheel is provided based on a hydraulic brake.

[0199] Optionally, in certain embodiments of the present application, the target braking torque is determined based on the output torque of the vehicle.

[0200] Optionally, in certain embodiments of the present application, the sixth functional module includes a traction control system.

[0201] Specifically, the sixth functional module of the embodiment of the present application can determine the target braking torque of each wheel of the vehicle based on the current output torque of the vehicle.

[0202] Optionally, in certain embodiments of the present application, the target braking torque is positively correlated with the current output torque of the vehicle.

[0203] Thus, in the embodiment of the present application, the sixth functional module can apply a target braking torque to the vehicle, thereby reducing the probability of wheel slippage during escape.

[0204] In certain embodiments of the present application, the functional module includes a seventh functional module, and the seventh functional module is configured to adjust the first output power of the vehicle battery in response to an escape function start instruction.

[0205] The control method steps of the embodiment of the present application, step 21 includes:

[0206] In response to the escape function activation instruction, the seventh function module is controlled to adjust the first output power of the vehicle battery.

[0207] The processor of the embodiment of the present application is also used to control the seventh functional module to adjust the first output power of the vehicle battery in response to the escape function start instruction.

[0208] Specifically, to ensure that the vehicle can obtain reliable power support when getting out of trouble, the vehicle of the embodiment of the present application can, when the user triggers the escape function start command, the seventh functional module adjusts the first output power of the vehicle battery, such as increasing the first output power of the vehicle battery.

[0209] Optionally, in certain embodiments of the present application, the seventh functional module includes a battery management system (BMS).

[0210] Thus, in the embodiment of the present application, the seventh functional module can adjust the first output power of the vehicle battery in response to the escape function start instruction, so that during the vehicle escape, the vehicle battery can cooperate with other functional modules to achieve vehicle escape.

[0211] In certain embodiments of the present application, the seventh functional module is configured to determine a first operating parameter of the vehicle battery to adjust the first output power in response to an escape function activation instruction.

[0212] The control method steps of the embodiment of the present application, step 21 includes:

[0213] In response to an escape function start instruction, a first operating parameter of a vehicle battery is determined by a seventh functional module to adjust a first output power.

[0214] The processor of the embodiment of the present application is also used to respond to the escape function start instruction, and determine the first operating parameter of the vehicle battery through the seventh functional module to adjust the first output power.

[0215] Specifically, in the implementation manner of the present application, the seventh functional module can set the first operating parameter of the vehicle battery, thereby changing the first output power of the vehicle battery.

[0216] Optionally, in certain embodiments of the present application, the first operating parameter includes a maximum discharge power and / or a maximum discharge current duration.

[0217] Furthermore, in certain embodiments where the first operating parameter includes maximum discharge power and maximum discharge current duration, the seventh functional module can increase the maximum discharge power and / or maximum discharge current duration, thereby ensuring that the vehicle can obtain stable power support during the period of escape from distress, and ensuring that the vehicle will not suffer from insufficient power due to the inability to maintain battery discharge power or discharge current during the period of escape from distress.

[0218] Thus, in the embodiment of the present application, the seventh functional module can determine the first operating parameter of the vehicle battery to adjust the first output power of the vehicle battery.

[0219] In certain embodiments of the present application, the functional module includes an eighth functional module, and the eighth functional module is configured to adjust the second output power of the target component for cooling the vehicle in response to an escape function start instruction.

[0220] The control method steps of the embodiment of the present application, step 21 includes:

[0221] In response to the escape function start instruction, the eighth functional module is controlled to adjust the second output power of the target component for cooling the vehicle.

[0222] The processor of the embodiment of the present application is also used to control the eighth functional module to adjust the second output power of the target component for cooling the vehicle in response to the escape function start instruction.

[0223] Specifically, in the implementation mode of the present application, since multiple functional modules will operate with preset parameters to achieve vehicle escape, the heat generated by the vehicle will be greatly increased, such as the heat generated by the vehicle battery and the heat generated by the vehicle motor will be greatly increased.

[0224] In response to this, when the user triggers the escape function start command, the vehicle of the implementation mode of the present application can cause the eighth functional module to adjust the second output power of the target component for dissipating heat from the vehicle, so that the "target component for dissipating heat from the vehicle" can cooperate with other functional modules to achieve escape, thereby avoiding the situation where other functional modules cannot achieve the expected operating effect due to overheating to a certain extent.

[0225] Optionally, in certain embodiments of the present application, the eighth functional module includes a thermal management system.

[0226] Optionally, in certain embodiments of the present application, the eighth functional module increases the second output power of the target component to indicate the heat dissipation effect of the target component on the vehicle.

[0227] Optionally, in certain embodiments of the present application, the target part includes at least one of a fan, a water pump and an oil pump.

[0228] Thus, in the embodiment of the present application, the eighth functional module can adjust the second output power of the target component for dissipating heat from the vehicle, so that the target component can cooperate with other functional modules to achieve the vehicle's escape, and can to a certain extent avoid the situation in which the functional modules cannot achieve the expected operating effect due to overheating during the vehicle's escape.

[0229] In certain embodiments of the present application, the eighth functional module is configured to determine a second operating parameter of the target component to adjust the second output power in response to an escape function activation instruction.

[0230] The control method steps of the embodiment of the present application, step 21 includes:

[0231] In response to the escape function start instruction, a second operating parameter of the target component is determined by an eighth functional module to adjust the second output power.

[0232] The processor of the embodiment of the present application is also used to respond to the escape function start instruction, and determine the second operating parameter of the target component through the eighth functional module to adjust the second output power.

[0233] Specifically, in the implementation manner of the present application, the eighth functional module can adjust the second output power of the target component by setting the second operating parameter of the target component.

[0234] Optionally, in certain embodiments of the present application, the second operating parameter includes a duty cycle.

[0235] Optionally, when the target components include fans, water pumps and oil pumps, the eighth functional module can increase the duty cycle of the fans, water pumps and oil pumps to improve the heat dissipation efficiency of the entire vehicle while increasing the second output power of the fans, water pumps and oil pumps.

[0236] Thus, in the embodiment of the present application, the eighth functional module can adjust the second output efficiency of the target component through the second working parameter of the target component, thereby improving the heat dissipation efficiency of the entire vehicle.

[0237] In certain embodiments of the present application, the functional module includes a ninth functional module, and the ninth functional module is configured to determine a third operating parameter of the vehicle suspension in response to an escape function start instruction.

[0238] The control method steps of the embodiment of the present application, step 21 includes:

[0239] In response to the escape function start instruction, a third operating parameter of the vehicle suspension is determined by a ninth functional module.

[0240] The processor of the embodiment of the present application is also used to determine the third operating parameter of the vehicle suspension through the ninth functional module in response to an escape function start instruction.

[0241] Specifically, in the implementation mode of the present application, in order to improve the vehicle's ability to escape from trouble, the implementation mode of the present application can adjust the third working parameter of the vehicle suspension through the ninth functional module so that the deformation difficulty of the vehicle can be adaptively adjusted during the vehicle's escape from trouble.

[0242] Optionally, in certain embodiments of the present application, the third operating parameter includes suspension height and / or suspension damping.

[0243] Optionally, in certain embodiments of the present application, the ninth functional module may increase the height and damping of the vehicle suspension.

[0244] Thus, in the embodiment of the present application, the ninth functional module can adjust the third working parameter of the vehicle suspension so that the deformation difficulty of the vehicle can be adjusted accordingly during the vehicle's escape from trouble, thereby further improving the possibility of the vehicle's escape from trouble.

[0245] In certain embodiments of the present application, the functional module includes a tenth functional module, and the tenth functional module is configured to adjust a current torque output upper limit of the vehicle in response to an escape function start instruction.

[0246] The control method steps of the embodiment of the present application, step 21 includes:

[0247] In response to the escape function start instruction, the tenth functional module is controlled to adjust the current torque output upper limit of the vehicle.

[0248] The processor of the embodiment of the present application is also used to control the tenth functional module to adjust the current torque output upper limit of the vehicle in response to the escape function start instruction.

[0249] Specifically, in the implementation mode of the present application, in order to ensure that the current torque output upper limit of the vehicle can support the use of various functional modules of the vehicle, the implementation mode of the present application can increase the current torque output upper limit of the vehicle through the tenth functional module.

[0250] Optionally, in certain embodiments of the present application, the tenth functional module includes a power steering system (Power Steering System).

[0251] Thus, in the embodiment of the present application, the tenth functional module can adjust the current torque output upper limit of the vehicle so that other functional modules in the vehicle can operate with the adjusted current torque output upper limit, thereby realizing the rational use of the power of the whole vehicle during the escape period to a certain extent.

[0252] In certain embodiments of the present application, the tenth functional module is configured to set the steering mode of the vehicle to a target mode to adjust the current torque output upper limit in response to an escape function activation instruction.

[0253] The control method steps of the embodiment of the present application, step 21 includes:

[0254] In response to the escape function start instruction, the tenth functional module is controlled to set the steering mode of the vehicle to the target mode to adjust the current torque output upper limit.

[0255] The processor of the embodiment of the present application is also used to control the tenth functional module to set the steering mode of the vehicle to the target mode to adjust the current torque output upper limit in response to the escape function start instruction.

[0256] Specifically, in order to ensure the user's road feel during the escape, so that the user can accurately control the relative position relationship between the vehicle and the road surface, and at the same time to ensure the reasonable adjustment of the current torque output upper limit, the tenth functional module of the implementation mode of the present application can set the vehicle's steering mode to the target mode.

[0257] Optionally, in certain embodiments of the present application, the target mode includes a motion mode.

[0258] Thus, in the implementation manner of the present application, the tenth functional module may set the steering mode of the vehicle to the target mode to ensure reasonable adjustment of the current upper limit of the vehicle's torque output.

[0259] In certain embodiments of the present application, the functional modules include an eleventh functional module, a twelfth functional module, a thirteenth functional module, a fourteenth functional module, a fifteenth functional module, a sixteenth functional module and a seventeenth functional module. The eleventh functional module is configured to respond to an escape function start instruction, control the output torque of the vehicle according to data from the twelfth functional module and the thirteenth functional module, and control the twelfth functional module and the thirteenth functional module to reduce the frequency of adjusting the output torque, and control the thirteenth functional module to determine the braking torque of the wheel, and control the fourteenth functional module to adjust the output power of the vehicle battery, and control the fifteenth functional module to adjust the output power of the target components used to dissipate heat from the vehicle, and control the sixteenth functional module to determine the working parameters of the vehicle suspension, and control the seventeenth functional module to adjust the current torque output upper limit of the vehicle.

[0260] To more clearly illustrate the implementation of this application, please refer to Figure 3 , 4 , 5, 6, 7, 8, 9 and 10, among which, Figure 3 This is a flow chart of a control method in certain embodiments of the present application. Figures 4 to 10 A schematic diagram of an application scenario in certain embodiments of the present application.

[0261] That is, in one example, the vehicle includes VCU (corresponding to the eleventh functional module), ADAS (corresponding to the twelfth functional module), TCS (corresponding to the thirteenth functional module), BMS (corresponding to the fourteenth functional module), a thermal management system (corresponding to the fifteenth functional module), a suspension (corresponding to the sixteenth functional module) and a power steering system (corresponding to the seventeenth functional module).

[0262] Further, when the user activates the escape function through the multimedia system in the vehicle by any of voice, typing and pressing a specific button, the multimedia system can forward the escape function activation instruction to the VCU.

[0263] Subsequently, the mode switching module in the VCU can send mode switching instructions to the torque control module, ADAS, TCS, BMS, thermal management system, suspension and power steering system in the VCU, so that the torque control module, advanced driver assistance system, ADAS, TCS, BMS, thermal management system, suspension and power steering system can determine whether they can switch to the escape mode according to their own status.

[0264] Then, if at least one of the seven modules, namely the torque control module, ADAS, TCS, BMS, thermal management system, suspension and power steering system, fails to enter the escape mode, the mode switching module will maintain the vehicle in the previous driving mode and remind the driver of the reason for the failure to activate the escape mode and guide the driver on how to activate it.

[0265] Correspondingly, if all seven modules enter the escape mode and complete the corresponding escape mode settings, the mode switching module can feedback preset information to the multimedia system so that the multimedia will switch to the escape mode interface to remind the driver that the escape function is currently turned on. And, after the vehicle escape function is successfully started, the torque control module will assist the vehicle in getting out of trouble based on the driver's operation.

[0266] It can be understood that when any of the seven modules, namely the torque control module, ADAS, TCS, BMS, thermal management system, suspension and power steering system, receives a mode switching instruction, it can confirm whether it can switch to the escape mode according to its own status. If it can be switched, it will execute the corresponding escape mode setting and send a switching success message to the mode switching module.

[0267] It can also be understood that if any of the seven modules, namely the torque control module, ADAS, TCS, BMS, thermal management system, suspension and power steering system, confirms that it cannot enter the escape mode, the module can send a switching failure message to the mode switching module.

[0268] Among them, when the torque control module enters the escape mode, the torque control module can adjust at least one of the throttle data of the vehicle motor and the torque distribution ratio of the front and rear axles of the vehicle before the torque response speed.

[0269] When ADAS can enter the escape mode, it can turn on the preview function to obtain the adhesion coefficient of the vehicle's current road surface, so as to pass the adhesion coefficient to the torque control module. At the same time, ADAS can limit some of its own functions, or in other words, turn off its own "sub-function module for adjusting the vehicle's output torque".

[0270] When TCS enters the escape mode, it can obtain the wheel slip rate and transmit the wheel slip rate to the torque control module. At the same time, TCS can also set the vehicle speed as a new intervention parameter, increase the intervention thresholds corresponding to the wheel slip rate and wheel speed difference, and adjust the braking force applied to the wheel.

[0271] When the BMS can enter the escape mode, the BMS can increase the maximum discharge power and / or maximum discharge current duration of the vehicle battery.

[0272] When the thermal management system enters the escape mode, it can increase the duty cycle of the three components: the water pump, oil pump and fan, thereby improving the heat dissipation efficiency of the entire vehicle.

[0273] When the suspension can enter a get-out-of-trouble mode, the suspension can increase its height and / or damping.

[0274] When the power steering system can enter the escape mode, the power steering system can set the steering mode of the vehicle to the target mode.

[0275] In this way, the implementation mode of the present application can respectively realize the control of the vehicle's output torque, reduction of the output torque adjustment frequency, determination of the vehicle's braking torque, adjustment of the vehicle's battery output power, adjustment of the target component output power, determination of the vehicle's suspension operating parameters and adjustment of the vehicle's current torque output upper limit based on the eleventh to seventeenth functional modules, thereby realizing the vehicle's escape function and ensuring the effectiveness of the vehicle's escape function. In addition, the eleventh functional module of the implementation mode of the present application can exchange data and coordinate with the twelfth to seventeenth functional modules, thereby ensuring the stable operation of the vehicle's escape function to a certain extent.

[0276] The embodiment of the present application further provides a computer-readable storage medium storing a computer program, which implements the above-mentioned control method when the computer program is executed by one or more processors.

[0277] In the description of this specification, the descriptions with reference to the terms "specifically", "further", "particularly", "understandably", etc. are intended to mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not intended to refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0278] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0279] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle, characterized in that: It includes a plurality of functional modules, and the plurality of functional modules are configured to operate with corresponding preset operating parameters in response to a vehicle escape function start instruction.

2. The vehicle according to claim 1, characterized in that At least one of the plurality of functional modules is configured to operate according to data of at least one other functional module in response to the escape function activation instruction.

3. The vehicle according to claim 2, characterized in that The functional module includes a first functional module, a second functional module and a third functional module. The first functional module is configured to respond to the escape function start instruction and operate according to the first data of the second functional module and the second data of the third functional module.

4. The vehicle according to claim 3, characterized in that The first functional module is configured to control the output torque of the vehicle according to the first data and the second data in response to the escape function activation instruction.

5. The vehicle according to claim 4, characterized in that The first functional module is configured to regulate a vehicle motor to control the output torque according to a target motor operating parameter, wherein the target motor operating parameter is determined according to the first data and the second data.

6. The vehicle according to claim 5, characterized in that The target motor operation parameter includes at least one of a target torque response speed, a target current front and rear axle torque distribution ratio, and a target throttle data.

7. The vehicle according to any one of claims 3 to 6, characterized in that: The second functional module is configured to respond to the escape function start instruction and determine the current driving road surface data according to the current driving environment image information, and the first data includes the current driving road surface data.

8. The vehicle according to any one of claims 3 to 6, characterized in that: The third functional module is configured to determine wheel slip data in response to the escape function activation instruction, and the second data includes the wheel slip data.

9. The vehicle according to claim 2, characterized in that The functional modules include a fourth functional module, and the fourth functional module is configured to control each of the functional modules to operate with corresponding preset operating parameters in response to the escape function start instruction.

10. The vehicle according to claim 9, characterized in that The fourth functional module is configured to control each functional module to operate with corresponding preset operating parameters when each functional module responds to the escape function start instruction to enter the preset working mode.

11. The vehicle according to claim 1, characterized in that The functional module includes a fifth functional module, and the fifth functional module is configured to reduce a frequency of adjusting an output torque of the vehicle in response to the escape function start instruction, and the fifth functional module is capable of adjusting the output torque.

12. The vehicle according to claim 11, characterized in that The fifth functional module includes a sub-functional module for adjusting the output torque, and the fifth functional module is configured to control the sub-functional module to enter a closed state in response to the escape function start instruction.

13. The vehicle according to claim 11, characterized in that The fifth functional module increases an intervention threshold to reduce the adjustment frequency in response to the escape function start instruction, and the fifth functional module can adjust the output torque when a preset vehicle parameter is greater than or equal to the intervention threshold.

14. The vehicle according to claim 13, characterized in that The fifth functional module is configured to set the preset vehicle state parameter to a new intervention parameter to reduce the adjustment frequency in response to the escape function activation instruction, and the fifth functional module can adjust the output torque when each of the intervention parameters satisfies the corresponding preset intervention threshold.

15. The vehicle according to claim 14, characterized in that The preset vehicle state parameter includes vehicle speed.

16. The vehicle according to claim 1, characterized in that The functional module includes a sixth functional module, and the sixth functional module is configured to determine a target braking torque of the wheel in response to the escape function start instruction.

17. The vehicle according to claim 16, characterized in that The target braking torque is determined according to the output torque of the vehicle.

18. The vehicle according to claim 1, characterized in that The functional module includes a seventh functional module, and the seventh functional module is configured to adjust a first output power of a vehicle battery in response to the escape function start instruction.

19. The vehicle according to claim 18, characterized in that The seventh functional module is configured to determine a first operating parameter of the vehicle battery to adjust the first output power in response to the escape function activation instruction.

20. The vehicle according to claim 19, characterized in that The first operating parameter includes a maximum discharge power and / or a maximum discharge current duration.

21. The vehicle according to claim 1, characterized in that The functional module includes an eighth functional module, and the eighth functional module is configured to adjust a second output power of a target component for cooling the vehicle in response to the escape function start instruction.

22. The vehicle according to claim 21, characterized in that The target component part includes at least one of a fan, a water pump, and an oil pump.

23. The vehicle according to claim 21, characterized in that The eighth functional module is configured to determine a second operating parameter of the target component to adjust the second output power in response to the escape function activation instruction.

24. The vehicle according to claim 23, characterized in that The second operating parameter includes a duty cycle.

25. The vehicle of claim 1, wherein: The functional module includes a ninth functional module, and the ninth functional module is configured to determine a third operating parameter of the vehicle suspension in response to the escape function start instruction.

26. The vehicle according to claim 25, characterized in that The third operating parameter includes suspension damping and / or suspension height.

27. The vehicle of claim 1, wherein: The functional module includes a tenth functional module, and the tenth functional module is configured to adjust a current torque output upper limit of the vehicle in response to the escape function start instruction.

28. The vehicle according to claim 27, characterized in that The tenth functional module is configured to set the steering mode of the vehicle to a target mode to adjust the current torque output upper limit in response to the escape function activation instruction.

29. The vehicle of claim 1, wherein: The functional modules include an eleventh functional module, a twelfth functional module, a thirteenth functional module, a fourteenth functional module, a fifteenth functional module, a sixteenth functional module and a seventeenth functional module. The eleventh functional module is configured to respond to the escape function start instruction, control the output torque of the vehicle according to data from the twelfth functional module and the thirteenth functional module, and control the twelfth functional module and the thirteenth functional module to reduce the frequency of adjusting the output torque, and control the thirteenth functional module to determine the braking torque of the wheel, and control the fourteenth functional module to adjust the output power of the vehicle battery, and control the fifteenth functional module to adjust the output power of the target component used to dissipate heat for the vehicle, and control the sixteenth functional module to determine the working parameters of the vehicle suspension, and control the seventeenth functional module to adjust the current torque output upper limit of the vehicle.

30. A control method, characterized in that: The method comprises: In response to the escape function start instruction, multiple functional modules in the vehicle are controlled to operate with corresponding preset operating parameters.

31. A vehicle, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the method according to claim 30 is implemented.

32. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method of claim 30 is implemented.

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