Vehicle ESC auxiliary controller, vehicle ESC control system and fire-fighting vehicle

Abstract

The invention provides a vehicle ESC auxiliary controller, a vehicle ESC control system and a fire-fighting vehicle. The vehicle ESC auxiliary controller comprises a signal acquisition module, a switch control module and an output module. Wherein the switch control module comprises two-way switches corresponding to vehicle wheels; the signal acquisition module is used for receiving active states of main and auxiliary cabs; the switch control module is used for controlling the closing direction of the two-way switch corresponding to each vehicle wheel based on the activation state of the main cab and the auxiliary cab; the output module is used for outputting the wheel definition of each vehicle wheel based on the closing direction of the two-way switch corresponding to each vehicle wheel; the closing direction of the bidirectional switch corresponding to each vehicle wheel is used for indicating the candidate wheel definition of each vehicle wheel. According to the vehicle ESC auxiliary controller provided by the invention, after an effective cab is changed, accurate wheel definition is carried out on vehicle wheels, normal use of an ESC system on a vehicle is ensured, and then the driving safety of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle ESC auxiliary controller, a vehicle ESC control system and a fire truck. Background Art

[0002] Currently, the ESC (Electronic Stability Control) system equipped on vehicles has very accurate requirements for wheel position and speed. Most vehicles have a unique cab, so the ESC system will not have duplicate or conflicting definitions of wheel positions. However, for changes in the driving direction of a two-headed vehicle, under the premise of maintaining an ABS (Anti-lock Braking System) or an EBS (Electronic Brake Systems), the existing ESC system has duplicate or conflicting definitions of wheel positions after the vehicle cab changes, making it difficult for the ESC system to work properly. Summary of the invention

[0003] The present invention provides a vehicle ESC auxiliary controller, a vehicle ESC control system and a fire truck, which are used to solve the defect in the prior art that after the vehicle cab changes, the definition of the wheel position is repeated or conflicting, which makes it difficult for the ESC system to work normally.

[0004] The present invention provides a vehicle ESC auxiliary controller, comprising: a signal acquisition module, a switch control module and an output module; wherein the signal acquisition module, the switch control module and the output module are connected in sequence; the switch control module comprises a bidirectional switch corresponding to each vehicle wheel; The signal acquisition module is used to receive the activation status of the main and co-driver cabs; The switch control module is used to control the closing direction of the two-way switches corresponding to the wheels of the vehicle based on the activation state of the main and co-driver cabs; The output module is used to output the wheel definition of each vehicle wheel based on the closing direction of the two-way switch corresponding to each vehicle wheel; The closing direction of the two-way switch corresponding to each vehicle wheel is used to indicate the candidate wheel definition of each vehicle wheel, and the candidate wheel definition is used to reflect the position information of the vehicle wheel on the vehicle when any main and co-driver cabs are activated.

[0005] According to a vehicle ESC auxiliary controller provided by the present invention, the activation status of the main and co-driver cabs is used to reflect the effective cab of the vehicle, and the effective cab includes a main cab and a co-driver cab, and the main cab and the co-driver cab are respectively arranged at two ends of the vehicle.

[0006] According to a vehicle ESC auxiliary controller provided by the present invention, the activation state of the main and auxiliary driver's cabins is determined based on a driving state activation switch; The driving state activation switches are respectively arranged in the main driving cab and the co-driving cab.

[0007] According to a vehicle ESC auxiliary controller provided by the present invention, the driving state activation switch is a rocker switch.

[0008] The present invention also provides a vehicle ESC control system, comprising a vehicle ESC auxiliary controller and a vehicle ESC main controller as described in any one of the above items; the vehicle ESC auxiliary controller is connected to the vehicle ESC main controller; The vehicle ESC auxiliary controller is used to send the wheel definition of each vehicle wheel to the vehicle ESC main controller; The vehicle ESC main controller is used to receive the wheel definition of each vehicle wheel and the vehicle driving state information, and output a vehicle braking control signal based on the wheel definition of each vehicle wheel and the vehicle driving state information.

[0009] According to a vehicle ESC control system provided by the present invention, the vehicle driving state information includes at least one of the rotation speed information of each vehicle wheel, collision radar detection information, and steering wheel angle information.

[0010] The present invention also provides a fire-fighting vehicle, comprising a vehicle ESC auxiliary controller as described in any one of the above items.

[0011] According to a fire fighting vehicle provided by the present invention, the fire fighting vehicle further comprises a main driving cab and a co-driving cab, and the main driving cab and the co-driving cab are respectively arranged at two ends of the fire fighting vehicle.

[0012] According to a fire fighting vehicle provided by the present invention, the main driving cab and the assistant driving cab include driving status activation switches.

[0013] According to a fire-fighting vehicle provided by the present invention, the driving state activation switch is a rocker switch.

[0014] The vehicle ESC auxiliary controller, vehicle ESC control system and fire truck provided by the present invention receive the activation status of the main and co-driver cabs through the signal acquisition module. The switch control module controls the closing direction of the two-way switch corresponding to each vehicle wheel based on the activation status of the main and co-driver cabs. The closing direction of the two-way switch corresponding to each vehicle wheel is used to indicate the candidate wheel definition of each vehicle wheel. The output module is used to output the wheel definition of each vehicle wheel based on the closing direction of the two-way switch corresponding to each vehicle wheel, thereby realizing accurate wheel definition of the vehicle wheels after the effective cab changes, ensuring the normal use of the ESC system on the vehicle, and thus improving the driving safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a structural schematic diagram of the vehicle ESC auxiliary controller provided by the present invention; Figure 2 It is a schematic diagram of switching the effective cab of the vehicle provided by the present invention; Figure 3 It is one of the circuit diagrams of the ESC auxiliary controller provided by the present invention; Figure 4 This is the second circuit diagram of the ESC auxiliary controller provided by the present invention; Figure 5 It is a structural schematic diagram of the vehicle ESC control system provided by the present invention; Figure 6 It is an interactive schematic diagram of the vehicle ESC control system provided by the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] It should be noted that vehicles not equipped with ESC systems pose great safety hazards when driving at high speeds on the road. However, the existing ESC system has duplicate or conflicting definitions of wheel positions after the vehicle cab changes, making it difficult for the ESC system to work normally.

[0019] To address this problem, the present invention provides a vehicle ESC auxiliary controller to achieve accurate wheel definition when the effective cab of a double-headed vehicle is switched. Figure 1 : is a schematic diagram of the structure of the vehicle ESC auxiliary controller provided by the present invention, such as Figure 1 As shown, the controller includes: a signal acquisition module 110, a switch control module 120 and an output module 130; wherein the signal acquisition module, the switch control module and the output module are connected in sequence; the switch control module includes a bidirectional switch corresponding to each wheel of the vehicle; The signal acquisition module 110 is used to receive the activation status of the main and co-driver cabins; The switch control module 120 is used to control the closing direction of the two-way switch corresponding to each wheel of the vehicle based on the activation state of the main and auxiliary driving cabins; The output module 130 is used to output the wheel definition of each vehicle wheel based on the closing direction of the two-way switch corresponding to each vehicle wheel; The closing direction of the two-way switch corresponding to each vehicle wheel is used to indicate the candidate wheel definition of each vehicle wheel, and the candidate wheel definition is used to reflect the position information of the vehicle wheel on the vehicle when any main and co-driver cabs are activated.

[0020] Specifically, during the actual driving of a two-head vehicle, there may be a switch of the effective cab, and the wheel definition of each vehicle wheel will change accordingly. Figure 2 Schematic diagram of the switching of the effective cab of the vehicle provided by the present invention, such as Figure 2 As shown, assuming that the vehicle includes four vehicle wheels A, B, C, and D, in the driving direction when the main cab is valid, the wheel of wheel A is defined as the left front wheel, the wheel of wheel B is defined as the right front wheel, the wheel of wheel C is defined as the left rear wheel, and the wheel of wheel D is defined as the right rear wheel. In the driving direction when the co-driver's cab is valid, the wheel of wheel A is defined as the right rear wheel, the wheel of wheel B is defined as the left rear wheel, the wheel of wheel C is defined as the right front wheel, and the wheel of wheel D is defined as the left front wheel.

[0021] Therefore, when the effective cab is switched, accurate wheel definition can be achieved through the vehicle ESC auxiliary controller composed of the signal acquisition module 110, the switch control module 120 and the output module 130.

[0022] Among them, the signal acquisition module 110 is used to receive the activation status of the main and co-driver cabs. For example, the activation status of the main and co-driver cabs can be obtained by receiving the control signal sent by the cab switching controller VCU (Vehicle Control Unit). It can be understood that when the main cab is activated, the current effective cab position of the vehicle is the main cab; when the co-driver cab is activated, the current effective cab position of the vehicle is the co-driver cab. Therefore, the activation status of the main and co-driver cabs can be used to reflect the current effective cabs of the vehicle. It should be noted that in the case of dual-head driving, the switching of the effective cab will change the wheel definition of the vehicle wheels. For example, the left front wheel can be switched to the right rear wheel.

[0023] The switch control module 120 is used to control the closing direction of each bidirectional switch corresponding to the vehicle wheel according to the effective driving position of the vehicle reflected by the activation state of the main and co-driver cabs. It should be noted that, here, the switch control module includes bidirectional switches corresponding to each vehicle wheel, and the vehicle wheels correspond to the bidirectional switches one by one. In addition, the closing direction of the bidirectional switch corresponding to each vehicle wheel is used to indicate the candidate wheel definition of each vehicle wheel. For example, the closing direction of the bidirectional switch of vehicle wheel A is used to indicate the candidate wheel definition of vehicle wheel A.

[0024] Here, the candidate wheel definition of a single vehicle wheel refers to the position information of the vehicle wheel on the vehicle that reflects the position of the vehicle wheel on the vehicle in any of the main and co-driver cab activation states. For example, when the main and co-driver cab activation states of vehicle wheel A are main cab activation, the candidate wheel definition of vehicle wheel A may be the left front wheel; when the main and co-driver cab activation states of vehicle wheel A are co-driver cab activation, the candidate wheel definition of vehicle wheel A may be the right rear wheel, and the candidate wheel definition of vehicle wheel A includes the left front wheel and the right rear wheel.

[0025] Finally, through the output module 130, the wheel definition of each vehicle wheel is output according to the closing direction of the two-way switch corresponding to each vehicle wheel, so that the double-headed vehicle can obtain accurate wheel definition after switching the effective cab, so that the ESC system on the vehicle can operate normally and improve the safety of vehicle driving.

[0026] In one embodiment, Figure 3 It is one of the circuit diagrams of the ESC auxiliary controller provided by the present invention, such as Figure 3As shown, the signal acquisition module is connected to the wheel speed sensors provided on the vehicle wheels A, B, C, and D, respectively. The wheel speed sensors are used to collect the wheel speed information of the vehicle wheels and send the wheel speed information to the signal acquisition module. The signal acquisition module is also used to receive the effective state of the main and co-driver cabs, that is, to receive the activation state of the main and co-driver cabs. In addition, the switch control module includes 4 bidirectional switches, each of which corresponds to a vehicle wheel, and the closing direction of the bidirectional switch is used to indicate the position information of the vehicle wheel on the vehicle when the main and co-driver cabs are activated, that is, the candidate definition of the vehicle wheel.

[0027] like Figure 3 As shown, when the vehicle's main and co-driver cabs are activated in the case where the main cab is activated, the closing direction of each two-way switch is upward, then the wheel of wheel A is defined as the left front wheel, the wheel of wheel B is defined as the right front wheel, the wheel of wheel C is defined as the left rear wheel, and the wheel of wheel D is defined as the right rear wheel.

[0028] In another embodiment, Figure 4 This is the second circuit diagram of the ESC auxiliary controller provided by the present invention, such as Figure 4 As shown, the connection relationship in the circuit diagram is Figure 3 The same, no further description is given here, but Figure 4 As shown, when the vehicle's main and co-driver cab activation states are in the co-driver cab activated state, the closing direction of each two-way switch is downward, then the wheel of wheel A is defined as the right rear wheel, the wheel of wheel B is defined as the left rear wheel, the wheel of wheel C is defined as the right front wheel, and the wheel of wheel D is defined as the left front wheel.

[0029] The vehicle ESC auxiliary controller provided by the embodiment of the present invention includes: a signal acquisition module, a switch control module and an output module. The signal acquisition module is used to receive the activation status of the main and co-driver cabs. The switch control module is used to control the closing direction of the two-way switch corresponding to each vehicle wheel based on the activation status of the main and co-driver cabs. The closing direction of the two-way switch corresponding to each vehicle wheel is used to indicate the candidate wheel definition of each vehicle wheel. The output module is used to output the wheel definition of each vehicle wheel based on the closing direction of the two-way switch corresponding to each vehicle wheel, thereby realizing accurate wheel definition of the vehicle wheels after the effective cab changes, ensuring the normal use of the ESC system on the vehicle, and thereby improving the driving safety of the vehicle.

[0030] Based on any of the above embodiments, the activation status of the main and co-driver cabs is used to reflect the effective cab of the vehicle, and the effective cab includes a main cab and a co-driver cab, and the main cab and the co-driver cab are respectively arranged at both ends of the vehicle.

[0031] Based on any of the above embodiments, the activation state of the main and auxiliary cabins is determined based on a driving state activation switch; The driving state activation switches are respectively arranged in the main driving cab and the co-driving cab.

[0032] Here, the driving status activation switch can be a physical button or a rocker switch. It is understandable that the driving activation status can be obtained based on the driver's operation of the physical button or the rocker switch. For example, when the driver presses the physical button of the driving status activation switch in the main cab, the physical button displays a green indicator light, indicating that the main cab is the valid cab; if the co-driver's cab is the valid cab, the indicator light of the main driving physical button can be red. For another example, the driver can switch the main and co-driver cabs by toggling the rocker switch, and send the switch state of the rocker switch to the VCU to obtain the activation status of the main and co-driver cabs.

[0033] The method provided by the embodiment of the present invention realizes simple, fast and effective switching of the driving cabs by setting driving state activation switches in the main driving cab and the co-driving cab respectively, and also improves the safety of the driver during driving.

[0034] Based on any of the above embodiments, the driving state activation switch is a rocker switch.

[0035] Based on any of the above embodiments, Figure 5 : is a schematic diagram of the structure of the vehicle ESC control system provided by the present invention, such as Figure 5 As shown, the system includes a vehicle ESC auxiliary controller 510 and a vehicle ESC main controller 520 as in any of the above embodiments; the vehicle ESC auxiliary controller is connected to the vehicle ESC main controller; The vehicle ESC auxiliary controller 510 is used to send the wheel definition of each vehicle wheel to the vehicle ESC main controller; The vehicle ESC main controller 520 is used to receive the wheel definition of each vehicle wheel and the vehicle driving state information, and output a vehicle braking control signal based on the wheel definition of each vehicle wheel and the vehicle driving state information.

[0036] Specifically, during the vehicle driving process, the vehicle ESC auxiliary controller 510 is used to send the wheel definition of each vehicle wheel to the vehicle ESC main controller 520. The vehicle ESC main controller 520 is used to receive the wheel definition of each vehicle wheel and the vehicle driving state information. The vehicle driving state information can be collected based on the multi-source sensors set on the vehicle.

[0037] Then, based on the wheel definition of each vehicle wheel and the vehicle driving status information, the vehicle braking control signal is output to perform body stability control. When the ESC system works normally, a green ESC logo is displayed on the instrument.

[0038] The system provided by the embodiment of the present invention realizes accurate wheel definition of the vehicle wheels through the vehicle ESC auxiliary controller when the effective driving cab of the vehicle changes, and then sends the wheel definition of each vehicle wheel to the vehicle ESC main controller. The vehicle ESC main controller also receives other vehicle driving status information, combines the wheel definition of the vehicle wheels and the vehicle driving status information, realizes vehicle body stability control, and ensures the safety of vehicle driving.

[0039] Based on any of the above embodiments, the vehicle driving state information includes at least one of the rotation speed information of each vehicle wheel, collision radar detection information, and steering wheel angle information.

[0040] Specifically, a communication connection can be established between each sensor on the vehicle and the vehicle ESC main controller to obtain the vehicle driving status information collected by each sensor. For example, the wheel speed information of the vehicle wheel can be obtained through the wheel speed sensor set on the wheel. It should be noted that a communication connection can be established between the ESC auxiliary controller and the wheel speed sensor on the wheel, and then the vehicle definition and wheel speed information of each vehicle wheel can be sent to the ESC main controller based on the ESC auxiliary controller, so that the ESC main controller obtains the wheel speed information after the vehicle definition.

[0041] For another example, the distance between the wheel and the obstacle ahead can be monitored by the forward collision radar, and the braking distance can be calculated based on the current braking force to obtain the collision radar detection information, which can then be directly sent to the ESC main controller. For another example, the steering wheel speed sensor can be used to collect the steering wheel angle information, which can then be sent to the ESC main controller.

[0042] It should be noted that, as mentioned above Figure 3 and Figure 4 As shown, when the driver turns on the main driver's rocker switch in the main driving position, the switch is connected to the cab switching controller VCU, and the VCU determines that the main driving position is valid. When the driver turns on the co-pilot rocker switch in the co-pilot position, the VCU determines that the co-pilot is valid. When the main driving position is valid, the left front wheel is defined as wheel A, the right front wheel is defined as wheel B, the left rear wheel is defined as wheel C, and the right rear wheel is defined as wheel D. When the co-pilot's cab is valid, wheel A changes from the left front wheel to the right rear wheel, wheel B changes from the front wheel to the left rear wheel, wheel C changes from the left rear wheel to the right front wheel, and wheel D changes from the right rear wheel to the left front wheel.

[0043] In one embodiment, Figure 6 is an interactive schematic diagram of the vehicle ESC control system provided by the present invention, such as Figure 6As shown, the wheel speed sensor signals connected to wheels ABCD and the effective status signals of the main and co-driver cabs sent by the VCU are sent to the ESC auxiliary controller. Among them, the effective status signals of the main and co-driver cabs are obtained based on the rocker switch. Then, the ESC auxiliary controller controls the switch position through the switch module after processing the signal through the signal acquisition module. When the main driver is effective, all the switches are turned on upward, and when the co-driver cab is effective, all the switches are turned on downward, which is very convenient to switch. After that, the matched wheel position signal (wheel definition) is sent to the ESC auxiliary controller, and the wheel position signal and the wheel speed information corresponding to each wheel are sent to the ESC main controller through the ESC auxiliary controller. The ESC main controller controls the wheel braking system to perform body stability control in combination with the steering wheel angle information of the steering wheel angle sensor and the monitoring information of the forward collision radar. When the ESC is working normally, the green ESC logo is displayed on the instrument.

[0044] Based on any of the above embodiments, the present invention also provides a fire fighting vehicle, comprising a vehicle ESC auxiliary controller as in any of the above embodiments.

[0045] It should be noted that there are more and more vehicles in society, and the road driving conditions are becoming more and more complicated. In some application scenarios such as narrow streets and tunnels, it is difficult for traditional fire trucks to achieve the U-turn function. Fire trucks with double cabs can achieve reverse driving without turning around. The fire truck provided by the embodiment of the present invention can accurately define the wheels of the vehicle after the effective cab of the double-headed fire truck changes, so that the ESC system of the fire truck can work normally and ensure the driving safety of the fire truck.

[0046] The fire-fighting vehicle provided by an embodiment of the present invention comprises a vehicle ESC auxiliary controller, wherein the vehicle ESC auxiliary controller comprises a signal acquisition module, a switch control module and an output module, the signal acquisition module is used to receive the activation status of the main and co-driver cabs, the switch control module is used to control the closing direction of the two-way switch corresponding to each vehicle wheel based on the activation status of the main and co-driver cabs, the closing direction of the two-way switch corresponding to each vehicle wheel is used to indicate the candidate wheel definition of each vehicle wheel, and the output module is used to output the wheel definition of each vehicle wheel based on the closing direction of the two-way switch corresponding to each vehicle wheel, thereby realizing accurate wheel definition of the vehicle wheels after the effective cab changes, ensuring the normal use of the ESC system on the vehicle, and thus improving the driving safety of the vehicle. Based on any of the above embodiments, the fire truck further includes a main driver's cab and a co-driver's cab, and the main driver's cab and the co-driver's cab are respectively arranged at two ends of the fire truck.

[0047] Based on any of the above embodiments, the main driver's cab and the co-driver's cab include a driving status activation switch.

[0048] Based on any of the above embodiments, the driving state activation switch is a rocker switch.

[0049] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0050] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle ESC auxiliary controller, characterized in that: include: A signal acquisition module, a switch control module and an output module; wherein the signal acquisition module, the switch control module and the output module are connected in sequence; the switch control module includes a bidirectional switch corresponding to each wheel of the vehicle; The signal acquisition module is used to receive the activation status of the main and co-driver cabs; The switch control module is used to control the closing direction of the two-way switches corresponding to the wheels of the vehicle based on the activation state of the main and co-driver cabs; The output module is used to output the wheel definition of each vehicle wheel based on the closing direction of the two-way switch corresponding to each vehicle wheel; The closing direction of the two-way switch corresponding to each vehicle wheel is used to indicate the candidate wheel definition of each vehicle wheel, and the candidate wheel definition is used to reflect the position information of the vehicle wheel on the vehicle when any main and co-driver cabs are activated.

2. The vehicle ESC auxiliary controller according to claim 1, characterized in that: The activation state of the main and co-driver cabs is used to reflect the effective cabs of the vehicle. The effective cabs include a main cab and a co-driver cab. The main cab and the co-driver cab are respectively arranged at two ends of the vehicle.

3. The vehicle ESC auxiliary controller according to claim 2, characterized in that: The activation state of the main and auxiliary cabs is determined based on the driving state activation switch; The driving state activation switches are respectively arranged in the main driving cab and the co-driving cab.

4. The vehicle ESC auxiliary controller according to claim 3, characterized in that: The driving state activation switch is a rocker switch.

5. A vehicle ESC control system, characterized in that: It comprises a vehicle ESC auxiliary controller and a vehicle ESC main controller as described in any one of claims 1 to 4 above; the vehicle ESC auxiliary controller is connected to the vehicle ESC main controller; The vehicle ESC auxiliary controller is used to send the wheel definition of each vehicle wheel to the vehicle ESC main controller; The vehicle ESC main controller is used to receive the wheel definition of each vehicle wheel and the vehicle driving state information, and output a vehicle braking control signal based on the wheel definition of each vehicle wheel and the vehicle driving state information.

6. The vehicle ESC control system according to claim 5, characterized in that: The vehicle driving state information includes at least one of the rotation speed information of each vehicle wheel, collision radar detection information, and steering wheel angle information.

7. A fire fighting vehicle, characterized in that: The vehicle ESC auxiliary controller comprises the vehicle ESC auxiliary controller as described in any one of claims 1 to 4 above.

8. The fire fighting vehicle according to claim 7, characterized in that: The fire truck further comprises a main driving cab and a co-driving cab, wherein the main driving cab and the co-driving cab are respectively arranged at two ends of the fire truck.

9. The fire fighting vehicle according to claim 8, characterized in that: The main cab and the co-driver's cab include a driving state activation switch.

10. The fire fighting vehicle according to claim 9, characterized in that: The driving state activation switch is a rocker switch.

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