Vehicle tire burst steering control method and system, vehicle and storage medium

Abstract

The invention discloses a vehicle tire burst steering control method and system, a vehicle and a storage medium. According to the method, after tire burst event data information is received, the vehicle is controlled according to different driving modes of the vehicle and different driving states of a driver, so that the vehicle enters different braking modes, and then the vehicle can be safely and reliably braked after a tire burst event happens to the vehicle; the technical problem that in the prior art, steering control cannot be conducted on the vehicle according to the current driving mode of the vehicle after the tire burst event happens in the running process of the vehicle, and therefore the vehicle can be safely braked is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle driving safety, and in particular, to a method, a system, a vehicle and a storage medium for controlling vehicle steering during a tire blowout. Background Art

[0002] With the rapid development of the automotive industry, whether in the field of new energy vehicles or traditional fuel vehicles, the driving safety performance of vehicles has become one of the important reference indicators that consumers pay more and more attention to when purchasing a vehicle. In vehicle driving safety, the uncontrollability of the vehicle driving route after a tire blowout during vehicle driving, which leads to vehicle rollover, is the main problem. In related technologies, related technologies have been developed for controlling vehicle steering to prevent the vehicle from deviating from the ideal route when the vehicle suddenly oversteers or understeers. However, this technology is only for the control of stable vehicle driving, and it cannot adaptively control the vehicle according to the current driving mode of the vehicle after a tire blowout event occurs, so that the vehicle can perform safe braking.

[0003] Therefore, how to solve the technical problem of how to make the vehicle perform safe and reliable braking after a tire blowout event occurs during vehicle driving in related technologies has become an urgent technical problem for those skilled in the art. Summary of the Invention

[0004] An embodiment of the present invention provides a method, a system, a vehicle and a storage medium for controlling vehicle steering during a tire blowout, so as to solve the technical problem that in related technologies, after a tire blowout event occurs during vehicle driving, the vehicle cannot be steered and controlled according to the current driving mode of the vehicle, so that the vehicle performs combined steering and braking to reach a safe state.

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling vehicle steering during a tire blowout, which includes:

[0006] Real-time monitoring of whether tire blowout event data information is received;

[0007] If so, further determine the current driving mode, and the current driving mode includes an assisted driving mode and a manual driving mode;

[0008] When in the assisted driving mode, execute the assisted driving braking mode to brake the vehicle;

[0009] When in the manual driving mode, determine the driver state within a first preset time;

[0010] If the driver takes over the steering within the first preset time, execute the human-machine co-driving braking mode to brake the vehicle;

[0011] Otherwise, execute the EPS active steering braking mode to brake the vehicle.

[0012] The vehicle tire blowout steering control method according to the embodiments of the present invention has at least the following beneficial effects:

[0013] A vehicle steering control method according to an embodiment of the present invention, after monitoring the tire blowout event data information, determines the current driving mode. If it is in the assisted driving mode, the assisted driving braking mode is executed to brake the vehicle. Otherwise, it is further determined whether the driver performs steering takeover control within a preset time. If so, the human-machine co-driving braking mode is executed to brake the vehicle. If the driver does not perform steering takeover control within the preset time, the EPS active steering braking mode is executed to brake the vehicle; by controlling according to different driving modes of the vehicle and different driving states of the driver after receiving the tire blowout event data information, the vehicle enters different braking modes, so that after a tire blowout event occurs to the vehicle, the vehicle can be braked safely and reliably; it solves the technical problem that in the related art, the vehicle cannot be steered and controlled according to the current driving mode of the vehicle after a tire blowout event occurs during driving, so that the vehicle can be safely braked.

[0014] According to another embodiment of the present invention, the vehicle tire blowout steering control method, the determining the current driving mode includes:

[0015] Determine the current driving mode by obtaining one or more of the driver status information and the torque data information of the steering wheel.

[0016] According to another embodiment of the present invention, the vehicle tire blowout steering control method, the executing the assisted driving braking mode to brake the vehicle includes:

[0017] Receive the current vehicle speed information, radar data information and camera data information;

[0018] Determine whether the current vehicle speed information is greater than a preset vehicle speed threshold;

[0019] If so, output a lane keeping control instruction to make the vehicle maintain driving in the current lane, and at the same time, output a braking control instruction to make the vehicle decelerate according to a preset deceleration method;

[0020] Otherwise, according to the current vehicle speed information, the radar data information and the camera data information, output a pull-over control instruction to make the vehicle automatically drive to the roadside and stop.

[0021] According to another embodiment of the present invention, the vehicle tire blowout steering control method, the human-machine co-driving braking mode to brake the vehicle includes:

[0022] Obtain the driver braking control signal and the driver steering control signal output by the driver;

[0023] Perform steering control and braking control on the vehicle according to the driver's braking control signal, the driver's steering control signal, the auxiliary braking control signal, and the auxiliary steering control signal, so that the vehicle brakes and stops according to a preset first driving route and a preset first driving speed.

[0024] According to the vehicle tire blowout steering control method of some other embodiments of the present invention, performing braking on the vehicle in the EPS active steering braking mode includes:

[0025] Number each tire;

[0026] Obtain the tire pressure data information corresponding to the number;

[0027] If the decline rate of the tire pressure data information reaches a preset threshold, mark the tire corresponding to the number as the target steering control tire;

[0028] Combine the current vehicle speed information, the radar data information, and the camera data information to perform steering control on the target steering control tire, so that the vehicle brakes and stops according to a preset second driving route and a preset second driving speed.

[0029] In a second aspect, an embodiment of the present invention provides a vehicle tire blowout steering control system, including:

[0030] A blowout event data information acquisition module, configured to monitor in real time whether blowout event data information is received;

[0031] A driving mode judgment module, configured to judge the current driving mode, where the current driving mode includes an assisted driving mode and a manual driving mode;

[0032] An assisted driving braking module, configured to perform braking on the vehicle in the assisted driving braking mode when in the assisted driving mode;

[0033] A driver state judgment module, configured to judge the driver state within a first preset time when in the manual driving mode;

[0034] A human-machine co-driving braking module, configured to perform braking on the vehicle in the human-machine co-driving braking mode;

[0035] An active steering braking module, configured to perform braking on the vehicle in the EPS active steering braking mode.

[0036] According to the vehicle tire blowout steering control system of some other embodiments of the present invention, the assisted driving braking module includes:

[0037] A first information receiving unit, configured to receive the current vehicle speed information, the radar data information, and the camera data information;

[0038] A vehicle speed detection unit for determining whether the current vehicle speed information is greater than a preset vehicle speed threshold;

[0039] A lane keeping braking unit for outputting a lane keeping control instruction to keep the vehicle running in the current lane, and at the same time, outputting a braking control instruction to make the vehicle decelerate according to a preset deceleration method;

[0040] A lane change braking unit for outputting a pull-over control instruction according to the current vehicle speed information, the radar data information and the camera data information, so that the vehicle automatically drives to the roadside and stops.

[0041] According to another embodiment of the present invention, in the vehicle tire burst steering control system, the human-machine co-driving braking module includes:

[0042] A second information receiving unit for obtaining a driver braking control signal and a driver steering control signal output by the driver;

[0043] A human-machine co-driving braking unit for performing braking and steering control on the vehicle according to the driver braking control signal, the driver steering control signal, the auxiliary braking control signal and the auxiliary steering control signal, so that the vehicle brakes and stops according to a preset first driving route and a preset first driving speed.

[0044] According to another embodiment of the present invention, in the vehicle tire burst steering control system, the active steering braking module includes:

[0045] A tire pressure data information acquisition unit for numbering each tire and acquiring the tire pressure data information corresponding to the number;

[0046] A tire burst judgment unit for judging that the decrease rate of the tire pressure data information reaches a preset threshold, and marking the tire corresponding to the number as the target steering control tire;

[0047] An active steering control unit for performing steering control on the target steering control tire by combining the current vehicle speed information, the radar data information and the camera data information, so that the vehicle brakes and stops according to a preset second driving route and a preset second driving speed.

[0048] In a third aspect, an embodiment of the present invention provides a vehicle, including a vehicle body and the vehicle tire burst steering control system as described above;

[0049] Wherein, the vehicle tire burst steering control system is installed in the vehicle body.

[0050] Fourthly, an embodiment of the present invention provides a computer-readable storage medium storing an executable program, and when the executable program is executed by a processor, the vehicle flat tire steering control method as described above is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 is a schematic flowchart of a specific embodiment of a vehicle flat tire steering control method according to an embodiment of the present invention;

[0052] Figure 2 is a schematic flowchart of a specific embodiment of step S300 in a vehicle flat tire steering control method according to an embodiment of the present invention;

[0053] Figure 3 is a schematic flowchart of a specific embodiment of step S500 in a vehicle flat tire steering control method according to an embodiment of the present invention;

[0054] Figure 4 is a schematic flowchart of a specific embodiment of step S600 in a vehicle flat tire steering control method according to an embodiment of the present invention;

[0055] Figure 5 is a schematic diagram of module connections of a specific embodiment of a vehicle flat tire steering control system according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] The following will clearly and completely describe the concept of the invention and the technical effects produced in conjunction with the embodiments, so as to fully understand the purpose, features and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative efforts shall fall within the scope of protection of the present invention.

[0057] In the description of the embodiments of the present invention, if it involves "several", it means more than one; if it involves "multiple", it means more than two; if it involves "greater than", "less than", "exceeding", it should be understood as not including the present number; if it involves "above", "below", "within", it should be understood as including the present number. If it involves "first", "second", it should be understood as used to distinguish technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0058] Referring to Figure 1 , an embodiment of the present invention provides a vehicle flat tire steering control method, which includes the steps of:

[0059] S100. Real-time monitoring of whether tire burst event data information is received;

[0060] In this embodiment, during the driving process of the vehicle, only when the data information of a tire blowout event is monitored and received will the subsequent steps be entered. The systems for monitoring the data information of a tire blowout event may include an ESC system (Electronic Stability Controller), a tire pressure monitoring system, etc. Since it is difficult for a vehicle to lose control and cause the risk of rollover even if a tire blowout event occurs during low-speed driving, in some embodiments, the activation of monitoring whether the data information of a tire blowout event is received may be when the instantaneous speed of the vehicle exceeds a certain set speed threshold, and then the real-time monitoring of whether the data information of a tire blowout event is received is started.

[0061] S200. Judge the current driving mode;

[0062] In this embodiment, the current driving mode includes an assisted driving mode and a manual driving mode. Due to the development of automotive safety technologies and driverless technologies, vehicles are usually equipped with an assisted driving system for assisting the driver in driving, thereby effectively alleviating the driver's driving fatigue and ensuring the safety of vehicle driving at the same time. In this step, in order to perform adaptive steering processing on different driving modes after receiving the data information of a tire blowout event, it is necessary to judge the current driving mode.

[0063] Among them, if it is in the assisted driving mode, then execute the steps:

[0064] S300. Perform braking on the vehicle in the assisted driving braking mode;

[0065] If it is in the manual driving mode, then execute the steps:

[0066] S400. Further judge whether the driver takes over the steering within the first preset time;

[0067] If the result of step S400 is yes, then execute the steps:

[0068] S500. Perform braking on the vehicle in the human-machine co-driving braking mode;

[0069] If the result of step S400 is no, then execute the steps:

[0070] S600. Perform braking on the vehicle in the EPS active steering braking mode.

[0071] In this embodiment, after receiving the data information of a tire blowout event, it is determined whether the current driving mode is in the assisted driving mode or the manual driving mode. Obviously, it is also possible to first determine the current driving mode before monitoring and receiving the data information of the tire blowout event, and then directly process the subsequent steps according to the corresponding current driving mode after monitoring and receiving the data information of the tire blowout event. In this embodiment, after receiving the data information of the tire blowout event, in the case of the assisted driving mode, if the driver cannot recognize the sudden tire blowout event in time, the assisted driving braking mode should be provided to brake the vehicle. In the manual driving mode, it is further determined whether the driver performs a steering takeover within the first preset time (that is, whether the driver recognizes the tire blowout event in time). If so, the human-machine co-driving braking mode is executed to brake the vehicle. Otherwise, the EPS active steering braking mode is executed to brake the vehicle. In this embodiment, after receiving the data information of the tire blowout event, the vehicle is controlled according to different driving modes of the vehicle and different driving states of the driver, so that the vehicle enters different braking modes, and then after the tire blowout event of the vehicle occurs, the vehicle can be safely and reliably braked; it solves the technical problem in the related art that the vehicle cannot perform steering control on the vehicle according to the current driving mode of the vehicle after the tire blowout event occurs during driving, so that the vehicle can perform safe braking, and ensures life safety and property safety.

[0072] In some embodiments, during the execution of the assisted driving braking mode to brake the vehicle in step S300, or the execution of the EPS active steering braking mode to brake the vehicle in step S600, it is continuously monitored whether the driver performs a steering takeover. If so, the corresponding jump is made from step S300 to step 500, or from step S600 to step S500. In this embodiment, since the operation authority level of the driver should be higher than that of other vehicle systems to ensure that the steering control and speed control of the vehicle are based on the driver's operations, during the execution of step S300 and step S600, by continuously monitoring whether the driver performs a steering takeover, if so, step S500 is entered to execute the human-machine co-driving braking mode to brake the vehicle.

[0073] In some embodiments, in step S200, the judgment of the current driving mode is specifically made by obtaining one or more of the driver status information, the steering wheel torque data information, and the start / stop information of the assisted driving function. In this embodiment, the driver status information can be obtained through the DMS system (Driver Monitor System). After obtaining the driver status information through the DMS system, if it is detected that there is no driver at present, it is determined that the current driving mode is the assisted driving mode; the steering wheel torque data information is obtained through the torque sensor in the EPS system (Electric Power Steering). If the steering wheel torque data information obtained by the torque sensor is lower than the preset torque threshold, it is determined that the current driving mode is the assisted driving mode; in addition, if the start information of the assisted driving function is obtained, it is also determined that the current driving mode is the assisted driving mode.

[0074] Referring to Figure 2 , in some embodiments, step S300 of performing the assisted driving braking mode to brake the vehicle includes:

[0075] S310. Receive the current vehicle speed information, the radar data information, and the camera data information;

[0076] Among them, the current vehicle speed information is obtained through the wheel speed sensor, the radar data information is obtained through the ultrasonic radar sensor, and the camera data information is obtained through the camera. In this embodiment, in order to enable the vehicle to brake safely and reliably when a tire blowout occurs in the assisted driving mode, by combining the current vehicle speed information, the radar data information, and the camera data information, it can be ensured that during the braking process of the vehicle, braking can be carried out safely, preventing problems such as the vehicle's own control problems or collisions between the vehicle and the external environment that cause the vehicle to be unable to brake safely.

[0077] S320. Judge whether the current vehicle speed information is greater than the preset vehicle speed threshold;

[0078] In this embodiment, the purpose of judging whether the current vehicle speed information is greater than the preset vehicle speed threshold is that since the vehicle speed may be too fast during driving, it is necessary to judge whether the vehicle speed is below the safety threshold before performing the lane-changing and pulling-over operation.

[0079] If the result of step S320 is yes, then execute the steps:

[0080] S330. Output a lane keeping control instruction to make the vehicle maintain driving in the current lane. At the same time, output a braking control instruction to make the vehicle decelerate according to the preset deceleration method;

[0081] Among them, since it is detected in step S320 that the current vehicle speed information is greater than the preset threshold, it indicates that there is a risk of vehicle rollover if the vehicle is controlled to change lanes at this time. Therefore, when the current vehicle speed information of the vehicle is higher than the preset vehicle speed threshold, it is necessary to maintain the current lane and decelerate according to the preset deceleration method at the same time. In this embodiment, the preset deceleration method is related to the current vehicle speed information. For example, when the current vehicle speed information > 100 km / h, the preset deceleration method is to decelerate the vehicle speed below the preset vehicle speed threshold within a certain time. Furthermore, after dividing the current vehicle speed information into multiple intervals, multiple time intervals are correspondingly set. Then, within the corresponding time intervals, the vehicle is decelerated below the preset vehicle speed threshold by outputting a braking control instruction. In this embodiment, the specific deceleration methods of the preset vehicle speed threshold and the preset deceleration method can be obtained through multiple safety tests to obtain the specific corresponding values.

[0082] If the result of step S320 is negative, then execute the steps:

[0083] S340. Output a side-by-side control instruction according to the current vehicle speed information, radar data information, and camera data information, so that the vehicle automatically drives to the roadside and stops.

[0084] Among them, after it is monitored that the current vehicle speed information is lower than the preset vehicle speed threshold, a lane change control is implemented on the vehicle by outputting a steering angle according to the current vehicle speed information, radar data information, and camera data information. In this embodiment, for example, according to the current vehicle speed information, with the assistance of the radar data information and the camera data information, the vehicle is controlled to change lanes and move to the side according to the steering angle preset corresponding to the current vehicle speed information, ensuring reliable and safe steering and braking control of the vehicle with a flat tire, and finally making the vehicle stop at the roadside waiting for relevant rescue.

[0085] Refer to Figure 3 , in some embodiments, the above-mentioned step S500 of the execution of the human-machine co-driving braking mode to brake the vehicle includes:

[0086] S510. Obtain the driver braking control signal and the driver steering control signal output by the driver;

[0087] S520. Perform steering control and braking control on the vehicle according to the driver braking control signal, the driver steering control signal, the auxiliary braking control signal, and the auxiliary steering control signal, so that the vehicle brakes and stops according to the preset first driving route and the preset first driving speed.

[0088] In this embodiment, the driver's braking control signal can be obtained by a sensor detecting the depression of the brake pedal. Then, based on the data information of the sensor and in combination with one or more braking systems in the ABS (Antilock Brake System) and AEB (Autonomous Emergency Braking) systems, an auxiliary braking control signal is obtained. The driver's steering control signal can be obtained by a torque sensor in the EPS system. At the same time, the EPS system outputs an auxiliary steering control signal according to the current vehicle speed information and the driver's steering control signal to assist the vehicle in steering. Among them, the preset first driving route and the preset first driving speed are both related to the above-mentioned driver's braking control signal, driver's steering control signal, auxiliary braking control signal, and auxiliary steering control signal. In this embodiment, after a tire blowout occurs during vehicle driving, when it is determined that the current is in the manual driving mode and the driver takes over the steering within the first preset time, combining the driver's braking control signal, driver's steering control signal, auxiliary braking control signal, and auxiliary steering control signal can enable the vehicle to perform safe and reliable braking and stop. In this embodiment, the value of the first preset time is adaptively set according to the driving speed, driving scenario, vehicle type, etc. In practical applications, it can be reasonably valued after experiments are carried out under multiple different driving scenarios, different vehicle types, and different vehicle speeds.

[0089] In some embodiments, if step S400 in the above embodiment is negative, it means that the driver fails to take over the steering within the first preset time after the tire blowout event. At this time, the vehicle steering will enter the EPS active steering braking mode. However, to improve the safety of the system, before entering the EPS active steering braking mode, the fault state of the EPS active steering braking mode should be judged. And when the EPS active steering braking mode is in a fault state, the steering function of the vehicle should be taken over by other safety systems to prevent unknown risks brought by taking over the vehicle steering when the EPS active steering braking mode is in a fault state. Therefore, it is necessary to judge the fault state of the EPS active steering braking mode before entering the EPS active steering braking mode. In a specific example, if it is judged that the EPS active steering braking mode is in a fault state before entering the EPS active steering braking mode, the EPS fail-safe mode is triggered. At this time, the steering and braking control of the vehicle are taken over by the assisted driving mode. If the driver takes over the steering during the whole process, steps S510 and S520 in the above embodiment are executed for the vehicle to perform steering and braking control. If the assisted driving mode controls the steering and braking of the vehicle during the whole process, steps S310 to S340 in the above embodiment are executed.

[0090] Refer to Figure 4, in some embodiments, the execution of the EPS active steering braking mode to brake the vehicle in step S600 of the above embodiment includes:

[0091] S610. Number each tire;

[0092] Since after a tire blowout occurs during vehicle driving, due to the different positions of the tire blowout, the braking control method and steering control method to be performed need to adapt to the tire blowout position for control. Therefore, it is necessary to pre-number each tire of the vehicle, so that when a tire blowout event occurs, the corresponding tire blowout position can be obtained, and finally correct braking control and steering control can be made.

[0093] In a specific embodiment, taking a four-wheel vehicle as an example, when numbering each tire, the tire located at the left front of the vehicle body is numbered as tire A, the tire located at the right front of the vehicle body is numbered as tire B, the tire located at the left rear of the vehicle body is numbered as tire C, and the tire located at the right rear of the vehicle body is numbered as tire D.

[0094] S620. Obtain the tire pressure data information corresponding to the number;

[0095] Among them, the tire pressure data information is obtained by respective corresponding sensors.

[0096] S630. Mark the target steering tire;

[0097] Among them, after receiving the corresponding tire pressure data information in step S620, if the decrease rate of the tire pressure data information reaches a preset threshold, it indicates that the tire corresponding to the tire pressure data information number has a blowout, and then this tire is marked as the target steering tire. In this embodiment, the preset threshold is set according to the difference change of the tire pressure before and after the tire blowout.

[0098] S640. Perform steering control on the target steering tire in combination with the current vehicle speed information, radar data information, and camera data information.

[0099] In this embodiment, when the target steering tire is marked, it can be known that a tire with a tire number corresponding to the target steering tire has a flat tire. During the vehicle driving process, the moving direction of the tire at the flat tire position deviates from the original driving route. Therefore, it is necessary to perform steering control on the tire at the flat tire position so that the vehicle brakes and stops according to a preset second driving route and a preset second driving speed. In this embodiment, the preset second driving route is related to the current vehicle speed information. Referring to the content described in steps S310 to S340 in the above embodiment: when the current vehicle speed information of the vehicle is higher than the preset vehicle speed threshold, it is necessary to keep driving in the current lane and decelerate according to a preset deceleration method at the same time. In this embodiment, the preset second driving speed is related to the current vehicle speed information. For example, when the current vehicle speed information > 100 km / h, the preset second driving speed is to decelerate the vehicle speed below the preset vehicle speed threshold within a certain period of time. Furthermore, after dividing the current vehicle speed information into multiple intervals, multiple time intervals are correspondingly set. Then, within the corresponding time intervals, the vehicle is decelerated below the preset vehicle speed threshold by outputting a braking control instruction. After it is monitored that the current vehicle speed information is lower than the preset vehicle speed threshold, a steering angle is output according to the current vehicle speed information, radar data information, and camera data information to implement lane change control on the vehicle, and then the vehicle brakes and stops to make the vehicle pull over to the side of the road and wait for relevant rescue.

[0100] Refer to Figure 5, an embodiment of the present invention provides a vehicle flat tire steering control system, which includes: a flat tire event data information acquisition module, a driving mode judgment module, an assisted driving braking module, a driver state judgment module, a human-machine co-driving braking module, and an active steering braking module; wherein, the flat tire event data information acquisition module is used to monitor in real time whether flat tire time data information is received, and trigger the driving mode judgment module to start working after receiving the flat tire event data information. The driving mode judgment module is used to judge the current driving mode, wherein the driving mode includes an assisted driving mode and a manual driving mode. When in the assisted driving mode, the assisted driving braking module works to execute the assisted driving braking mode to brake the vehicle; when in the manual driving mode, the driver state judgment module starts to work, which is used to judge the driver's state within a first preset time. The driver state judgment includes: whether the driver takes over the steering within the first preset time; if so, the human-machine co-driving braking module works to execute the human-machine co-driving braking mode to brake the vehicle; otherwise, the active steering braking module works to execute the EPS active steering braking mode to brake the vehicle. By controlling according to different driving modes of the vehicle and different driving states of the driver after receiving the flat tire event data information, the vehicle enters different braking modes, so that after a flat tire event occurs to the vehicle, the vehicle can be braked safely and reliably; it solves the technical problem that in the related art, the vehicle cannot be steered and controlled according to the current driving mode of the vehicle after a flat tire event occurs during driving, so that the vehicle can be safely braked.

[0101] In some embodiments, the assisted driving braking module includes: a first information receiving unit, a vehicle speed detection unit, a lane keeping braking unit, and a lane changing braking unit; wherein, the first information receiving unit is used to receive the current vehicle speed information, radar data information, and camera data information; the vehicle speed detection unit is used to detect whether the current vehicle speed information received by the first information receiving unit is greater than a preset vehicle speed threshold, and output a control signal to the lane keeping braking unit or the lane changing braking unit according to the detection result; when the current vehicle speed information is greater than the preset vehicle speed threshold, the lane position braking unit works, which is used to output a lane keeping control instruction to make the vehicle maintain driving in the current lane, and at the same time, output a braking control instruction to make the vehicle decelerate according to a preset deceleration method; when the current vehicle speed information is below the preset vehicle speed threshold, the lane changing braking unit works, which is used to output a pull-over control instruction according to the current vehicle speed information, the radar data information, and the camera data information, so that the vehicle automatically drives to the side of the road and stops.

[0102] In some embodiments, the human-machine co-driving braking module includes a second information receiving unit and a human-machine co-driving braking unit; wherein, the second information receiving unit is configured to receive a driver braking control signal and a driver steering control signal output by a driver, and the human-machine co-driving braking unit is configured to perform braking and steering control on the vehicle according to the driver braking control signal, the driver steering control signal, an auxiliary braking control signal, and an auxiliary steering control signal, so that the vehicle brakes and stops according to a preset first driving route and a preset first driving speed.

[0103] In some embodiments, the active steering braking module includes: a tire pressure data information acquisition unit, a flat tire determination unit, and an active steering control unit; wherein, the tire pressure data information acquisition unit is configured to number each tire and acquire the tire pressure data information corresponding to the number; the flat tire determination unit is configured to determine that the decrease rate of the tire pressure data information reaches a preset threshold, and then mark the tire corresponding to the number as a target steering control tire; the active steering control unit is configured to perform steering control on the target steering control tire by combining the current vehicle speed information, radar data information, and camera data information, so that the vehicle brakes and stops according to a preset second driving route and a preset second driving speed.

[0104] In this embodiment, the implementation process principles of each module and system of a vehicle flat tire steering control system are mutually referred to and corresponding to those of the vehicle flat tire steering control method described in the above embodiments, and will not be elaborated here.

[0105] The embodiment of the present invention further provides a vehicle, which includes a vehicle body and the vehicle flat tire steering control system described in any of the above embodiments. Among them, the vehicle flat tire steering control system is installed in the vehicle body. If the vehicle flat tire steering control system receives flat tire event data information, it executes an assisted driving braking mode, a human-machine co-driving braking mode, or an EPS active steering braking mode to brake the vehicle, so that after a flat tire event occurs in the vehicle, the vehicle can be safely and reliably braked; this solves the technical problem in the related art that after a flat tire event occurs during the driving of the vehicle, the vehicle cannot be steered according to the current driving mode of the vehicle, so that the vehicle can be safely braked.

[0106] The embodiment of the present invention further provides a computer-readable storage medium, which stores an executable program. When the executable program is executed by at least one processor, it implements the vehicle flat tire steering control method described in any of the above embodiments.

[0107] The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the scope of knowledge possessed by those of ordinary skill in the relevant art. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A method for controlling vehicle steering during a flat tire, characterized in that, Including: Real-time monitoring of whether tire blowout event data information is received; If so, further determine the current driving mode, where the current driving mode includes an assisted driving mode and a manual driving mode; When in the assisted driving mode, execute the assisted driving braking mode to brake the vehicle; When in the manual driving mode, judge the driver's state within a first preset time; If the driver takes over the steering within the first preset time, execute the human-machine co-driving braking mode to brake the vehicle; Otherwise, execute the EPS active steering braking mode to brake the vehicle.

2. The vehicle flat tire steering control method according to claim 1, characterized in that, The determination of the current driving mode includes: Judging the current driving mode by obtaining one or more of the driver's state information and the torque data information of the steering wheel.

3. The vehicle flat tire steering control method according to claim 1, characterized in that The execution of the assisted driving braking mode to brake the vehicle includes: Receiving the current vehicle speed information, radar data information, and camera data information; Judging whether the current vehicle speed information is greater than a preset vehicle speed threshold; If so, output a lane keeping control instruction to make the vehicle maintain its current lane, and at the same time, output a braking control instruction to make the vehicle decelerate according to a preset deceleration method; Otherwise, output a pull-over control instruction according to the current vehicle speed information, the radar data information, and the camera data information, so that the vehicle automatically drives to the roadside and stops.

4. The vehicle flat tire steering control method according to claim 3, characterized in that, The human-machine co-driving braking mode to brake the vehicle includes: Obtaining the driver's braking control signal and the driver's steering control signal output by the driver; Performing steering control and braking control on the vehicle according to the driver's braking control signal, the driver's steering control signal, the auxiliary braking control signal, and the auxiliary steering control signal, so that the vehicle brakes and stops according to a preset first driving route and a preset first driving speed.

5. The vehicle flat tire steering control method according to claim 3 or 4, characterized in that, The execution of the EPS active steering braking mode to brake the vehicle includes: Numbering each tire; Obtaining the tire pressure data information corresponding to the number; If the decrease rate of the tire pressure data information reaches a preset threshold, mark the tire corresponding to the number as the target steering control tire; Combining the current vehicle speed information, the radar data information, and the camera data information to perform steering control on the target steering control tire, so that the vehicle brakes and stops according to a preset second driving route and a preset second driving speed.

6. A vehicle flat tire steering control system, characterized in that, Including: A tire blowout event data information acquisition module for real-time monitoring of whether tire blowout event data information is received; A driving mode judgment module for judging the current driving mode, where the current driving mode includes an assisted driving mode and a manual driving mode; An assisted driving braking module for executing the assisted driving braking mode to brake the vehicle when in the assisted driving mode; A driver state judgment module for judging the driver's state within a first preset time when in the manual driving mode; A human-machine co-driving braking module for executing the human-machine co-driving braking mode to brake the vehicle; An active steering braking module for executing the EPS active steering braking mode to brake the vehicle.

7. The vehicle flat tire steering control system according to claim 6, wherein The assisted driving braking module includes: A first information receiving unit, configured to receive current vehicle speed information, radar data information, and camera data information; A vehicle speed detection unit, configured to determine whether the current vehicle speed information is greater than a preset vehicle speed threshold; A lane keeping braking unit, configured to output a lane keeping control instruction to keep the vehicle traveling in the current lane, and at the same time, output a braking control instruction to make the vehicle decelerate according to a preset deceleration mode; A lane changing braking unit, configured to output a pulling-over control instruction according to the current vehicle speed information, the radar data information, and the camera data information, so that the vehicle automatically travels to the roadside and stops; 8. The vehicle flat tire steering control system according to claim 6 or 7, characterized in that, The human-machine co-driving braking module includes: A second information receiving unit, configured to obtain a driver braking control signal and a driver steering control signal output by a driver; A human-machine co-driving braking unit, configured to perform braking and steering control on the vehicle according to the driver braking control signal, the driver steering control signal, an auxiliary braking control signal, and an auxiliary steering control signal, so that the vehicle performs braking and stops according to a preset first driving route and a preset first driving speed; 9. The vehicle flat tire steering control system according to claim 7, wherein The active steering braking module includes: A tire pressure data information obtaining unit, configured to number each tire and obtain the tire pressure data information corresponding to the number; A flat tire judgment unit, configured to judge that the falling rate of the tire pressure data information reaches a preset threshold, and then mark the tire corresponding to the number as a target steering control tire; An active steering control unit, configured to perform steering control on the target steering control tire by combining the current vehicle speed information, the radar data information, and the camera data information, so that the vehicle performs braking and stops according to a preset second driving route and a preset second driving speed; 10. A vehicle, characterized in that, Comprising a vehicle body and a vehicle flat tire steering control system according to any one of claims 6 to 9; Wherein, the vehicle flat tire steering control system is installed in the vehicle body; 11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an executable program, and the executable program is executed by a processor to implement the vehicle flat tire steering control method according to any one of claims 1 to 5.

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