Wheel suspension detection and vehicle escape method and related equipment

Abstract

The invention provides a wheel suspension detection and vehicle escape method and related equipment, and relates to the technical field of vehicle safety control, comprising: acquiring first target information and second target information of a vehicle in a preset driving state in real time, the first target information comprising vehicle speed, transverse acceleration, longitudinal acceleration and yaw velocity, and the second target information comprising longitudinal acceleration and yaw velocity; the second target information comprises the ground clearance of each wheel and the suspension height; based on the first target information, the roll angle speed of the vehicle at the current moment is determined, and the roll angle speed represents the change rate of the inclination angle of the vehicle transverse axis relative to the horizontal plane; and when it is determined that the roll angle speed meets the preset condition, whether the target wheel of the vehicle is suspended or not is determined according to the second target information. The problem that in the prior art, whether vehicle wheels are in a suspended state on a complex road surface cannot be accurately recognized is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle safety control, and in particular to a wheel suspension detection and vehicle escape method and related equipment. Background Art

[0002] When driving on roads with complex terrain such as shell craters, the wheels lose contact with the ground due to potholes and the friction is close to zero, causing the wheels to slip, causing the vehicle to get stuck in the pit and unable to get out. Or when vehicles meet on a narrow road and there is a height difference on one side of the road, if the driver makes a wrong estimate, the wheels will go off the road and hang in the air, causing the wheels to slip and lose traction and spin at high speed, and there is also a risk of scratching the car chassis. When one side of the vehicle's wheels are stuck in a mud pit or hanging in the air, if there is no differential lock or electronic limited slip, the power will be wasted by the hanging wheel and the vehicle will stagnate.

[0003] Existing methods to get out of a vehicle with wheels hanging in the air include: manually activating the differential lock, lightly pressing the accelerator to coordinate with the electronic system to automatically distribute power, using inertia or external traction assistance (such as padding with stones or using a tow rope). Differential locks are commonly used in off-road vehicles, and are rarely used in passenger vehicles such as SUVs and sedans. Using differential locks to get out of a vehicle is not suitable for solving the problems faced by most users.

[0004] The electronic system usually intervenes in the wheel-end torque control after the wheel is suspended and idling at high speed, which has a certain lag. The commonly used control method is to suppress slippage by reducing the engine's torque output or increasing the braking force of the suspended wheel. However, the existing technology cannot accurately identify whether the vehicle's wheels are in a suspended state on complex roads, which leads to misjudgment when controlling the vehicle's wheels to escape from air suspension, resulting in a poor driving experience for users. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a wheel suspension detection and vehicle escape method and related equipment, which solves the problem in the prior art that it is impossible to accurately identify whether the vehicle wheels are in a suspended state on a complex road surface.

[0006] At least one embodiment of the present invention provides a method for detecting wheel suspension, comprising:

[0007] Acquire first target information and second target information of the vehicle in a preset driving state in real time, wherein the first target information includes vehicle speed, lateral acceleration, longitudinal acceleration and yaw angular velocity, and the second target information includes ground clearance and suspension height of each wheel;

[0008] Determine, based on the first target information, a roll angular velocity of the vehicle at a current moment, wherein the roll angular velocity is characterized as a rate of change of an inclination angle of a lateral axis of the vehicle relative to a horizontal plane;

[0009] When it is determined that the roll angular velocity satisfies a preset condition, determine whether the target wheel of the vehicle is suspended according to the second target information.

[0010] The present invention has at least the following beneficial effects:

[0011] The present invention calculates the change rate of the inclination angle of the vehicle's transverse axis relative to the horizontal plane to determine whether the vehicle is stable. When the vehicle is in an unstable state, by combining the ground clearance of each wheel and the suspension height, comprehensively determine whether the vehicle wheel is in a suspended state. This judgment and detection method takes into account multiple factors, and its detection accuracy is higher and more accurate.

[0012] In a wheel suspension detection method provided by one embodiment of the present invention, the determining whether the target wheel of the vehicle is suspended according to the second target information includes:

[0013] Determine the suspension height calibration value and the ground clearance calibration value of each wheel of the vehicle in the current vehicle environment, where the vehicle environment includes the current driving mode of the vehicle, the load condition, and the road surface condition;

[0014] If the suspension height of the target wheel is greater than the suspension height calibration value, the difference between the suspension height of the target wheel and the average suspension height of the other wheels is greater than a first preset value, and the ground clearance of the target wheel is higher than a second preset value of the ground clearance calibration value, then determine that the target wheel is in a suspended state.

[0015] The present invention has at least the following beneficial effects:

[0016] By judging that the difference between the suspension height of the wheel and the average suspension height of the other wheels is greater than a first preset value, and the suspension height of the target wheel is greater than the suspension height calibration value, and at the same time combining that the ground clearance of the target wheel is higher than the second preset value of the ground clearance calibration value, it is possible to comprehensively judge whether the target wheel is in a suspended state from multiple aspects, and its accuracy is higher.

[0017] In a wheel suspension detection method provided by one embodiment of the present invention, the determining the roll angular velocity of the vehicle at the current moment based on the first target information includes:

[0018] Based on the first target information, determine the initial roll angular velocity of the vehicle at the current moment;

[0019] Combine the historical roll angular velocity at the previous moment of the current moment and a preset filtering coefficient to filter the initial roll angular velocity to obtain the roll angular velocity of the vehicle at the current moment.

[0020] The present invention has at least the following beneficial effects:

[0021] By filtering the initial roll angular velocity of the vehicle, noise interference can be eliminated, signal quality can be improved, and signal processing efficiency can be optimized.

[0022] In a wheel suspension detection method provided in one embodiment of the present invention, the step of obtaining the distance of each wheel from the ground includes:

[0023] The distance information between the preset position on the side of each wheel of the vehicle and the ground is obtained by an infrared ranging sensor, and each of the distance information is used as the ground clearance of each corresponding wheel.

[0024] The present invention has at least the following beneficial effects:

[0025] By using the distance information from the ground at a preset position as the ground clearance of each wheel, it is possible to avoid using expensive equipment such as radar for detection, making it more economical and practical to detect the ground clearance.

[0026] At least one embodiment of the present invention further provides a wheel suspension detection system, comprising:

[0027] a data acquisition module, for acquiring in real time first target information and second target information of the vehicle in a preset driving state, wherein the first target information includes vehicle speed, lateral acceleration, longitudinal acceleration and yaw angular velocity, and the second target information includes ground clearance and suspension height of each wheel;

[0028] A roll angle calculation module, based on the first target information, determines the roll angle velocity of the vehicle at a current moment, wherein the roll angle velocity is characterized as a rate of change of an inclination angle of a vehicle transverse axis relative to a horizontal plane;

[0029] The judgment module determines whether the target wheel of the vehicle is suspended according to the second target information when it is determined that the roll angular velocity meets a preset condition.

[0030] At least one embodiment of the present invention further provides a vehicle escape method, comprising:

[0031] Based on the above-mentioned wheel suspension detection method, determining whether the target wheel is suspended;

[0032] When it is determined that the target wheel is in a suspended state, applying a preset braking pressure to the target wheel;

[0033] Real-time detection of a first wheel speed of the target wheel and a second wheel speed of a wheel coaxial with the target wheel;

[0034] When the difference between the first wheel speed and the second wheel speed is greater than a preset value, based on the sliding film control algorithm, the braking pressure applied to the target wheel is adjusted until the difference between the first wheel speed and the second wheel speed is less than a preset value to complete the escape of the vehicle.

[0035] The present invention has at least the following beneficial effects:

[0036] When it is detected that the wheel is suspended, a basic braking pressure is applied, and when the difference between the first wheel speed and the second wheel speed is greater than the preset value, a braking pressure is calculated again, so that the pressure building module applies a greater braking force to the wheel end. This can more effectively help the vehicle enter the escape state in advance, improve the vehicle's escape ability, and ensure the safety of the vehicle.

[0037] In a vehicle escape method provided in one embodiment of the present invention, based on a sliding film control algorithm, adjusting the braking pressure applied to the target wheel includes:

[0038] The braking pressure applied to the target wheel is adjusted by the following formula:

[0039] P=P max ·sign(e ω )+K p ·e ω +K d ·e ω

[0040] Wherein, P represents the adjusted braking pressure applied to the target wheel, and P max represents the maximum brake pressure allowed to be output, the sign() represents the synovial control function, and the e ω is represented by the deviation between the difference between the first wheel speed and the second wheel speed and the preset value, the K p and the K d are all expressed as proportional differential terms.

[0041] At least one embodiment of the present invention further provides a vehicle escape system, comprising:

[0042] A suspension detection module, based on the above-mentioned wheel suspension detection method, determines whether the target wheel is suspended;

[0043] a first pressure building module, applying a preset braking pressure to the target wheel when determining that the target wheel is in a suspended state;

[0044] A wheel speed detection module detects in real time a first wheel speed of the target wheel and a second wheel speed of a wheel coaxial with the target wheel;

[0045] The second pressure building module adjusts the braking pressure applied to the target wheel based on a sliding film control algorithm when the difference between the first wheel speed and the second wheel speed is greater than a preset value, until the difference between the first wheel speed and the second wheel speed is less than a preset value, so as to complete the escape of the vehicle.

[0046] The present invention also provides a computer-readable storage medium, characterized in that instructions are stored in the computer-readable storage medium, and when the instructions are executed on a terminal device, the terminal device executes a wheel suspension detection method as described above, or a vehicle escape method as described above.

[0047] The present invention also provides an electronic device, comprising a memory, a processor and a program stored in the memory and running on the processor, characterized in that when the processor executes the program, it implements a wheel suspension detection method as described above, or a vehicle escape method as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A schematic diagram of a process flow of a wheel suspension detection method according to the present invention;

[0049] Figure 2 A schematic diagram of the signal acquisition method of the present invention;

[0050] Figure 3 A schematic diagram of the connection relationship of a wheel suspension detection system according to the present invention;

[0051] Figure 4 A schematic diagram of a process flow of a vehicle escape method according to the present invention;

[0052] Figure 5 A logic schematic diagram of a vehicle escape system according to the present invention;

[0053] Figure 6 A schematic diagram of the connection relationship of a vehicle escape system according to the present invention;

[0054] Figure 7 This is a schematic structural diagram of an electronic device provided by the present invention.

[0055] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0056] 10. Electronic device, 11. Processor, 12. Read-only memory (ROM), 13. Random access memory (RAM), 14. Bus, 15. Input / output (I / O) interface, 16. Input unit, 17. Output unit, 18. Storage unit, 19. Communication unit. DETAILED DESCRIPTION

[0057] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0058] The present invention provides a method for detecting wheel suspension. Please refer here Figure 1 as shown, including:

[0059] Obtain the first target information and the second target information of the vehicle in a preset driving state in real time. The first target information includes vehicle speed, lateral acceleration, longitudinal acceleration, and yaw rate. The second target information includes the ground clearance of each wheel and the suspension height. The preset driving state is that the vehicle speed is lower than kilometers per hour or the vehicle is in a stationary state;

[0060] Based on the first target information, determine the roll rate of the vehicle at the current moment. The roll rate is characterized as the rate of change of the inclination angle of the vehicle's transverse axis relative to the horizontal plane;

[0061] When it is determined that the roll rate meets the preset conditions, determine whether the target wheels of the vehicle are suspended according to the second target information.

[0062] The present invention calculates the rate of change of the inclination angle of the vehicle's transverse axis relative to the horizontal plane to judge whether the vehicle is stable. When the vehicle is in an unstable state, by combining the ground clearance of each wheel and the suspension height, comprehensively judge whether the vehicle wheels are in a suspended state. This judgment and detection method takes into account multiple factors, and its detection accuracy is higher and more accurate.

[0063] Specifically, as Figure 2 shown, the steps for obtaining the ground clearance of each wheel include:

[0064] Obtain the distance information from the ground at a preset position on the side of each wheel of the vehicle through an infrared ranging sensor, and use each distance information as the ground clearance of the corresponding wheel. Among them,

[0065] The infrared ranging sensor is installed at the four wheels to detect the ground clearance of the wheels, and outputs an analog voltage to the electronic parking brake integrated module through a hard wire (i.e., a physical wire harness). After receiving the measured voltage value, the electronic parking brake integrated module converts it into the actual ground clearance of the wheel;

[0066] The above steps for obtaining the vehicle speed include: First, obtain the wheel speed of the vehicle. The wheel speed sensors of each wheel are respectively configured on the side of the four wheels. Each wheel speed sensor is connected to the electronic parking brake integrated module through a hard wire. The electronic parking brake integrated module receives the wheel speed pulse signal sent by the wheel speed sensor according to a preset pulse frequency, and converts the wheel speed pulse signal on each wheel side into the wheel speed according to the preset pulse frequency;

[0067] Subsequently, the vehicle speed is calculated based on the wheel speed signal: v (m / s) = ω × 2πR, where ω is the wheel speed and R is the effective rolling radius of the wheel.

[0068] The above suspension height is obtained through a suspension height sensor. The suspension height sensor is installed between the suspension swing arm and the vehicle body to detect changes in the vehicle body suspension height and is connected to the suspension controller through a hard wire. After decoding the hard wire digital signal collected by the suspension controller, the suspension height signal is transmitted to the electronic brake control module through the CAN bus (the CAN bus is a serial communication network and a protocol that allows multiple microcontrollers and devices to communicate within the same network).

[0069] The IMU inertial sensor is used to detect changes in the vehicle body attitude and is integrated inside the electronic brake control module. Through I2C communication (I2C (Inter-Integrated Circuit) is a synchronous, half-duplex, multi-master / slave structure serial communication protocol widely used in the communication between sensors, memories, displays, and other devices and microcontrollers), the lateral acceleration (the acceleration of the vehicle in the left-right direction (perpendicular to the driving direction), usually caused by the centrifugal force or lateral force during turning), longitudinal acceleration (the acceleration of the vehicle in the forward / backward direction, reflecting the intensity of acceleration or deceleration), and yaw angular velocity (the angular velocity of the vehicle rotating around the vehicle body vertical axis (Z-axis), that is, a quantitative index of "how fast it turns" (unit: rad / s or ° / s)) signals are transmitted to the electronic brake control module.

[0070] In the above embodiment, after obtaining the first target information, the calculation of the vehicle roll angular velocity is performed. The specific steps include:

[0071] Using the kinematic relationship between the output of the IMU and the derivatives of the Euler angles and ignoring the earth's angular rotation rate, the vehicle motion equation can be written as

[0072]

[0073] where v with subscripts x, y, z are the velocities along the x-axis, y-axis, and z-axis in the vehicle body coordinate system; a with subscripts x, y, z are the longitudinal, lateral, and vertical accelerations along the x-axis, y-axis, and z-axis in the vehicle body coordinate system; φ, θ, and ψ are the roll angle, pitch angle, and yaw angle respectively; g is the acceleration due to gravity; p, q, and r are the roll angular velocity, pitch angular velocity, and yaw angular velocity respectively.

[0074] Since the vehicle moves slowly or is stationary on the road surface, the yaw angle ψ and the vertical velocity v z are usually very small and can be ignored. Therefore, the following proposed roll angle calculation equation is only based on equations (a), (b), (d)

[0075]

[0076] At this time, the calculation formula for the roll angular velocity (roll angle change rate) can be obtained as follows:

[0077]

[0078] Where: p(k) is the roll angular velocity at the current moment, φ k is the roll angle at the current moment, φ k-1 is the roll angle at the previous moment, Δt is the sampling time, and the subscript k represents the current moment.

[0079] Optionally, after calculating the roll angular velocity at the current moment, use it as the initial roll angular velocity. Subsequently, combine the historical roll angular velocity at the previous moment of the current moment and the preset filtering coefficient to filter the initial roll angular velocity to obtain the roll angular velocity of the vehicle at the current moment.

[0080] The specific steps include:

[0081] Use a filtering algorithm to filter the calculated initial roll angular velocity:

[0083] p filtered (k) = αp x (k) + (1 - α)·p filtered (k - 1)

[0084] Where: α is the filtering coefficient (0 - 1), which controls the confidence in the gyroscope; p filtered (k) and p filtered (k - 1) respectively represent the filtered roll angular velocities at the current moment and the previous moment.

[0085] In an exemplary embodiment provided by the present invention, after filtering the roll angular velocity at the current moment to obtain the roll angular velocity, determine whether the roll angular velocity meets the preset condition. The preset condition is whether the roll angular velocity at the current moment is greater than the calibration value. The calibration value can be determined according to the vehicle model. If the roll angular velocity at the current moment is greater than the calibration value, it can be determined that the vehicle state is unstable;

[0086] In this case, it is possible to determine whether the target wheel of the vehicle is suspended according to the second target information, including:

[0087] Determine the suspension height calibration value and the ground clearance calibration value of each wheel of the vehicle in the current vehicle environment. The vehicle environment includes the current driving mode of the vehicle, the load condition, and the road surface condition;

[0088] When the suspension height of the target wheel is greater than the calibrated suspension height value, and the difference between the suspension height of the target wheel and the average suspension height of the other wheels is greater than the first preset value, and the ground clearance of the target wheel is higher than the second preset value of the calibrated ground clearance value, it is determined that the target wheel is in a suspended state.

[0089] Specifically:

[0090] If H FL > H s and H FL -(H FR + H RL + H RR ) / 3> ΔH and (L FL - L S )> ΔL, it is determined that the left front wheel is suspended;

[0091] If H FR > H s and H FR -(H FL + H RL + H RR ) / 3> ΔH and (L FR - L S )> ΔL, it is determined that the left rear wheel is suspended;

[0092] If H RL > H s and H RL -(H FL + H FR + H RR ) / 3> ΔH and (L RL - L S )> ΔL, it is determined that the right front wheel is suspended;

[0093] If H RR > H s and H RR -(H FL + H FR + H RL ) / 3> ΔH and (L RR - L S )> ΔL, it is determined that the right rear wheel is suspended;

[0094] Among them, H FL represents the suspension height of the left front wheel, H FR represents the suspension height of the left rear wheel, H RL represents the suspension height of the right front wheel, H RR represents the suspension height of the right rear wheel, H s represents the calibrated suspension height value, and ΔH represents the first preset value;

[0095] LFL Expressed as the distance of the left front wheel from the ground, L FR Expressed as the distance of the left rear wheel from the ground, L RL Expressed as the distance of the right front wheel from the ground, L RR denoted as the distance of the right rear wheel from the ground, and ΔL denoted as the second preset value;

[0096] The above ground distance is measured by the car's infrared sensor, L s Expressed as the suspension height calibration value, it refers to the height from the installation position to the ground of the infrared sensor when the wheel is not off the ground. It is a calibration value obtained by collecting and processing data from the actual vehicle in different modes, different loads, and different road surfaces. ΔH and ΔL are also calibration values. Because the suspension height of each wheel will be different under different loads and different road surfaces, it is necessary to calibrate the actual vehicle to collect data and make modifications based on the actual data.

[0097] By judging that the difference between the wheel suspension height and the average suspension height of the remaining wheels is greater than a first preset value, and the suspension height of the target wheel is greater than a suspension height calibration value, and combining that the ground clearance of the target wheel is higher than a second preset value of the ground clearance calibration value, it is possible to comprehensively judge whether the target wheel is in a suspended state from multiple aspects with higher accuracy.

[0098] Through the above method, it is possible to determine whether the drive wheel is suspended and whether timely intervention is needed to brake the wheel. If no control is performed, the suspended wheel will slip due to insufficient friction, causing the vehicle to lose traction.

[0099] At least one embodiment of the present invention further provides a method for escaping a vehicle, which is referred to herein Figure 4 As shown, including;

[0100] Based on the above-mentioned wheel suspension detection method, determining whether the target wheel is suspended;

[0101] When it is determined that the target wheel is in a suspended state, applying a preset braking pressure to the target wheel;

[0102] Real-time detection of a first wheel speed of a target wheel and a second wheel speed of a wheel coaxial with the target wheel;

[0103] When the difference between the first wheel speed and the second wheel speed is greater than a preset value, based on the sliding film control algorithm, the braking pressure applied to the target wheel is adjusted until the difference between the first wheel speed and the second wheel speed is less than a preset value to complete the vehicle's escape.

[0104] When the wheel is detected to be suspended, a basic braking pressure is applied, and when the difference between the first wheel speed and the second wheel speed is greater than the preset value, a braking pressure is calculated again, so that the pressure building module applies a greater braking force to the wheel end. Assume that the wheel speed of the slipping wheel is ω1, the wheel speed of the coaxial wheel of the slipping wheel is ω2, Δω is the allowable error of the wheel difference between the two wheels within a certain range, and the wheel difference between the two wheels is e ω =ω1-ω2-Δω. The wheel difference between the two wheels is set as a state variable, and the sliding film control is used (by designing the sliding surface, the system state is forced to converge to the desired trajectory within a finite time, and it has strong robustness to parameter uncertainty and external disturbances.) to adjust the brake pressure so that: e ω Approaching 0 can more effectively help the vehicle enter the escape state in advance, improve the vehicle's escape ability, and ensure the safety of the vehicle.

[0105] Specifically, based on the sliding film control algorithm, the brake pressure applied to the target wheel is adjusted, including:

[0106] The brake pressure applied to the target wheel is adjusted by the following formula:

[0107] P=P max ·sign(e ω )+K p ·e ω +K d ·e ω

[0108] Where P represents the adjusted braking pressure applied to the target wheel, P max It represents the maximum brake pressure allowed to be output, sign() represents the sliding film control function, e ω It is expressed as the deviation between the difference between the first wheel speed and the second wheel speed and the preset value, K p and K d are all expressed as proportional differential terms.

[0109] After calculating the required braking pressure, the ECU module builds up pressure by outputting the valves and motors inside the voltage and current control module. During the pressure building process, hydraulic oil is output to the wheel cylinder of the suspended wheel through the oil pipeline. The increase in the wheel cylinder hydraulic pressure will cause the brake pads to clamp the tire for braking.

[0110] The present invention also provides a wheel suspension detection system, please refer to Figure 3 As shown, including:

[0111] A data acquisition module, which acquires first target information and second target information of the vehicle in a preset driving state in real time, wherein the first target information includes vehicle speed, lateral acceleration, longitudinal acceleration and yaw angular velocity, and the second target information includes the ground clearance and suspension height of each wheel;

[0112] A roll angle calculation module, based on the first target information, determines the roll angle velocity of the vehicle at a current moment, where the roll angle velocity is characterized as a rate of change of the inclination angle of the vehicle's transverse axis relative to a horizontal plane;

[0113] The judgment module determines whether the target wheel of the vehicle is suspended according to the second target information when it is determined that the roll angular velocity meets the preset condition.

[0114] Furthermore, the judgment module specifically includes:

[0115] Determine the suspension height calibration value and the ground clearance calibration value of each wheel of the vehicle under the current vehicle environment, wherein the vehicle environment includes the current driving mode, load condition and road condition of the vehicle;

[0116] When the suspension height of the target wheel is greater than the suspension height calibration value, and the difference between the suspension height of the target wheel and the average suspension height of the remaining wheels is greater than a first preset value, the ground clearance of the target wheel is higher than a second preset value of the ground clearance calibration value, then it is determined that the target wheel is in a suspended state.

[0117] Furthermore, the roll angle calculation module specifically includes:

[0118] Based on the first target information, determining an initial roll angular velocity of the vehicle at a current moment;

[0119] The initial roll angular velocity is filtered by combining the historical roll angular velocity at the previous moment of the current moment and the preset filter coefficient to obtain the roll angular velocity of the vehicle at the current moment.

[0120] Furthermore, the data acquisition module specifically includes:

[0121] The distance information between the preset position on each wheel side of the vehicle and the ground is obtained by an infrared ranging sensor, and each distance information is used as the ground clearance of each corresponding wheel.

[0122] The present invention also provides a vehicle escape system, which is described in conjunction with Figure 5 and Figure 6 As shown, including;

[0123] A suspension detection module, based on a wheel suspension detection method as described above, determines whether a target wheel is suspended;

[0124] a first pressure building module, which applies a preset braking pressure to the target wheel when determining that the target wheel is in a suspended state;

[0125] A wheel speed detection module detects in real time a first wheel speed of a target wheel and a second wheel speed of a wheel coaxial with the target wheel;

[0126] The second pressure building module, when the difference between the first wheel speed and the second wheel speed is greater than a preset value, adjusts the braking pressure applied to the target wheel based on the sliding film control algorithm until the difference between the first wheel speed and the second wheel speed is less than a preset value to complete the vehicle's escape.

[0127] Furthermore, the second pressure building module specifically includes:

[0128] The brake pressure applied to the target wheel is adjusted by the following formula:

[0129] P=P max ·sign(e ω )+K p ·e ω +K d ·e ω

[0130] Where P represents the adjusted braking pressure applied to the target wheel, P max It represents the maximum brake pressure allowed to be output, sign() represents the sliding film control function, e ω It is expressed as the deviation between the difference between the first wheel speed and the second wheel speed and the preset value, K p and K d are all expressed as proportional differential terms.

[0131] The present invention also provides a computer-readable storage medium, characterized in that instructions are stored in the computer-readable storage medium, and when the instructions are executed on a terminal device, the terminal device executes a wheel suspension detection method as described above, or a vehicle escape method as described above.

[0132] The present invention also provides an electronic device, comprising a memory, a processor and a program stored in the memory and running on the processor, characterized in that when the processor executes the program, it implements a wheel suspension detection method as described above, or a vehicle escape method as described above.

[0133] Figure 7 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. An electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. An electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0134] likeFigure 7 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0135] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0136] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a wheel suspension detection method or a vehicle escape method.

[0137] In some embodiments, a wheel suspension detection method or a vehicle escape method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of a wheel suspension detection method or a vehicle escape method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute a wheel suspension detection method or a vehicle escape method in any other appropriate manner (for example, by means of firmware).

[0138] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0139] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on the remote machine or server.

[0140] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. A more specific example of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0141] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or an LCD (liquid crystal display)); and a keyboard and a pointing device (e.g., a mouse or a trackball), by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input received from the user can be in any form (including acoustic input, voice input, or tactile input).

[0142] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0143] A computing system can include a client and a server. The client and the server are generally far from each other and usually interact through a communication network. The client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0144] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" can explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0145] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc., mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily 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, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0146] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A wheel suspension detection method, characterized in that: include: Acquire first target information and second target information of the vehicle in a preset driving state in real time, wherein the first target information includes vehicle speed, lateral acceleration, longitudinal acceleration and yaw angular velocity, and the second target information includes ground clearance and suspension height of each wheel; Determine, based on the first target information, a roll angular velocity of the vehicle at a current moment, wherein the roll angular velocity is characterized as a rate of change of an inclination angle of a lateral axis of the vehicle relative to a horizontal plane; When it is determined that the roll angular velocity satisfies a preset condition, it is determined whether the target wheel of the vehicle is suspended according to the second target information.

2. A wheel suspension detection method according to claim 1, characterized in that: Determining whether the target wheel of the vehicle is suspended according to the second target information includes: Determining a suspension height calibration value and a ground clearance calibration value of each wheel of the vehicle under a current vehicle environment, wherein the vehicle environment includes a current driving mode, a load condition, and a road condition of the vehicle; When the suspension height of the target wheel is greater than the suspension height calibration value, the difference between the suspension height of the target wheel and the average suspension height of the remaining wheels is greater than a first preset value, and the ground clearance of the target wheel is higher than a second preset value of the ground clearance calibration value, it is determined that the target wheel is in a suspended state.

3. A wheel suspension detection method according to claim 1, characterized in that: Determining the roll angular velocity of the vehicle at the current moment based on the first target information includes: Determining an initial roll angular velocity of the vehicle at a current moment based on the first target information; The initial roll angular velocity is filtered by combining the historical roll angular velocity at the previous moment before the current moment and a preset filter coefficient to obtain the roll angular velocity of the vehicle at the current moment.

4. A wheel suspension detection method according to claim 1, characterized in that: The step of obtaining the distance of each wheel from the ground comprises: The distance information between the preset position on the side of each wheel of the vehicle and the ground is obtained by an infrared ranging sensor, and each of the distance information is used as the ground clearance of each corresponding wheel.

5. A wheel suspension detection system, characterized in that: include: a data acquisition module, for acquiring in real time first target information and second target information of the vehicle in a preset driving state, wherein the first target information includes vehicle speed, lateral acceleration, longitudinal acceleration and yaw angular velocity, and the second target information includes ground clearance and suspension height of each wheel; A roll angle calculation module, based on the first target information, determines the roll angle velocity of the vehicle at a current moment, wherein the roll angle velocity is characterized as a rate of change of an inclination angle of a vehicle transverse axis relative to a horizontal plane; The judgment module determines whether the target wheel of the vehicle is suspended according to the second target information when it is determined that the roll angular velocity meets a preset condition.

6. A method for escaping a vehicle, characterized in that: include; Based on a wheel suspension detection method according to any one of claims 1 to 4, determining whether the target wheel is suspended; When it is determined that the target wheel is in a suspended state, applying a preset braking pressure to the target wheel; Real-time detection of a first wheel speed of the target wheel and a second wheel speed of a wheel coaxial with the target wheel; When the difference between the first wheel speed and the second wheel speed is greater than a preset value, based on the sliding film control algorithm, the braking pressure applied to the target wheel is adjusted until the difference between the first wheel speed and the second wheel speed is less than a preset value to complete the escape of the vehicle.

7. A vehicle escape method according to claim 6, characterized in that: Adjusting the braking pressure applied to the target wheel based on a sliding film control algorithm includes: The braking pressure applied to the target wheel is adjusted by the following formula: P=P max ·sign(e ω )+K p ·E ω +K d ·E ω Wherein, P represents the adjusted braking pressure applied to the target wheel, and P max represents the maximum brake pressure allowed to be output, the sign() represents the synovial control function, and the e ω is represented by the deviation between the difference between the first wheel speed and the second wheel speed and the preset value, the K p and the K d are all expressed as proportional differential terms.

8. A vehicle escape system, characterized in that: include; A suspension detection module, based on a wheel suspension detection method according to any one of claims 1 to 4, determines whether the target wheel is suspended; a first pressure building module, applying a preset braking pressure to the target wheel when determining that the target wheel is in a suspended state; A wheel speed detection module detects in real time a first wheel speed of the target wheel and a second wheel speed of a wheel coaxial with the target wheel; The second pressure building module adjusts the braking pressure applied to the target wheel based on a sliding film control algorithm when the difference between the first wheel speed and the second wheel speed is greater than a preset value, until the difference between the first wheel speed and the second wheel speed is less than a preset value, so as to complete the escape of the vehicle.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, which, when executed on a terminal device, enable the terminal device to execute a wheel suspension detection method as described in any one of claims 1 to 4, or a vehicle escape method as described in claim 6 or 7.

10. An electronic device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, it implements a wheel suspension detection method as described in any one of claims 1 to 4, or a vehicle escape method as described in claim 6 or 7.

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