Vehicle escape processing method and device, electronic equipment and readable storage medium

Abstract

The invention relates to a vehicle escape processing method and device, electronic equipment and a readable storage medium. A vehicle suspension is controlled to drive a vehicle body to move vertically when the vehicle is in an out-of-trap mode, the vertical acceleration of the vehicle body during vertical movement is obtained, the supporting force of the suspension to the vehicle is determined according to the vertical acceleration, and the output power of wheels of the vehicle is increased or recovered based on the magnitude of the supporting force and the height of the vehicle body, so that the vehicle is out of trap. Compared with a traditional mode of escaping by requesting external rescue, the method has the advantages that the supporting force of the suspension to the vehicle is determined by combining the vertical acceleration of the vehicle body when the vehicle suspension moves vertically to the vehicle body in the escaping mode, and the output power of the wheels is increased or recovered based on the supporting force and the height of the vehicle body; therefore, through vertical movement of the vehicle body and output power adjustment of the wheels, the vehicle is helped to escape cooperatively, and the escape efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle safety technology, and in particular to a vehicle escape method, device, electronic device, computer-readable storage medium, and computer program product. Background Art

[0002] As one of the necessary means of transportation for daily travel, vehicles need to travel in complex and changeable terrains. During the driving process, the vehicle may get stuck and difficult to get out. Therefore, the vehicle's ability to get out of trouble is particularly important. At present, when a vehicle is stuck in sand, mud or deep pits, the way to control the vehicle to get out of trouble is usually to seek external rescue teams to get out of trouble. However, there are many limitations to the way of getting out of trouble by seeking external rescue, which leads to reduced efficiency of getting out of trouble.

[0003] Therefore, when a vehicle is in trouble, the current method for getting the vehicle out of trouble has the defect of low efficiency. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle escape processing method, device, electronic device, computer-readable storage medium and computer program product that can improve the escape efficiency in response to the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a method for escaping a vehicle, comprising:

[0006] When the vehicle is in an escape mode, a vertical acceleration of the vehicle body is obtained; the vertical acceleration represents the acceleration of the vehicle body in a direction perpendicular to the ground when the suspension of the vehicle drives the vehicle body to move vertically;

[0007] determining a support force of the suspension on the vehicle according to the vertical acceleration;

[0008] If the supporting force is greater than the supporting force threshold, the output power of the wheels of the vehicle is increased or restored to the initial power according to the height of the vehicle body, so as to free the vehicle; the initial power is the output power of the wheels when entering the escape mode;

[0009] If the supporting force is less than or equal to the supporting force threshold, the output power is restored to the initial power to free the vehicle from trouble.

[0010] In a second aspect, the present application also provides a vehicle escape processing device, comprising:

[0011] An acquisition module, used for acquiring the vertical acceleration of the vehicle body when the vehicle is in an escape mode; the vertical acceleration represents the acceleration of the vehicle body in a direction perpendicular to the ground when the suspension of the vehicle drives the vehicle body to move vertically;

[0012] A determination module, configured to determine the supporting force of the suspension on the vehicle according to the vertical acceleration.

[0013] A first processing module, configured to, if the supporting force is greater than a supporting force threshold, increase the output power of the wheels of the vehicle or restore the output power to an initial power according to the height of the vehicle body, so as to enable the vehicle to get out of trouble; the initial power is the output power of the wheels when entering the trouble-getting-out mode.

[0014] A second processing module, configured to, if the supporting force is less than or equal to the supporting force threshold, restore the output power to the initial power, so as to enable the vehicle to get out of trouble.

[0015] In a third aspect, the present application further provides an electronic device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the steps of the above method are implemented.

[0016] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0017] In a fifth aspect, the present application further provides a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0018] For the vehicle trouble-getting-out processing method, device, electronic device, computer-readable storage medium and computer program product described above, when the vehicle is in the trouble-getting-out mode, the vehicle suspension is controlled to drive the vehicle body to move vertically, and the vertical acceleration of the vehicle body during the vertical movement is obtained. The supporting force of the suspension on the vehicle is determined according to the vertical acceleration, and the output power of the wheels of the vehicle is increased or restored based on the magnitude of the supporting force and the height of the vehicle body, so as to enable the vehicle to get out of trouble. Compared with the traditional method of requesting external rescue for getting out of trouble, in the present application, when the vehicle suspension moves the vehicle body vertically in the trouble-getting-out mode, the vertical acceleration of the vehicle body is combined to determine the supporting force of the suspension on the vehicle, and the output power of the wheels is increased or restored based on the magnitude of the supporting force and the height of the vehicle body. Therefore, through the adjustment of the vertical movement of the vehicle body and the output power of the wheels, the vehicle is assisted to get out of trouble synergistically, and the trouble-getting-out efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required to be used in the description of the embodiments of the present application or related technologies. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 A schematic diagram of a process flow of a vehicle escape method in one embodiment;

[0021] Figure 2 is a system structure diagram of a vehicle in one embodiment;

[0022] Figure 3 It is a structural block diagram of a vehicle escape processing device in one embodiment;

[0023] Figure 4 FIG. 4 is a diagram showing the internal structure of an electronic device in one embodiment. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0025] In the field of automotive engineering technology, improving vehicle ground passability has always been an important research direction, especially for off-road special vehicles and emergency rescue equipment, the ability to escape from obstacles in unstructured terrain is particularly critical. Conventional escape strategies mainly rely on powertrain output and tire adhesion characteristics, but in special road conditions such as soft sand, swamps or steep potholes, such basic technologies often fail to perform as expected.

[0026] At present, vehicle escape solutions can be divided into three categories: manual intervention, external assistance and intelligent control. The manual intervention mode requires the driver to escape through mechanical operations such as steering wheel angle adjustment and power pedal control, which requires high operating skills and physical fitness of the driver. The external assistance solution requires external intervention with the help of towing devices, professional rescue equipment or collaborative working vehicles. This method has the defect of poor response timeliness.

[0027] Although the progress of vehicle-mounted intelligent technology has given rise to autonomous escape systems, which achieve dynamic adjustment of vehicle posture by integrating environmental perception modules, central control units and actuators, the existing technical system still has significant bottlenecks. First, it is difficult for the human-computer interaction interface to present key parameters of the escape execution phase in real time (such as the status of the system actuator, remaining escape time estimate, etc.), making it difficult for operators to establish effective working condition cognition and emergency decision-making mechanisms. Secondly, the system's multimodal environmental perception capabilities are insufficient. Limited by the detection accuracy, anti-interference performance and effective range of sensors such as lidar and millimeter-wave radar, it is easy to misjudge environmental characteristics under extreme complex terrain conditions.

[0028] Based on this, the present application determines the support force of the suspension on the vehicle by combining the vertical acceleration of the vehicle body when the vehicle suspension moves vertically in the escape mode, and adjusts the output power of the wheel based on the magnitude of the support force, thereby synergistically helping the vehicle to escape from trouble through the vertical movement of the vehicle body and the adjustment of the output power of the wheel, thereby improving the escape efficiency.

[0029] In one embodiment, Figure 1 As shown, a vehicle control method is provided. This embodiment uses the method applied to an electronic control unit (ECU) as an example. The electronic control unit can be a control device in a vehicle. It can be understood that the method can also be applied to a server, and can also be applied to a system including an electronic control unit and a server, and is implemented through the interaction between the electronic control unit and the server, including the following steps S202 to S208. Among them:

[0030] Step S202: When the vehicle is in an escape mode, the vertical acceleration of the vehicle body is obtained. The vertical acceleration represents the acceleration of the vehicle body in a direction perpendicular to the ground when the suspension of the vehicle drives the vehicle body to move vertically.

[0031] Among them, the above-mentioned vehicles include conventional four-wheel drive vehicles and other multi-axle vehicles. When the vehicle encounters special geological conditions such as road collapse areas, sticky silt soil, etc., it is very easy for the wheel to sink or the chassis to bottom out, and it is necessary to start the escape mode. In specific implementation, the operator can initiate a command to enter the escape mode through the interactive port of the electronic control component. For example, by selecting the "vertical movement of the vehicle body" function option on the touch panel of the on-board human-computer interaction interface, the preset vertical movement adjustment algorithm can be activated, and then the execution structure such as the suspension and wheels of the vehicle can be driven to implement periodic vertical movement operations to achieve escape.

[0032] The above-mentioned vehicle includes multiple modules, for example, it may include an on-board terminal, an electronic control component, a motor management system (Motor Management System, MMS), a hydraulic component, a shock absorber and a suspension control module (Suspension Control Unit, SCU), etc.

[0033] In the related technologies, the vehicle escape function currently mainly relies on the vehicle's autonomous control function, and the interaction efficiency with the user is low. When the user is driving on a road with complex terrain conditions, he or she has to use his or her own experience and judgment to control the vehicle to escape, resulting in the inability to fully exert the escape capability.

[0034] Based on this, in order to achieve efficient, intuitive and safe user interaction, the present application can set a user interface for the "swing to escape" function in the vehicle to ensure that the driver can quickly and accurately activate the function when needed.

[0035] Among them, the above-mentioned vehicle may be provided with a user interface for user interaction, and the above-mentioned user interface includes an escape setting interface of the escape function. Among them, the escape setting interface includes escape options, for example, it may be options such as "vertical motion escape". Specifically, in the vehicle terminal interface, an option called "vertical motion escape" is provided. After selecting this option, the vehicle enters the escape mode, and in the escape mode, the user can select different levels of escape movement intensity. Among them, the escape movement intensity can select a variety of intensities, for example, it can be selected through the intensity selection button. Among them, the intensity selection button contains three optional levels. For example, it can be high, medium, low, and off.

[0036] Among them, when the suspension moves vertically, the amplitude and frequency of the curve that drives the vehicle body to change in height can be expressed as high, medium and low, and high, medium and low represent different frequencies and amplitudes respectively. For example, high: frequency 1.7Hz (hertz), amplitude 90mm (millimeter); medium: frequency 1.2Hz, amplitude 50mm; low: frequency 0.7Hz, amplitude 30mm. The electronic control component can start the vertical motion escape program by receiving a trigger signal from the user clicking a confirmation start button. For example, the user can click the "start" button to confirm the start of the vertical motion escape program.

[0037] Among them, the electronic control component can also display the current status information in the status display area in the vehicle to show whether it is currently in the escape mode and the operating status of the escape mode. For example, the status information includes but is not limited to ready, executing, and completed. Progress information, such as a progress bar or percentage, can also be displayed. The above progress information can be displayed visually so that the user can understand the progress of the entire process. The electronic control component can also provide real-time feedback on the adjusted options, including but not limited to schematic diagrams of dynamically updating key data such as suspension position and motor torque output, so that the user can monitor the escape process in real time.

[0038] Among them, when the user uses the escape mode for the first time, the electronic control component can also give a prompt. For example, when the user uses it for the first time, the electronic control component can pop up teaching information to introduce the purpose, usage method and precautions of the escape function, and can also remind the user to read relevant safety tips. Before selecting the intensity of vertical movement, the electronic control component can also select a warning. Before the user selects a specific intensity level of vertical movement, the electronic control component can pop up a confirmation pop-up window or prompt information, and display the selection of different vertical movement intensity levels. The degree of vehicle movement will be different, prompting the user to make a selection. After the user clicks the confirmation start button of the escape mode, the electronic control component can also perform a safety check. For example, check whether the seat belt is fastened, whether the door is closed, etc., and display the final confirmation dialog box when all conditions are met, asking the user whether he really wants to start the escape of vertical movement. The electronic control component uses a built-in safety check mechanism to ensure that the user enters the escape mode under safe conditions, reduces misoperation, and achieves multiple confirmations, thereby improving vehicle safety.

[0039] When the vehicle is getting out of trouble, the electronic control component can also display prompt information through the above-mentioned vehicle-mounted terminal. For example, if during the vertical movement to get out of trouble, the electronic control component detects an abnormal situation, including but not limited to sensor abnormality, the vehicle tilt angle exceeds the preset range, etc., when the above abnormal situation is detected, the electronic control component can immediately pause the program and send an emergency prompt dialog box to the user to help the user use appropriate measures to resolve the abnormal situation. After the function of the escape mode is executed, regardless of whether the escape is successful or not, the electronic control component can send a notification to the user to inform the execution result of the escape mode and provide suggestions for the next step, including but not limited to continuing to try other intensities of escape modes, or calling for help.

[0040] When the vehicle enters the escape mode and the body moves vertically, the vertical movement of the vehicle's suspension may drive the body to move vertically. The vertical movement may be a periodic reciprocating movement. In the escape mode, the vertical movement of the body has a corresponding amplitude and frequency. The amplitude indicates the magnitude of the increase and decrease of the body during vertical movement, and the frequency indicates the frequency of the increase and decrease of the body during vertical movement. The vertical movement may not be a uniform movement. When the suspension of the vehicle drives the body to move vertically, the body will generate acceleration in the vertical direction, including but not limited to the direction vertical to the ground, the direction vertical to the body, and the acceleration in the same direction as the acceleration of gravity.

[0041] When the vehicle is in the escape mode, the electronic control component can obtain the vertical acceleration of the vehicle body, so that the electronic control component can use the vertical acceleration to control the structure in the vehicle, such as controlling the output power of the vehicle's wheels based on the magnitude of the vertical acceleration, thereby controlling the vehicle to escape.

[0042] Step S204: Determine the supporting force of the suspension on the vehicle according to the above vertical acceleration.

[0043] Among them, after the electronic control component determines the vertical acceleration, it can further determine the supporting force of the suspension on the vehicle based on the vertical acceleration. Among them, the above vertical acceleration can be an acceleration that changes dynamically with time. For example, the vertical acceleration can be an acceleration that changes based on the change in the target height of the vehicle body. And the change in the target height of the vehicle body is caused by the suspension driving the vehicle body to change height through vertical movement based on the set vertical movement amplitude and vertical movement frequency. Thus, the magnitude of the above vertical acceleration is related to the magnitude of the height change of the suspension. The above supporting force can be the supporting force of the suspension on the vehicle during vertical movement. Since the vertical movement of the suspension includes movements such as rising and falling and is not a uniform motion, the supporting force of the suspension on the vehicle will change during this process. For example, there are changes greater than and less than the vehicle's own gravity. The electronic control component can determine the supporting force of the suspension on the vehicle in combination with the above vertical acceleration.

[0044] Step S206: If the above supporting force is greater than the supporting force threshold, increase the output power of the wheels of the vehicle or restore the output power to the initial power according to the height of the vehicle body, so that the vehicle gets out of trouble. The above initial power is the output power of the wheels when entering the trouble-getting-out mode.

[0045] Among them, the electronic control component can adjust the output power of the wheels of the vehicle based on the magnitude of the above supporting force, so that the vehicle gets out of trouble. The above supporting force can be a variable that changes with the magnitude of the vertical acceleration. Among them, when the magnitude of the supporting force is different, the grip of the wheels of the vehicle on the ground will also be different. The greater the supporting force, the greater the pressure of the wheels on the ground, and the greater the friction between the wheels and the ground, so the greater the grip; the smaller the supporting force, the smaller the pressure of the wheels on the ground, and the smaller the friction between the wheels and the ground, so the smaller the grip. That is, changing the magnitude of the supporting force will change the magnitude of the grip. Thus, the electronic control component can make corresponding adjustments to the output power of the wheels based on the magnitude of the supporting force. For example, increasing or maintaining the output power of the wheels, etc., makes it easier for the vehicle to get out of trouble.

[0046] Among them, for different magnitudes of the supporting force, the electronic control component needs to adjust the wheels of the vehicle to output different magnitudes of power, so that during the vertical movement of the vehicle body, the wheels can be better controlled to enable the vehicle to get out of trouble. Among them, the adjustment of the above output power can be determined based on the comparison between the supporting force and the supporting force threshold. For example, when the supporting force is greater than the supporting force threshold, the electronic control component can make a first adjustment to the output power of the wheels; when the supporting force is less than or equal to the supporting force threshold, the electronic control component can make a second adjustment to the output power of the wheels. Among them, the first adjustment and the second adjustment can be different.

[0047] Specifically, the motor of the vehicle dynamically adjusts its power output according to the acceleration change of the vehicle body, so that the output power of the wheels also has corresponding dynamic changes. Thereby, the ability of the vehicle to get out of trouble in complex terrains can be improved, ensuring the best cooperation between the up-and-down movement of the suspension and the output power of the wheels, so as to achieve more efficient self-rescue. Among them, the greater the above supporting force, the greater the grip of the wheels on the ground. In order to enable the vehicle to get out of trouble better, it is necessary to increase the rotational power of the wheels when the supporting force of the suspension on the vehicle is greater than a certain threshold. To achieve this goal, it is necessary to conduct a force analysis on the vertical direction of the vehicle body. And the above supporting force is the force exerted by the suspension on the vehicle body when the vehicle body moves vertically. Among them, the above supporting force can be obtained through resultant force calculation.

[0048] Among them, for the case where the supporting force is greater than the supporting force threshold, it is also necessary to make a judgment in combination with the vehicle body height. The electronic control component adjusts the output power of the wheels based on the comparison between the supporting force and the supporting force threshold, so as to enable the vehicle to use different output powers to control the vehicle to get out of trouble under different supporting force conditions. Among them, if the electronic control component detects that the above first comparison result is that the supporting force is greater than the supporting force threshold, the electronic control component can make a further judgment, such as adjusting the output power of the wheels according to the height of the vehicle body. Among them, for the case where the supporting force is greater than the supporting force threshold and different vehicle body heights, the electronic control component can make different adjustments to the output power of the vehicle, including but not limited to increasing the output power of the wheels of the above vehicle or restoring the above output power to the initial power, etc., where the initial power is the output power of the wheels when the vehicle enters the trouble-getting-out mode. In some embodiments, the above initial power can also be the power corresponding to the preset wheel power output value.

[0049] Step S208, if the above supporting force is less than or equal to the above supporting force threshold, then restore the above output power to the above initial power to enable the above vehicle to get out of trouble.

[0050] Wherein, for the case where the supporting force is less than or equal to the supporting force threshold, the electronic control component adjusts the output power of the wheel based on the comparison between the supporting force and the supporting force threshold, so as to achieve different output powers to control the vehicle to get out of trouble under different supporting force conditions. Wherein, if the electronic control component detects that the above-mentioned first comparison result is that the supporting force is less than or equal to the supporting force threshold, the electronic control component can restore the output power of the wheel to the initial power to ensure the stability of the vehicle. Wherein, the initial power is the output power of the wheel when the vehicle enters the escape mode. In some embodiments, the above-mentioned initial power may also be the power corresponding to the preset wheel power output value.

[0051] Specifically, when the above-mentioned support force is less than or equal to the support force threshold, combined with the calculation function of the above-mentioned support force, it means that the direction of the vertical acceleration of the vehicle body is downward. When the direction of the vertical acceleration of the vehicle body is downward, the electronic control component can control the motor to keep its original power output unchanged. For example, keep the initial power unchanged. Among them, the electronic control component can be responsible for monitoring the suspension state by the above-mentioned electronic control component. When it is confirmed that the direction of the vertical acceleration of the vehicle body is downward, the electronic control component can keep the original motor torque setting unchanged. For example, keep the above-mentioned initial power unchanged.

[0052] Therefore, the electronic control component can maintain the original output power when the support force of the vehicle body is less than the support force threshold by comparing the support force with the support force threshold, thereby ensuring the stability of the vehicle. In addition, by controlling the relationship between the suspension movement and the motor torque of the wheel, the electronic control component can enable the wheel to provide the necessary propulsion force at the right time, thereby improving the success rate of getting out of trouble. At the same time, through the above-mentioned process of adjusting the output power, whether it is mud, desert or snow, it can respond flexibly, enhancing the terrain adaptability of the vehicle.

[0053] In the above-mentioned vehicle escape handling method, the vehicle suspension is controlled in the escape mode to drive the vertical movement of the vehicle body, and the vertical acceleration of the vehicle body during the vertical movement is obtained. The support force of the suspension on the vehicle is determined according to the vertical acceleration, and the output power of the vehicle wheels is increased or restored based on the size of the support force and the height of the vehicle body, so as to get the vehicle out of trouble. Compared with the traditional way of escaping by requesting external rescue, the present application determines the support force of the suspension on the vehicle by combining the vertical acceleration of the vehicle body when the vehicle suspension moves vertically in the escape mode, and increases or restores the output power of the wheels based on the size of the support force and the height of the vehicle body, thereby helping the vehicle out of trouble through the vertical movement of the vehicle body and the output power adjustment of the wheels, thereby improving the efficiency of escaping.

[0054] In one embodiment, obtaining the vertical acceleration of the vehicle body includes: determining the vertical acceleration of the vehicle body according to a target height change. The target height change is used to control the suspension of the vehicle to drive the vertical movement of the vehicle body.

[0055] In this embodiment, the electronic control component can control the suspension to drive the vehicle body to move vertically according to the target height change. The target height change represents the change of the target height corresponding to each moment during the vertical movement of the vehicle suspension in the escape mode. The change of the target height can be determined according to the amplitude and frequency selected by the user. The electronic control component can adjust the suspension to move vertically at each moment according to the target height change, so that the height of the suspension meets the target height at the corresponding moment at each moment.

[0056] When the suspension performs vertical movement based on the target height change, the vehicle body will be driven to perform corresponding vertical height changes. The target height change indicates the change in the target height of the vehicle at each moment. The target height change of the vehicle body can be the target height of the vehicle body at each moment when the suspension performs vertical movement according to the target height change. Thus, the electronic control component can obtain the target height change of the vehicle body when performing vertical movement, and determine the corresponding vertical acceleration according to the target height change. For example, the electronic control component determines the vertical acceleration at the corresponding moment according to the target height corresponding to each moment.

[0057] Specifically, the determination of the vertical acceleration may be related to the target height change of the vehicle body, and the amplitude and frequency of the vertical movement of the vehicle body. 车 =(h target (t))''=-A(2πf)×(2πf)sin(2πft+φ). Among them, a 车 is the vertical acceleration of the vehicle body, h target (t) represents the target height of the vehicle body at time t. (h target (t))'' represents the second-order derivative of the target height change of the vehicle body, A represents the amplitude of the vertical movement of the suspension, f represents the frequency of the vertical movement of the suspension, and φ is the initial phase angle. The above target height change can also be determined according to the amplitude and frequency selected by the user.

[0058] In one embodiment, it also includes: obtaining the vertical movement amplitude and vertical movement frequency of the vehicle body in the escape mode; and obtaining the target height change according to the vertical movement amplitude and the vertical movement frequency.

[0059] In this embodiment, the vertical movement amplitude may be the amplitude of the vertical movement of the suspension selected by the user in the escape mode, and the vertical movement frequency may be the frequency of the vertical movement of the suspension selected by the user in the escape mode. The electronic control component may obtain the vertical movement amplitude and vertical movement frequency set for the vehicle body in the escape mode, so that the electronic control component may obtain the target height change according to the vertical movement amplitude and vertical movement frequency. For example, the electronic control component may obtain the movement frequency and movement amplitude corresponding to the suspension in the escape mode, and determine the target height corresponding to the vehicle body at each moment according to the movement frequency and the movement amplitude; and determine the height change information according to each of the target heights. Among them, the target height change may be a periodic back-and-forth change.

[0060] Specifically, the target height change can be expressed as h target (t)=Asin(2πft+φ)+H0.

[0061] Among them, h target (t) is the target height of the vehicle body at time t, H0 represents the standard height of the vehicle body, which can be the height set when the vehicle leaves the factory, t is time, φ is the initial phase angle, and Asin(2πft+φ) is the height change function of the suspension. Among them, the user can select the amplitude and frequency on the above-mentioned vehicle terminal and send it to the electronic control component to obtain the target height.

[0062] The following is an application example, where A is 90 mm, f is 1.7 Hz, φ is 0, H0=770 mm, and the above parameters are substituted into h target (t), the target height change curve can be obtained, which is a sine function with an amplitude of 40 mm, a frequency of 1.7 Hz, an initial phase angle of 0, and a vertical axis origin of 770 degrees that changes with time, expressed as h target (t)=90sin(3.4πt)+770,h target (t) is in mm. The target height change of the suspension can be determined according to the above-mentioned sinusoidal function to determine the target height at each moment.

[0063] The electronic control component takes the second-order derivative of the sinusoidal function of the target height change, and can obtain a 车 =-10268sin(3.4πt),a 车 The unit is mm / s 2 (mm per second squared), that is, the amplitude is -10268mm / s 2 , a time-varying sinusoidal function with a frequency of 1.7 Hz and a phase reversal, the electronic control component can be based on the above a 车 The corresponding sine function determines the vertical acceleration of the vehicle over time.

[0064] Through the above embodiments, the electronic control component can determine the target height change of the suspension based on the vertical movement amplitude and vertical movement frequency selected by the vehicle body in the escape mode, thereby improving the accuracy of obtaining the target height change; during the vertical movement of the suspension based on the target height change, the vehicle body also has a corresponding height change. The electronic control component determines the corresponding vertical acceleration change by combining the height change of the vehicle body during vertical movement, thereby improving the accuracy of obtaining the vertical acceleration.

[0065] In one embodiment, determining the support force of the suspension on the vehicle based on the vertical acceleration includes: obtaining the vertical force of the vehicle based on the vertical acceleration; and obtaining the support force of the suspension on the vehicle based on the vertical force and the gravity of the vehicle.

[0066] In this embodiment, the above-mentioned supporting force can be obtained by combining the vertical force exerted on the vehicle under vertical acceleration and the gravity of the vehicle. For example, the electronic control component obtains the vertical force of the above-mentioned vehicle according to the above-mentioned vertical acceleration. Among them, the vertical force of the vehicle can be the force exerted on the vehicle body in the vertical direction. The electronic control component can obtain the supporting force of the suspension on the above-mentioned vehicle according to the above-mentioned vertical force and the gravity of the above-mentioned vehicle. Among them, the gravity of the above-mentioned vehicle can be calculated according to the mass of the vehicle and the acceleration of gravity. For example, the electronic control component can obtain the first product of the above-mentioned mass and the acceleration of gravity to obtain the gravity of the above-mentioned vehicle. The electronic control component can also obtain the second product of the above-mentioned mass and the above-mentioned vertical acceleration, and obtain the supporting force of the above-mentioned suspension on the above-mentioned vehicle according to the difference between the above-mentioned first product and the above-mentioned second product.

[0067] Specifically, when the suspension rises and falls, the vehicle body swings up and down accordingly. When the suspension rises, it is equivalent to the suspension shortening. Since the height of the wheels relative to the ground remains unchanged, the vehicle body will drop accordingly; when the suspension falls, it is equivalent to the suspension extending. Since the height of the wheels relative to the ground remains unchanged, the vehicle body will rise accordingly. In this process, the height of the suspension and the wheels relative to the ground remains unchanged, and only the height of the vehicle body changes; when the vehicle body swings up and down accordingly, the vehicle body is subjected to two forces in the direction perpendicular to the ground, one of which is its own gravity M. 车 ×g, where M 车 represents the mass of the vehicle, g is the acceleration of gravity, and the other is the support force F of the suspension on the vehicle body 支撑 Since the vehicle body swings up and down at a non-uniform speed, F 支撑 is a variable. The pressure of the wheel relative to the ground is equal to the weight of the suspension plus the wheel and the support force on the vehicle body; the greater the support force, the greater the friction of the tire relative to the ground, and thus the greater the grip. Among them, the resultant force of the vehicle body in the vertical direction is: F 合 =M 车×g-F 支撑 =M 车 ×a 车 Among them, a 车 is the acceleration of the vehicle body in the vertical direction, that is, the vertical acceleration mentioned above, with vertical downward as the positive direction of acceleration, that is, when it is consistent with the direction of gravity acceleration, the acceleration is greater than zero; therefore, F 支撑 =M 车 ×g-M 车 ×a 车 Thus, the electronic control component can increase the output power of the vehicle's wheels or restore the output power to the initial power based on the comparison result between the support force and the support force threshold, and the initial power can be the output power of the wheels when entering the above-mentioned escape mode.

[0068] An application example is provided below.

[0069] Among them, the mass of the above vehicle M 车 =2800kg (kilograms), gravitational acceleration g = 9.8m / s 2 (meters per second squared), a 车 =-10268mm / s 2 × sin(3.4πt), then the above F 支撑 =2800kg×9.8m / s 2 -2800kg×(-10268mm / s 2 ×sin(3.4πt))=27440N-(-28750N×sin(3.4πt)).

[0070] Among them, M 车 ×g is the weight of the vehicle itself, Fsupport is the support force given to the vehicle by the tires, a 车 That is, the acceleration change of the vehicle when it shakes up and down, multiplied by M 车 That is, the change of force during the movement. The electronic control component can determine the change of the supporting force based on the difference between 27440N and -28750N×sin(3.4πt), and then determine the adjustment strategy for the wheel output power.

[0071] Through this embodiment, the electronic control component can determine the support force of the suspension on the vehicle body in combination with the vehicle's gravity and vertical acceleration, and then determine the output power of the wheel based on the comparison between the support force and the support force threshold, thereby controlling the vehicle to get out of trouble through the synergistic effect of the support force and the output power, thereby improving the efficiency of the vehicle's escape process.

[0072] In one embodiment, the output power of the wheels is adjusted according to the height of the vehicle body, including: obtaining a comparison result between the height of the vehicle body and a height threshold; if the comparison result is that the height of the vehicle body is less than the height threshold, determining a power adjustment strategy to increase the output power; if the comparison result is that the height of the vehicle body is greater than or equal to the height threshold, determining a power adjustment strategy to restore the output power of the wheels to the initial power; the initial power is the output power of the wheels when entering the escape mode.

[0073] In this embodiment, the height of the vehicle body refers to the real-time height of the vehicle body. When the electronic control component adjusts the output power of the wheel according to the height of the vehicle body, it needs to make a judgment in combination with the height threshold. Among them, the height threshold can be set according to the standard height of the vehicle body. For example, the default height of the vehicle body when it leaves the factory can be used as the above-mentioned height threshold. The electronic control component can determine the power adjustment strategy for the vehicle's wheels based on the comparison result of the height of the vehicle body and the height threshold. Among them, the power adjustment strategy includes a variety of strategies, such as increasing power or restoring power. Thus, the electronic control component can increase the output power of the vehicle's wheels or restore the output power to the initial power according to the power adjustment strategy. For example, when the height of the vehicle body is less than the height threshold, the electronic control component performs a third adjustment on the output power of the wheel, and when the height of the vehicle body is greater than or equal to the height threshold, the electronic control component performs a fourth adjustment on the output power of the wheel. Among them, the third adjustment and the fourth adjustment can be different.

[0074] The electronic control component can make a judgment on the adjustment of the output power based on the above comparison results. For example, if the electronic control component determines that the height of the above vehicle body is less than the height threshold according to the above comparison results, and the supporting force is greater than the supporting force threshold at this time, the electronic control component can increase the output power of the wheels to make it easier for the vehicle to get out of trouble. If the electronic control component determines that the height of the above vehicle body is greater than or equal to the height threshold according to the above comparison results, and the supporting force is greater than the supporting force threshold at this time, the electronic control component can restore the output power of the wheels to the initial power to ensure the stability of the vehicle. Among them, the initial power is the output power of the wheels when the vehicle enters the escape mode. In some embodiments, the above initial power can also be the power corresponding to the preset wheel power output value.

[0075] Specifically, in order to maintain the stability of the vehicle body, the electronic control component can increase the output power during the time period when the height of the vehicle body is lower than a certain height threshold and the acceleration direction of the vehicle body is upward. The above-mentioned height threshold may be a standard height of the vehicle body, such as a default height set when the vehicle leaves the factory. When the acceleration direction of the vehicle body is upward, the support force may be greater than the support force threshold, and the electronic control component can increase the output power during the time period when the height of the vehicle body is lower than a certain height threshold and the support force is greater than the support force threshold. When the height of the vehicle body is greater than or equal to the above-mentioned height threshold, due to the high center of gravity of the vehicle, it is necessary to appropriately reduce the power, such as restoring to the above-mentioned initial power, to help maintain the stability and controllability of the vehicle body.

[0076] In some embodiments, the support force is positively correlated with the grip force. In order to increase the rotational power of the wheel when the support force of the suspension on the vehicle is greater than a certain threshold, the electronic control component may be configured to increase the rotational power of the wheel when the suspension supports the vehicle. 支撑 When the support force is greater than a certain threshold, the power of the wheel rotation is increased to help the vehicle get out of trouble better. 支撑 =M 车 ×g remains unchanged, that is, the support force is the weight of the vehicle at this time. Therefore, the electronic control component can set the support force threshold to the weight of the vehicle body. That is, in the escape mode, when the vehicle body swings up and down accordingly, when the acceleration direction of the vehicle body is upward (at this time a 车 <0), that is, when the supporting force is greater than the supporting force threshold, the power output of the wheel is increased.

[0077] An application example is provided below.

[0078] in:

[0079] The mass of the vehicle M 车 =2800kg, gravitational acceleration g=9.8m / s 2 , a 车 =-10268mm / s 2 ×sin(3.4πt).

[0080] Then, F 支撑 =2800kg×9.8m / s 2 -2800kg×(-10268mm / s 2 ×sin(3.4πt)).

[0081] That is F 支撑 =27440N-(-28750N×sin(3.4πt)).

[0082] Among them, the supporting electronic control component can determine the change of the supporting force based on the difference between 27440N and -28750N×sin(3.4πt), and then determine the adjustment strategy for the power output to the wheel.

[0083] Among them, the above-mentioned supporting force being greater than the supporting force threshold value may be caused by the behavior of the suspension adjusting downward. When the direction of the vehicle body's vertical acceleration is upward, the electronic control component correspondingly increases the power output of the motor, such as the throttle. Specifically, when the direction of the vehicle body's vertical acceleration is upward, the vehicle electronic control component issues an instruction to the above-mentioned motor control system, requiring it to increase the torque output of the motor. Thus, the gravity and the additional driving force can be utilized to help the vehicle overcome the obstacles or potholes ahead. This is done because when the direction of the vehicle body's vertical acceleration is upward, the wheel will obtain greater grip, and at this time, increasing the output power of the wheel, the wheel can better push the vehicle forward to get out of trouble. During implementation, the electronic control component real-time monitors the information collected by the position sensor of the suspension. Once it detects that the direction of the vehicle body's vertical acceleration is upward, the electronic control component can send a signal to the above-mentioned motor control system to increase the motor torque of the wheel, thereby increasing the output power of the wheel.

[0084] Through the above embodiments, the electronic control component can jointly determine the adjustment method of the output power of the wheel by combining the comparison of the supporting force with the supporting force threshold value and the vehicle body height, so as to increase or maintain the output power of the wheel at the appropriate time, and utilize the change of the supporting force caused by the vertical movement of the suspension and the change of the output power of the wheel to jointly help the vehicle get out of trouble, improving the efficiency of the trouble-getting-out process.

[0085] In one embodiment, it further includes: determining the real-time height difference according to the real-time height of the above-mentioned vehicle body and the target height at the corresponding moment; determining a set of proportional terms, integral terms, and differential terms corresponding to each of the above-mentioned real-time height differences according to the proportional-integral-derivative control algorithm; determining the motor speed corresponding to the above-mentioned suspension according to each set of the above-mentioned proportional terms, the above-mentioned integral terms, and the above-mentioned differential terms; and controlling the above-mentioned suspension to perform vertical movement according to the motor speeds corresponding to each moment.

[0086] In this embodiment, the target height at the corresponding moment can be obtained according to the change of the target height, and the change of the target height is used for the suspension of the vehicle to drive the body to move vertically, that is, the above-mentioned suspension is used to drive the body to move vertically according to the change of the target height. Among them, there may be a difference between the real-time height of the body and the target height at the corresponding moment. Therefore, the electronic control component needs to adjust the body to the corresponding target height at the corresponding moment based on the change of the target height. Among them, the above-mentioned adjustment of the height can be that the electronic control component drives the change of the height of the body by controlling the vertical movement of the suspension. Among them, the height adjustment of the vertical movement of the above-mentioned suspension can be realized by adjusting the motor speed in the vehicle. Therefore, the electronic control component can determine the motor speed corresponding to each moment, so that the electronic control component can control the suspension to move vertically according to the motor speed at each moment.

[0087] Among them, there is a height difference between the real-time height of the above-mentioned body and the target height at the corresponding moment. The electronic control component can determine the motor speed by combining the above-mentioned real-time height difference in a proportional integral derivative (PID) manner. Among them, the proportional term P can quickly respond to the current error; the integral term I can eliminate the steady-state error; the differential term D can suppress overshoot and oscillation. The electronic control component realizes the determination of the motor speed by calculating the three in cooperation. For example, the electronic control component determines the real-time height difference according to the real-time height of the above-mentioned body and the target height at the corresponding moment. Thus, the electronic control component can determine a set of proportional terms, integral terms, and differential terms corresponding to each above-mentioned real-time height difference according to the proportional integral derivative control algorithm. Among them, for the proportional term, the electronic control component can determine the height difference gain value according to the preset proportional gain coefficient and the above-mentioned real-time height difference as the proportional term; for the integral term, the electronic control component can determine the height difference accumulation value according to the preset integral gain coefficient and the above-mentioned real-time height difference; for the differential term, the electronic control component can determine the height difference prediction value according to the preset differential gain coefficient and the above-mentioned real-time height difference.

[0088] Thus, the electronic control component can determine the motor speed corresponding to the above-mentioned suspension according to each group of the above-mentioned proportional terms, the above-mentioned integral terms, and the above-mentioned differential terms. For example, the electronic control component determines the motor speed corresponding to the above-mentioned suspension according to the sum of the above-mentioned height difference gain value, the above-mentioned height difference accumulation value, and the above-mentioned height difference prediction value. Furthermore, the electronic control component can control the above-mentioned suspension to move vertically according to the motor speed corresponding to each moment.

[0089] Specifically, the above-mentioned real-time height can be expressed as h current (t), and the above-mentioned real-time height difference can be expressed as e(t)=h target (t) - h current(t). Where, e(t) is the real-time height difference at time t, and h target (t) is the target height at time t.

[0090] The above proportional-integral-derivative algorithm includes a proportional term, an integral term, and a derivative term. For the proportional term P(t), it reflects the magnitude of the current real-time height difference e(t), and the proportional term can be specifically expressed as: P(t)=K p e(t). Where, K p can be a preset proportional gain coefficient. For the integral term I(t), it represents the accumulation of past errors and is specifically expressed as: I(t)=K i ∫0 t e(τ) dτ. Where, K i is the preset integral gain coefficient, and ∫0 t e(τ) dτ represents the integral of the real-time height difference from time 0 to the current time t. For the derivative term D(t), it represents the prediction of the future error trend and enables a rapid response to changes, and is specifically expressed as: D(t)=K d (d / dt)e(t). Where, K d is the derivative gain coefficient.

[0091] The electronic control component can combine the above proportional term, integral term, and derivative term to perform the output of the proportional-integral-derivative algorithm and obtain the corresponding motor speed u(t). Where, u(t) is the sum of the above three components and is specifically expressed as: u(t)=P(t)+I(t)+D(t)=K p e(t)+K i ∫0 t e(τ) dτ+K d (d / dt)e(t).

[0092] Where, u(t) represents the required motor speed calculated based on the real-time height and target height of the suspension. This motor speed will be sent to the motor control system to drive the hydraulic components and then adjust the height of the vertical movement of the suspension.

[0093] Where, K p 、K i and K dThe three parameters can be optimized through experimental tests and simulation analyses of these parameters to achieve dynamic response and stability. For example, the most suitable parameter combination can be found through trial and error, the Ziegler-Nichols rule. And, to ensure that the suspension moves vertically as expected, the electronic control component can continuously monitor the real-time height of the suspension. The suspension control module regularly sends the latest real-time height data to the electronic control component, and the electronic control component uses the latest real-time height to recalculate the real-time height difference e(t) and adjust the proportional-integral-derivative output u(t) accordingly, thereby improving the accuracy of suspension adjustment.

[0094] After the electronic control component determines the motor speed, it can combine with the hydraulic components in the vehicle to achieve the adjustment of the suspension. For example, when the electronic control component calculates the required motor speed through the proportional-integral-derivative algorithm, the electronic control component can transmit the motor speed to the motor control system. The motor control system drives the hydraulic components according to the received motor speed, enabling the hydraulic components to generate sufficient pressure to adjust the state of the shock absorber. Among them, the motor speed can be expressed as ω cmd ; the actual speed of the motor can be expressed as ω act . The electronic control component uses the motor speed calculated by the proportional-integral-derivative control algorithm to monitor and adjust the actual speed of the motor, so that the actual speed meets the determined motor speed.

[0095] Among them, the hydraulic components are linked with the shock absorber to achieve the change of the suspension height. For example, the hydraulic components receive the drive from the motor control system and affect the working state of the shock absorber by changing the oil flow and pressure. Specifically, the pressure P generated by the hydraulic components is applied inside the shock absorber, thereby changing its degree of compression or extension, and then realizing the change of the suspension height. Among them, the relationship between the pressure P of the hydraulic components and the displacement x of the shock absorber can be expressed as: F = SP; x = F / k. Where: F is the force acting on the shock absorber, S is the effective area of the hydraulic piston, and k is the shock absorber spring constant. Thus, the electronic control component can indirectly control the displacement x of the shock absorber by controlling the pressure P of the hydraulic components, and then precisely adjust the height of the suspension.

[0096] The following provides an application example.

[0097] Among them, the parameter purpose of the P value is to immediately respond to the current error, and the greater the error, the stronger the output. For example, at time t, h target (t) = 90mm, h current (t) = 70mm, then e(t) = h target (t) - h current (t) = 20mm. Let K P The parameter is set to 2, then P(t) at this time = K Pe(t) = 40. The electronic control unit uses I(t) to eliminate the historical cumulative error. Among them, the electronic control unit sets the K i value to 0.5. Then, in the past three seconds, the differences between the actual height and the target height per second are 15, 8, and 7 respectively. Then, i ∫0 t e(τ) dτ = 15 + 8 + 7, I(t) = 0.5×(15 + 8 + 7) = 15; Use D(t) to suppress the change rate and prevent overshoot. Among them, the electronic control unit sets the K d to 2. The error in the first second is 15, and the error in the second second is 20. Then the error change rate (d / dt)e(t) = 5. Then D(t) = K d (d / dt)e(t) = 2 x 5 = 10; Finally, output the sum of the above values, then u(t) = P(t) + I(t) + D(t) = 40 + 15 + 10 = 65 rpm (revolutions per minute). Then 65 rpm is the control parameter corresponding to the actuator of the hydraulic component output to the suspension, that is, ω cmd = 65 rpm, and the electronic control unit controls the actual rotation speed of the hydraulic component of the suspension to be as close to ω cmd .

[0098] When the hydraulic component and the shock absorber are linked to adjust the suspension, let k = 1.50×10 5 N / m (Newtons per meter), the effective area of the hydraulic piston is S = 100×10 －4 m 2 (square meters), and the electronic control unit controls the pressure P of the hydraulic component to be 350 kPa (kilopascals). Then the electronic control unit calculates the force F acting on the shock absorber as F = SP = 100×10 －4 m 2 ×350 kPa = 3500 N. Furthermore, the electronic control unit can combine the above F to obtain the displacement x of the shock absorber as x = F / k = 3500 N / 1.50×10 5 N / m = 23.3 mm, thereby determining to adjust the height of the suspension by 23.3 mm according to the direction of the force.

[0099] Through this embodiment, the electronic control unit can determine the rotational speed to be output at each moment during the vertical movement of the vehicle's suspension based on the proportional-integral-derivative control algorithm, thereby improving the accuracy of the vehicle suspension change. Furthermore, the electronic control unit controls the vehicle suspension to change height based on the motor rotational speed at each moment, improving the efficiency of getting out of trouble.

[0100] In an exemplary embodiment, as Figure 2 shown,[[]]END]] Figure 2FIG. 1 is a system structure diagram of a vehicle in an embodiment. The vehicle includes a vehicle terminal, an electronic control component, a motor control system, a hydraulic component, a shock absorber, and a suspension control module. A user can initiate a swing motion request from the vehicle terminal, so that the electronic control component controls the vehicle to get out of trouble.

[0101] Among them, the specific process of the vehicle escape processing method that can be implemented based on the above system structure can be expressed as: the user clicks the "vertical motion escape" button on the vehicle terminal; the vehicle terminal requests to enter the escape setting interface through the electronic control component; the user selects the intensity in the vehicle terminal; the vehicle terminal sends the corresponding target height change to the electronic control component; the user clicks the "Start" button on the vehicle terminal; the vehicle terminal requests the electronic control component to start and perform a safety check; the suspension control module sends the current true height of the suspension to the electronic control component; the electronic control component uses the proportional integral differential algorithm to calculate the motor speed; the electronic control component sends the motor speed to the motor control system; the motor control system sends a control signal to the hydraulic element to drive the hydraulic element; the hydraulic element generates force on the shock absorber to adjust the suspension height to achieve vertical movement; the suspension control module reports the suspension position to the electronic control component; the motor control system reports the motor torque output to the electronic control component; the electronic control component provides real-time feedback to the vehicle terminal; the electronic control component outputs an end notification to the vehicle terminal.

[0102] The vehicle body will generate vertical acceleration during the vertical movement. The determination of the vertical acceleration may be related to the target height change of the vehicle body, and the amplitude and frequency of the vertical movement of the vehicle body.

[0103] Among them, a 车 =(h target (t))''=-A(2πf)×(2πf)sin(2πft+φ). Among them, a 车 is the vertical acceleration of the vehicle body, h target (t) represents the target height of the vehicle body at time t. (h target (t))'' represents the second-order derivative of the target height change of the vehicle body, A represents the amplitude of the vertical movement of the suspension, f represents the frequency of the vertical movement of the suspension, and φ is the initial phase angle. The above target height change can also be determined according to the amplitude and frequency selected by the user.

[0104] The motor of the vehicle dynamically adjusts its power output according to the acceleration change of the vehicle body, so that the output power of the wheels also has corresponding dynamic changes. Thereby, the vehicle's ability to get out of trouble on complex terrains can be improved, ensuring the best cooperation between the up-and-down movement of the suspension and the output power of the wheels, so as to achieve more efficient self-rescue. Among them, the greater the above-mentioned supporting force, the greater the grip of the wheels on the ground. In order to enable the vehicle to get out of trouble better, it is necessary to increase the power of the wheels to rotate when the supporting force of the suspension on the vehicle is greater than a certain threshold. To achieve this goal, it is necessary to analyze the forces acting on the vertical direction of the vehicle body. And the above-mentioned supporting force is the force that the vehicle body receives from the suspension when the vehicle body moves vertically.

[0105] Among them, the above-mentioned supporting force can be obtained through the calculation of the resultant force. When the suspension rises and falls, the vehicle body swings up and down accordingly. Among them, when the suspension rises, it is equivalent to the suspension shortening. Since the relative height of the wheels to the ground remains unchanged, the vehicle body will descend accordingly; when the suspension descends, it is equivalent to the suspension stretching. Since the relative height of the wheels to the ground remains unchanged, the vehicle body will rise accordingly. In this process, the relative height of the suspension and the wheels to the ground remains unchanged, only the height of the vehicle body changes; during the process of the vehicle body swinging up and down accordingly, the vehicle body is subjected to two forces in the direction perpendicular to the ground. One is its own gravity M 车 ×g, where M 车 represents the mass of the vehicle, g is the acceleration due to gravity, and the other is the supporting force F 支撑 of the suspension on the vehicle body. Since the vehicle body swings up and down non-uniformly, therefore, F 支撑 is a variable. The magnitude of the pressure of the wheels on the ground is equal to the gravity of the suspension plus the wheels and the supporting force on the vehicle body; the greater the supporting force, the greater the friction between the tire and the ground, and thus the greater the grip. Among them, the resultant force of the vehicle body in the vertical direction is: F 合 =M 车 ×g-F 支撑 =M 车 ×a 车 . Among them, a 车 is the acceleration of the vehicle body in the vertical direction, that is, the above-mentioned vertical acceleration. Taking the vertical downward direction as the positive direction of acceleration, that is, when it is in the same direction as the acceleration due to gravity, the acceleration is greater than zero.

[0106] Therefore, F 支撑 =M 车 ×g-M 车 ×a 车 . Thus, the electronic control component can adjust the output power of the wheels in combination with the comparison result of the supporting force and the supporting force threshold.

[0107] In some embodiments, the supporting force is positively correlated with the grip. In order to meet the requirement of increasing the power of the wheels to rotate when the supporting force of the suspension on the vehicle is greater than a certain threshold, the electronic control component can, when F支撑 When the support force is greater than a certain threshold, the power of the wheel rotation is increased to help the vehicle get out of trouble better. 支撑 =M 车 ×g remains unchanged, that is, the support force is the weight of the vehicle at this time. Therefore, the electronic control component can set the support force threshold to the weight of the vehicle body. That is, in the escape mode, when the vehicle body swings up and down accordingly, when the acceleration direction of the vehicle body is upward (at this time a 车 <0), that is, when the supporting force is greater than the supporting force threshold, the power output of the wheel is increased.

[0108] Among them, the above-mentioned support force is greater than the support force threshold, which may be caused by the behavior of adjusting the suspension downward. When the vertical acceleration direction of the vehicle body is upward, the electronic control component increases the power output of the motor accordingly, such as the throttle. Specifically, the vehicle electronic control component will issue a command to the above-mentioned motor control system when the vertical acceleration direction of the vehicle body is upward, requiring it to increase the torque output of the motor. Thus, gravity and additional driving force can be used to help the vehicle overcome obstacles or potholes in front. This is because when the vertical acceleration direction of the vehicle body is upward, the wheels will gain greater grip. At this time, the output power of the wheels is increased, and the wheels can better push the vehicle forward to get out of trouble. During implementation, the electronic control component monitors the information collected by the position sensor of the suspension in real time through the electronic control component. Once it is detected that when the vertical acceleration direction of the vehicle body is upward, the electronic control component can send a signal to the above-mentioned motor control system to increase the motor torque of the wheel, thereby increasing the output power of the wheel.

[0109] In order to maintain the stability of the vehicle body, the electronic control component can increase the output power during the time period when the height of the vehicle body is lower than a certain height threshold and the acceleration direction of the vehicle body is upward, wherein the height of the vehicle body refers to the real-time height of the vehicle body. When the acceleration direction of the vehicle body is upward, the support force can be greater than the support force threshold, and the electronic control component can increase the output power during the time period when the height of the vehicle body is lower than a certain height threshold and the support force is greater than the support force threshold. When the height of the vehicle body is greater than or equal to a certain height threshold, due to the high center of gravity of the vehicle, it is necessary to appropriately reduce the power, such as restoring to the above initial power, which helps maintain the stability and controllability of the vehicle body.

[0110] When the above-mentioned supporting force is less than or equal to the supporting force threshold, combined with the above-mentioned calculation function of the supporting force, it indicates that the direction of the vertical acceleration of the vehicle body is downward at this time. When the direction of the vertical acceleration of the vehicle body is downward, the electronic control unit can control the motor to maintain its original power output unchanged. For example, maintain the initial power unchanged. Among them, the electronic control unit can be responsible for monitoring the suspension state by the above-mentioned electronic control unit. When it is confirmed that the direction of the vertical acceleration of the vehicle body is downward, the electronic control unit can keep the original motor torque setting unchanged. For example, maintain the above-mentioned initial power unchanged.

[0111] Thus, the electronic control unit can, during the process of the suspension height change, make the motor dynamically adjust the wheel power output according to the direction of the vertical acceleration of the suspension and the supporting force. Thus, it ensures the best cooperation between the vertical movement of the suspension and the motor torque output, and thus realizes more efficient getting out of trouble.

[0112] Through the above embodiments, when the electronic control unit combines the vertical acceleration of the vehicle body during the vertical movement of the vehicle suspension in the getting-out-of-trouble mode, it determines the supporting force of the suspension on the vehicle, and based on the magnitude of the supporting force and the vehicle body height, increases or restores the output power of the wheels. Thus, through the adjustment of the vertical movement of the vehicle body and the output power of the wheels, it collaboratively helps the vehicle get out of trouble and improves the getting-out-of-trouble efficiency.

[0113] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the arrows, these steps do not necessarily have to be executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps does not have a strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages do not necessarily have to be executed at the same time, but can be executed at different times. The execution order of these steps or stages does not necessarily have to be sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0114] Based on the same inventive concept, the embodiments of the present application also provide a vehicle getting-out-of-trouble processing device for implementing the vehicle getting-out-of-trouble processing method involved above. The solution provided by this device for solving problems is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the vehicle getting-out-of-trouble processing device provided below can refer to the limitations on the vehicle getting-out-of-trouble processing method in the above text, and will not be elaborated here.

[0115] In an exemplary embodiment, as Figure 3As shown, a vehicle escape processing device is provided, comprising: an acquisition module 500, a determination module 502, a first processing module 504 and a second processing module 506, wherein:

[0116] The acquisition module 500 is used to acquire the vertical acceleration of the vehicle body when the vehicle is in the escape mode; the vertical acceleration represents the acceleration of the vehicle body in the direction perpendicular to the ground when the suspension of the vehicle drives the vehicle body to move vertically.

[0117] The determination module 502 is used to determine the support force of the suspension on the vehicle according to the vertical acceleration.

[0118] The first processing module 504 is used for increasing the output power of the wheels of the vehicle or restoring the output power to the initial power according to the height of the vehicle body if the support force is greater than the support force threshold, so as to free the vehicle from trouble; the initial power is the output power of the wheels when entering the escape mode;

[0119] The second processing module 506 is used to restore the output power to the initial power if the support force is less than or equal to the support force threshold, so as to free the vehicle from trouble; the initial power is the output power of the wheels when entering the escape mode.

[0120] In one embodiment, the acquisition module 500 is used to determine the vertical acceleration of the vehicle body according to the target height change; the target height change is used to control the suspension of the vehicle to drive the vertical movement of the vehicle body.

[0121] In one embodiment, the above-mentioned device also includes: a target height acquisition module, which is used to obtain the vertical movement amplitude and vertical movement frequency of the vehicle body in the escape mode; and obtain the above-mentioned target height change according to the above-mentioned vertical movement amplitude and the above-mentioned vertical movement frequency.

[0122] In one embodiment, the processing module 504 is used to obtain a comparison result between the height of the vehicle body and a height threshold; if the comparison result is that the height of the vehicle body is less than the height threshold, the output power is increased; if the comparison result is that the height of the vehicle body is greater than or equal to the height threshold, the output power of the wheel is restored to the initial power.

[0123] In one embodiment, the determination module 502 is configured to obtain a vertical force of the vehicle according to the vertical acceleration; and obtain a support force of a suspension on the vehicle according to the vertical force and the gravity of the vehicle.

[0124] In one embodiment, the above-mentioned device also includes: a speed adjustment module, which is used to determine the real-time height difference according to the real-time height of the above-mentioned vehicle body and the target height at the corresponding moment; determine a group of proportional terms, integral terms and differential terms corresponding to each of the above-mentioned real-time height difference according to the proportional-integral-differential control algorithm; determine the motor speed corresponding to the above-mentioned suspension according to each group of the above-mentioned proportional terms, the above-mentioned integral terms and the above-mentioned differential terms; and control the above-mentioned suspension to perform vertical movement according to the above-mentioned motor speed corresponding to each moment.

[0125] Each module in the above-mentioned vehicle escape processing device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in an electronic device in the form of hardware, or can be stored in a memory in the electronic device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0126] In an exemplary embodiment, an electronic device is provided. The electronic device may be an electronic control component of a vehicle, and its internal structure diagram may be as shown in FIG. Figure 4 As shown. The electronic device includes a processor, a memory, an input / output interface and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the electronic device is used to exchange information between the processor and an external device. The communication interface of the electronic device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a vehicle escape processing method is implemented.

[0127] Those skilled in the art will understand that Figure 4 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0128] In an exemplary embodiment, an electronic device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the above-mentioned vehicle escape processing method when executing the computer program.

[0129] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned vehicle escape processing method is implemented.

[0130] In one embodiment, a computer program product is provided, including a computer program, which implements the above-mentioned vehicle escape processing method when executed by a processor.

[0131] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0132] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, artificial intelligence (AI) processors, etc., without limitation.

[0133] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope recorded in the present application.

[0134] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A method for escaping a vehicle, characterized in that: The method comprises: When the vehicle is in an escape mode, a vertical acceleration of the vehicle body is obtained; the vertical acceleration represents the acceleration of the vehicle body in a direction perpendicular to the ground when the suspension of the vehicle drives the vehicle body to move vertically; determining a support force of the suspension on the vehicle according to the vertical acceleration; If the supporting force is greater than the supporting force threshold, the output power of the wheels of the vehicle is increased or restored to the initial power according to the height of the vehicle body, so as to free the vehicle; the initial power is the output power of the wheels when entering the escape mode; If the supporting force is less than or equal to the supporting force threshold, the output power is restored to the initial power to free the vehicle from trouble.

2. The method according to claim 1, characterized in that Obtaining the vertical acceleration of the vehicle body includes: The vertical acceleration of the vehicle body is determined according to a target height change; the target height change is used to control the suspension of the vehicle to drive the vertical movement of the vehicle body.

3. The method according to claim 2, wherein The method further comprises: Acquiring the vertical movement amplitude and vertical movement frequency of the vehicle body in the escape mode; The target height change is obtained according to the vertical motion amplitude and the vertical motion frequency.

4. The method according to claim 1, wherein Increasing the output power of the wheels of the vehicle or restoring the output power to the initial power according to the height of the vehicle body comprises: Obtaining a comparison result between the height of the vehicle body and a height threshold; If the comparison result is that the height of the vehicle body is less than a height threshold, increasing the output power; If the comparison result is that the height of the vehicle body is greater than or equal to the height threshold, the output power of the wheel is restored to the initial power.

5. The method according to claim 1, characterized in that, Determining the supporting force of the suspension on the vehicle according to the vertical acceleration includes: Obtaining a vertical force of the vehicle according to the vertical acceleration; The supporting force of the suspension on the vehicle is obtained according to the vertical force and the gravity of the vehicle.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Determining a real-time height difference according to the real-time height of the vehicle body and the target height at a corresponding moment; Determine a set of proportional terms, integral terms and differential terms corresponding to each of the real-time height difference values ​​according to a proportional-integral-differential control algorithm; Determining a motor speed corresponding to the suspension according to each group of the proportional term, the integral term and the differential term; The suspension is controlled to move vertically according to the motor speed corresponding to each moment.

7. A vehicle escape device, characterized in that: The device comprises: An acquisition module, used for acquiring the vertical acceleration of the vehicle body when the vehicle is in an escape mode; the vertical acceleration represents the acceleration of the vehicle body in a direction perpendicular to the ground when the suspension of the vehicle drives the vehicle body to move vertically; A determination module, configured to determine a support force of the suspension on the vehicle according to the vertical acceleration; A first processing module is used for increasing the output power of the wheels of the vehicle or restoring the output power to the initial power according to the height of the vehicle body if the supporting force is greater than the supporting force threshold, so as to free the vehicle from trouble; the initial power is the output power of the wheels when entering the escape mode; A second processing module, configured to restore the output power to the initial power if the supporting force is less than or equal to the supporting force threshold, so as to enable the vehicle to get out of trouble.

8. An electronic device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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