Vehicle and vehicle control method and device

Abstract

The invention discloses a vehicle and a vehicle control method and device, and belongs to the technical field of vehicles. The vehicle includes: a suspension; the controller is electrically connected with the suspension frame; the controller is used for outputting a first control instruction under the condition that the fault tolerance duration is less than the target duration; the first control instruction is used for prolonging the time for the vehicle to enter a dangerous state; the fault tolerance duration is determined according to working condition data corresponding to the vehicle; the suspension is used for running based on the first control instruction under the condition that the first control instruction is received. The vehicle can delay the occurrence time of the harm and guarantee the safety of people in the vehicle.

Description

Technical Field

[0001] This application belongs to the technical field of vehicles, and particularly relates to a vehicle, a control method and device for a vehicle. Background Art

[0002] In the case of a vehicle failure, the suspension can automatically adjust the stiffness and damping of the suspension according to road conditions and vehicle speed, etc., so that the vehicle can maintain good handling and stability under various driving conditions. In the related art, mainly by starting a safety mechanism and operating the suspension when a vehicle failure is detected. However, the above method may have a situation where the safety mechanism fails, making it difficult to ensure the safety of the passengers in the vehicle. Summary of the Invention

[0003] This application aims to solve at least one of the technical problems existing in the related art. For this purpose, this application provides a vehicle, a control method and device for a vehicle, which can delay the occurrence of hazards, enable the vehicle to stably drive to a safe area within a certain period of time, and ensure the safety of the passengers in the vehicle.

[0004] In a first aspect, this application provides a vehicle, including:

[0005] A suspension;

[0006] A controller, the controller is electrically connected to the suspension;

[0007] The controller (120) is configured to output a first control instruction when the fault tolerance duration is less than the target duration; the first control instruction is used to extend the time for the vehicle to enter a dangerous state; the fault tolerance duration is determined according to the working condition data corresponding to the vehicle;

[0008] The suspension (110) is configured to operate based on the first control instruction when receiving the first control instruction.

[0009] According to the vehicle of this application, by electrically connecting the controller to the suspension, when the fault tolerance duration is less than the target duration, the controller outputs a first control instruction, enabling one or more of the suspension and the secondary backup system to operate based on the first control instruction, so as to limit the adjustment rate corresponding to the target parameter of the suspension, the maximum adjustment output corresponding to the target parameter, and operate the secondary backup system, delay the occurrence of hazards, enable the vehicle to stably drive to a safe area within a certain period of time, and ensure the safety of the passengers in the vehicle.

[0010] According to the vehicle of this application, the first control instruction includes: an instruction for controlling the suspension (110), and / or, an instruction for controlling the secondary backup system.

[0011] For the vehicle according to the present application, the instructions for controlling the suspension (110) include at least one of an instruction for restricting the adjustment rate corresponding to the target parameter of the suspension (110) and an instruction for restricting the maximum adjustment output corresponding to the target parameter.

[0012] For the vehicle according to the present application, the instructions for controlling the secondary backup system include an instruction for activating the secondary backup system.

[0013] The vehicle according to the present application includes:

[0014] A secondary backup system, which is configured to operate based on the first control instruction when receiving the first control instruction.

[0015] For the vehicle according to the present application, the suspension is configured to send the condition data corresponding to the vehicle to the controller when it is determined that the acceleration data corresponding to the vehicle matches the target threshold and the operating state corresponding to the suspension is an abnormal operating state;

[0016] The controller is configured to predict the fault tolerance duration based on the condition data.

[0017] For the vehicle according to the present application, the controller is configured to output a second control instruction to the suspension when the fault tolerance duration is greater than or equal to the target duration; the second control instruction is used to control the suspension to maintain a normal operating state.

[0018] For the vehicle according to the present application, the suspension is configured to maintain the normal operating state when it is determined that the acceleration data corresponding to the vehicle matches the target threshold and the operating state corresponding to the suspension is a normal operating state.

[0019] For the vehicle according to the present application, the suspension is configured to maintain a normal operating state when it is determined that the acceleration data corresponding to the vehicle does not match the target threshold.

[0020] In a second aspect, the present application provides a control method for a vehicle, the method including:

[0021] Obtaining the condition data corresponding to the target vehicle;

[0022] Predicting the fault tolerance duration from the current acquisition moment to the moment when the target vehicle is in danger based on the condition data;

[0023] Outputting a first control instruction when it is determined that the fault tolerance duration is less than the target duration; the first control instruction is used to extend the time for the vehicle to enter a dangerous state.

[0024] According to the vehicle control method of the present application, by obtaining the operating condition data corresponding to the target vehicle, and based on the operating condition data, predicting the fault tolerance duration from the current acquisition moment to the occurrence of a hazard to the target vehicle, effectively determining the duration corresponding to the suspension executing the safety mechanism. When the fault tolerance duration is less than the target duration, it is determined that the duration corresponding to the suspension executing the safety mechanism is short, and the vehicle cannot enter the safe state in time within the fault tolerance duration. At this time, one or more of the adjustment rate corresponding to the target parameter of the suspension of the target vehicle can be restricted, the maximum adjustment output corresponding to the target parameter can be restricted, and the secondary backup system can be operated, effectively extending the duration of the occurrence of the hazard, enabling the target vehicle to have sufficient time to enter the safe state, and ensuring the safety of the personnel in the vehicle.

[0025] In a third aspect, the present application provides a vehicle control device, which includes:

[0026] A first processing module, configured to obtain the operating condition data corresponding to the target vehicle;

[0027] A second processing module, configured to predict the fault tolerance duration from the current acquisition moment to the moment of occurrence of a hazard to the target vehicle based on the operating condition data;

[0028] A third processing module, configured to output a first control instruction when it is determined that the fault tolerance duration is less than the target duration; the first control instruction is used to extend the time for the vehicle to enter the dangerous state.

[0029] According to the vehicle control device of the present application, by obtaining the operating condition data corresponding to the target vehicle, and based on the operating condition data, predicting the fault tolerance duration from the current acquisition moment to the occurrence of a hazard to the target vehicle, effectively determining the duration corresponding to the suspension executing the safety mechanism. When the fault tolerance duration is less than the target duration, it is determined that the duration corresponding to the suspension executing the safety mechanism is short, and the vehicle cannot enter the safe state in time within the fault tolerance duration. At this time, one or more of the adjustment rate corresponding to the target parameter of the suspension of the target vehicle can be restricted, the maximum adjustment output corresponding to the target parameter can be restricted, and the secondary backup system can be operated, effectively extending the duration of the occurrence of the hazard, enabling the target vehicle to have sufficient time to enter the safe state, and ensuring the safety of the personnel in the vehicle.

[0030] In a fourth aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where when the processor executes the computer program, it implements the vehicle control method as described in the second aspect above.

[0031] In a fifth aspect, the present application provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the vehicle control method as described in the second aspect above.

[0032] In a sixth aspect, the present application provides a computer program product, including a computer program which, when executed by a processor, implements the vehicle control method as described in the second aspect above.

[0033] One or more of the above technical solutions in the embodiments of the present application have at least one of the following technical effects:

[0034] By electrically connecting the controller to the suspension, when the fault tolerance duration of the controller 120 is less than the target duration, the first control instruction is output, and relevant components in the vehicle are controlled through the first control instruction to delay the occurrence moment of the hazard, so that the vehicle can stably drive to a safe area within a certain time, ensuring the safety of the personnel in the vehicle.

[0035] Furthermore, by matching the acceleration data corresponding to the vehicle with the target threshold and the operating state corresponding to the suspension being an abnormal operating state, it is determined that a functional safety fault has occurred in the suspension. By combining the vehicle's overall state and the suspension's operating state, it is jointly determined whether a functional safety fault has occurred in the suspension, improving the accuracy of the functional safety judgment of the suspension. Thus, in the case of a functional safety fault occurring in the suspension, the vehicle's corresponding operating condition data is sent to the controller to accurately predict the fault tolerance duration, providing a reference basis for whether to perform emergency operation subsequently, and improving the accuracy and scientific nature of the judgment.

[0036] Even further, in the case of determining that the fault tolerance duration is greater than or equal to the target duration, the second control instruction is output to keep the vehicle's suspension in a normal operating state, so that when a hazard may occur, the suspension can intervene in real time and process and respond in a timely manner, enabling the vehicle to enter a safe state, ensuring the safety of the personnel in the vehicle, and reducing the losses caused by vehicle failures.

[0037] The additional aspects and advantages of the present application will be partially given in the following description, partially will become obvious from the following description, or will be understood through the practice of the present application. Description of the Drawings

[0038] The above and / or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0039] Figure 1 is a schematic structural diagram of the vehicle provided by the embodiment of the present application;

[0040] Figure 2 is one of the flow schematic diagrams of the vehicle control method provided by the embodiment of the present application;

[0041] Figure 3 is the second flow schematic diagram of the vehicle control method provided by the embodiment of the present application;

[0042] Figure 4 It is the third schematic flowchart of the vehicle control method provided by the embodiment of the present application;

[0043] Figure 5 It is the fourth schematic flowchart of the vehicle control method provided by the embodiment of the present application;

[0044] Figure 6 It is the fifth schematic flowchart of the vehicle control method provided by the embodiment of the present application;

[0045] Figure 7 It is the schematic structural diagram of the vehicle control device provided by the embodiment of the present application;

[0046] Figure 8 It is the schematic structural diagram of the electronic device provided by the embodiment of the present application.

[0047] Reference numerals:

[0048] Suspension 110; Controller 120. Detailed implementation manners

[0049] Next, the technical solutions in the embodiments of the present application will be clearly described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0050] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. generally belong to the same category, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally represents an "or" relationship between the associated objects before and after.

[0051] Next, the vehicle, the vehicle control method, the vehicle control device, the electronic device, and the readable storage medium provided by the embodiments of the present application will be described in detail in conjunction with the accompanying drawings through specific embodiments and their application scenarios.

[0052] Among them, the vehicle control method can be applied to a terminal, and specifically can be executed by hardware or software in the terminal.

[0053] The terminal includes, but is not limited to, portable communication devices such as mobile phones or tablet computers. It should also be understood that, in some embodiments, the terminal may not be a portable communication device, but a desktop computer.

[0054] In the following various embodiments, a terminal including a display and a touch-sensitive surface is described. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, a mouse, and a joystick.

[0055] It should be noted that the execution subject of the vehicle control method may be the vehicle, or may be a vehicle control device provided on the vehicle, or may also be a server electrically connected to the vehicle, or may also be a user terminal communicatively connected to the vehicle, including but not limited to mobile terminals and non-mobile terminals.

[0056] As Figure 1 shown, the vehicle includes: a suspension 110 and a controller 120.

[0057] In this embodiment, the controller 120 is electrically connected to the suspension 110.

[0058] The controller 120 is configured to output a first control instruction when the fault tolerance duration is less than the target duration.

[0059] The fault tolerance duration is determined according to the working condition data corresponding to the vehicle.

[0060] The target duration is the duration between when the vehicle response safety mechanism starts and when the vehicle enters the safe state.

[0061] The specific value of the target duration can be determined based on the actual situation or based on user customization, and this application does not make a limitation.

[0062] As Figure 2 shown, the target duration can be the duration between T1 and T4.

[0063] The safety mechanism can enable the suspension 110 to adjust parameters such as the suspension stiffness, damping, and body height of the vehicle in real time based on the driving road conditions of the vehicle, the driver's intention, and the actual operating state of the vehicle.

[0064] The suspension 110 can be different types of suspensions such as an active suspension, a passive suspension, an air suspension, an electromagnetic suspension, and a hydraulic suspension.

[0065] The safe state can include: the vehicle stops or the whole vehicle powers on and off, etc.

[0066] It should be noted that the fault tolerance duration being less than the target duration indicates that the vehicle does not have enough time to enter the safe state before a hazard occurs.

[0067] The operating condition data is the data required to calculate the time from the current driving state of the vehicle to the moment when the vehicle is in danger.

[0068] The operating condition data may include: vehicle model, vehicle speed, road condition of the road where the vehicle is located, historical data of the vehicle, body tilt angle, driving state, etc.

[0069] It should be noted that in different driving states of the vehicle, the operating condition data required to determine the fault tolerance duration may be different, and the specific data included in the operating condition data can be determined based on the actual situation, which is not limited in this application.

[0070] The first control instruction is used to extend the time for the vehicle to enter the dangerous state.

[0071] The dangerous state is a state in which the vehicle and the people in the vehicle may be in danger.

[0072] For example, the dangerous state may include: rollover, rear-end collision, and hitting an obstacle, etc.

[0073] It should be noted that the time to enter the dangerous state is the moment when the danger occurs.

[0074] The first control instruction can control the relevant components in the vehicle to extend the time for the vehicle to enter the dangerous state.

[0075] For example, the first control instruction can control the steering wheel, anti-lock braking system, warning lights, etc. of the vehicle.

[0076] When the suspension 110 receives the first control instruction, it can respond to the first control instruction and operate with the goal of extending the time for the vehicle to enter the dangerous state.

[0077] The operating states of the suspension 110 include: initialization state, normal operating state, safe state, and abnormal operating state (i.e., fault state).

[0078] The suspension 110 can dynamically and adaptively adjust parameters such as the stiffness and damping characteristics of the suspension 110 according to conditions such as the driving state of the vehicle and the road condition of the road where the vehicle is located to ensure the safety of the vehicle.

[0079] In the actual execution process, the magnitude relationship between the fault tolerance duration and the target duration can be compared to determine whether the vehicle has enough time to enter the safe state. When the controller 120 determines that the fault tolerance duration is less than the target duration, that is, when the vehicle does not have enough time to enter the safe state, the first control instruction is output. When the suspension 110 receives the first control instruction and operates based on the first control instruction, in the case where the vehicle cannot enter the safe state in time, it can still ensure the basic driving control ability within a certain period of time, extend the moment when the vehicle hazard occurs, and enable the vehicle to have enough time to enter the safe state.

[0080] As Figure 3 shown, when it is determined that a hazard will occur and the vehicle does not have enough time to enter the safe state before the hazard occurs, emergency operation can be performed to extend the time of the hazard occurrence so that the vehicle has enough time to enter the safe state.

[0081] It should be noted that during the emergency operation of the vehicle, the vehicle can notify the passengers in the vehicle through the warning light on the instrument panel or other means, indicating that there is a fault in the current suspension 110, and reminding them to drive carefully and safely.

[0082] Continuing to refer to Figure 2 , starting the emergency operation based on the first control instruction can delay the hazard occurrence time from T3 to T3', so that the vehicle can enter the safe state in time at T4, and the hazard will not occur at T3, protecting the safety of the passengers in the vehicle.

[0083] It should be noted that after the vehicle enters the safe state, the suspension 110 will maintain the safe state until the safe state exit condition (such as, parking) is met or the vehicle is powered off. At this time, the functional safety fault handling and response process of the suspension 110 also ends.

[0084] As Figure 4 shown, it describes the instructions for various operating states after the vehicle starts.

[0085] Among them, link and link are the functional safety fault execution links.

[0086] For link When the system starts to run, it first enters the initialization state for system initialization; if the initialization is completed, it enters the normal operation state; during the normal operation, when an external interference or an internal system fault occurs and the fault belongs to a functional safety fault, the system enters the safe state; if the functional safety fault can enter the safe state in time, the safety mechanism is responded and the function output is stopped; if the functional safety fault cannot enter the safe state in time, it preferentially enters the emergency operation state, and after completion, the safety mechanism is responded and the function output is stopped; the safe state is maintained until the system fault is recovered or the safe state exit condition is met, then the system exits the safe state and enters the normal operation state; until the vehicle is powered off, it is normally shut down.

[0087] For link When the system starts to run, it first enters the initialization state to perform system initialization. If the initialization is completed, it enters the normal operation state. During normal operation, when external interference or internal system faults occur and the faults belong to functional safety faults, the system enters the safe state. If the functional safety fault can enter the safe state in time, the safety mechanism is responded to and the function output is stopped. If the functional safety fault cannot enter the safe state in time, it first enters the emergency operation state, and after completion, the safety mechanism is responded to and the function output is stopped. If the system fault in this power-on cycle is not recovered or the conditions for exiting the safe state are not met, the system maintains the safe state until the vehicle is powered off and shuts down normally.

[0088] It should be noted that the system is the system corresponding to the suspension 110.

[0089] Link Is the normal execution link.

[0090] For the link When the system starts to run, it first enters the initialization state to perform system initialization. If the initialization is completed, it enters the normal operation state. When the vehicle is powered off, the system operation ends and shuts down normally.

[0091] Link And link Is the execution link for initialization failure.

[0092] For the link When the system starts to run, it first enters the initialization state to perform system initialization. If the initialization fails, the system will enter the fault state. If the continuous attempt to initialize fails a certain number of times, the fault state will be maintained during this power-on cycle until the vehicle is powered off and shuts down normally.

[0093] For the link When the system starts to run, it first enters the initialization state to perform system initialization. If the initialization fails, the system will enter the fault state. If the attempt to initialize again is successful, it enters the normal operation state until the vehicle is powered off and shuts down normally.

[0094] Link And link Is the execution link for system faults.

[0095] For the link When the system starts to run, it first enters the initialization state to perform system initialization. If the initialization is completed, it enters the normal operation state. During normal operation, when external interference or internal system faults occur, the system enters the fault state, stops the function output. If the system fault is not recovered, the system maintains the fault state until the vehicle is powered off and shuts down normally.

[0096] For the link When the system starts to run, it first enters the initialization state for system initialization. If the initialization is completed, it enters the normal operation state. During normal operation, when external interference or internal system faults occur, the system enters the fault state and stops function output. If the system fault is recovered, the system exits the fault state and enters the normal operation state until the vehicle is powered off and properly shut down.

[0097] The system state machine describes the various states during the system operation, as well as the relationship between the safe state and the emergency operation state, and gives a clear execution process for multiple links. When a fault or emergency state occurs, this state machine helps to quickly identify the fault risk and take corresponding solutions.

[0098] The inventors found during the R & D process that in the related art, mainly when a vehicle fault is detected, the safety mechanism is activated and the suspension 110 is operated. However, the above method may have a situation where the safety mechanism fails, making it difficult to ensure the safety of the vehicle occupants.

[0099] In this application, by electrically connecting the controller 120 to the suspension 110, when the fault tolerance duration is less than the target duration, the controller 120 outputs a first control instruction to control the relevant components in the vehicle based on the first control instruction, extending the time to enter the dangerous state, ensuring that the vehicle can still maintain the basic driving control ability for a certain period of time in the case of a functional safety fault, reducing the potential danger caused by the vehicle's inability to enter the safe state in time, and ensuring the safety of the vehicle occupants.

[0100] According to the vehicle provided by the embodiment of this application, by electrically connecting the controller 120 to the suspension 110, when the fault tolerance duration is less than the target duration, the controller 120 outputs a first control instruction to control the relevant components in the vehicle through the first control instruction, delaying the moment of harm occurrence, enabling the vehicle to stably drive to the safe area within a certain period of time, and ensuring the safety of the vehicle occupants.

[0101] In some embodiments, the first control instruction includes: an instruction for controlling the suspension 110, and / or, an instruction for controlling the secondary backup system.

[0102] In this embodiment, the first control instruction can control different components in the vehicle.

[0103] The first control instruction can control the suspension 110 to delay the time for the vehicle to enter the dangerous state through the suspension 110.

[0104] The first control instruction can control the secondary backup system to delay the time for the vehicle to enter the dangerous state through the secondary backup system.

[0105] The first control instruction can also control the suspension 110 and the secondary backup system respectively, and through the suspension 110 and the secondary backup system, jointly delay the time for the vehicle to enter a dangerous state.

[0106] During actual execution, the first control instruction output by the controller 120 can be sent to one or more of the suspension 110 and the secondary backup system based on the actual situation of the vehicle.

[0107] According to the vehicle provided by the embodiments of the present application, by setting that the first control instruction can control the suspension 110 and the secondary backup system respectively, in an actual application scenario, the way to extend the time for the vehicle to enter a dangerous state can be flexibly selected based on the actual situation, improving the flexibility of vehicle control, and being able to control multiple different components, improving the effectiveness of control.

[0108] In some embodiments, the instruction for controlling the suspension 110 includes at least one of: an instruction for restricting the adjustment rate corresponding to the target parameter of the suspension 110, and an instruction for restricting the maximum adjustment output corresponding to the target parameter.

[0109] In this embodiment, the target parameter is the parameter that the suspension 110 needs to adjust in response to emergency operation.

[0110] The target parameter may include parameters such as the stiffness and damping of the suspension 110.

[0111] The specific type of the target parameter can be determined based on the specific type of the accident that the vehicle is about to occur, and the present application does not make a limitation.

[0112] The adjustment rate is the speed at which the target parameter is adjusted from the current value to the target value.

[0113] The maximum adjustment output is the maximum value that the target parameter can reach.

[0114] It should be noted that restricting the adjustment rate corresponding to the target parameter of the suspension 110 can restrict the movement range of the suspension 110.

[0115] Restricting the maximum adjustment output corresponding to the target parameter of the suspension 110 can restrict the force output of the suspension 110.

[0116] During actual execution, the output first control instruction can respectively restrict one or more of the instruction for restricting the adjustment rate corresponding to the target parameter of the suspension 110, and the instruction for restricting the maximum adjustment output corresponding to the target parameter.

[0117] After receiving the first control instruction, the suspension 110 operates based on the actual situation of the first control instruction.

[0118] When the first control instruction includes one or more of an instruction for restricting the adjustment rate corresponding to the target parameter of the suspension 110 and an instruction for restricting the maximum adjustment output corresponding to the target parameter, the suspension 110 adjusts one or more of the adjustment rate corresponding to the target parameter and the maximum adjustment output corresponding to the target parameter based on the current operating state of the vehicle.

[0119] Continue to refer to Figure 2 , taking the case where the vehicle braking system fails at time T0 as an example. The vehicle responds to the safety mechanism at time T1. During the process of responding to the safety mechanism, when it is determined that the fault tolerance duration is less than the target duration, the controller 120 can output the first control instruction, start emergency operation between T1 and T2, and perform function limiting on the vehicle at time T2, that is, restrict one or more of the adjustment rate corresponding to the target parameter of the suspension 110 and the maximum adjustment output corresponding to the target parameter through the first control instruction, that is, the controller 120 outputs the first control instruction to the suspension 110.

[0120] When the controller 120 outputs the first control instruction to the suspension 110, the suspension 110 operates based on the first control instruction, restricting one or more of the activity range and force output of the suspension 110 to delay the occurrence of hazards.

[0121] According to the vehicle provided by the embodiment of the present application, by determining the instruction that the first control instruction can restrict the adjustment rate corresponding to the target parameter of the suspension 110 and the instruction that restricts the maximum adjustment output corresponding to the target parameter, restricting the activity range and force output of the suspension 110 through the first control instruction can effectively extend the time for the vehicle to enter a dangerous state and improve the safety of the vehicle.

[0122] In some embodiments, the instruction for controlling the secondary backup system includes an instruction for activating the secondary backup system.

[0123] In this embodiment, the secondary backup system is a system that provides redundant or backup functions.

[0124] The secondary backup system can take over or support the key functions of the vehicle in the case of the failure of the primary system.

[0125] The secondary backup system can be software-level or hardware-level.

[0126] It should be noted that when the primary braking circuit of the vehicle is working properly, the secondary backup system is in a standby state.

[0127] In the case of the failure of the primary braking circuit of the vehicle, the secondary backup system can receive the first control instruction, and the secondary backup system responds to the first control instruction to activate the secondary backup system.

[0128] When the secondary backup system is in an active state, the secondary backup system can perform operations such as power backup, braking backup, and steering backup.

[0129] Continue to refer to Figure 2 , taking the vehicle braking system failure at time T0 as an example. The vehicle responds to the safety mechanism at time T1. During the process of responding to the safety mechanism, when it is determined that the fault tolerance duration is less than the target duration, the controller 120 can output a first control instruction to start emergency operation between T1 and T2, and limit the vehicle's functions at time T2, that is, activate the secondary backup system, that is, the controller 120 outputs a first control instruction to the secondary backup system.

[0130] When the controller 120 outputs a first control instruction to the secondary backup system, the secondary backup system starts to work, quickly takes over or supplements the active functions to delay the occurrence of hazards.

[0131] According to the vehicle provided by the embodiment of the present application, by setting a first control instruction to activate the secondary backup system, redundant protection is provided for the vehicle, the time of vehicle danger is extended, and the safety of the vehicle is improved.

[0132] In some embodiments, the vehicle may further include: a secondary backup system.

[0133] In this embodiment, the secondary backup system is used to operate based on the first control instruction when receiving the first control instruction.

[0134] In the actual execution process, after the controller 120 sends a first control instruction to the secondary backup system, the secondary backup system receives the first control instruction, responds to the first control instruction, is in an active state, and performs operations such as power backup, braking backup, and steering backup based on the actual state of the vehicle.

[0135] According to the vehicle provided by the embodiment of the present application, by setting a secondary backup system in the vehicle, components that can extend the time for the vehicle to enter a dangerous state are added, providing multiple options for extending the time for the vehicle to enter a dangerous state and improving the flexibility of control.

[0136] In some embodiments, the suspension 110 is used to send the working condition data of the vehicle to the controller 120 when it is determined that the acceleration data corresponding to the vehicle matches the target threshold and the operating state corresponding to the suspension 110 is an abnormal operating state;

[0137] The controller 120 is used to predict the fault tolerance duration based on the working condition data.

[0138] In this embodiment, the acceleration data is the acceleration of the vehicle at the current acquisition moment.

[0139] The acceleration data may include: acceleration in the X-axis, acceleration in the Y-axis, acceleration in the Z-axis, angular velocity in the X-axis, angular velocity in the Y-axis, and angular velocity in the Z-axis, etc.

[0140] The acceleration data can be obtained by collecting through a six-axis accelerometer.

[0141] The acceleration data can characterize whether the vehicle is in a state of lateral movement, understeer or oversteer.

[0142] The target threshold is a preset value for determining whether the acceleration data is normal.

[0143] The specific value of the target threshold can be determined based on the actual situation, and this application does not make any limitations.

[0144] For example, the target threshold can be a value outside the acceleration range during normal driving of the vehicle.

[0145] Another example is that the target threshold can also be a value outside the normal range where the acceleration difference between the left and right axles should be during normal driving of the vehicle.

[0146] The matching of the acceleration data with the target threshold indicates that the vehicle is in a risk state, that is, the vehicle may have an accident and cause harm.

[0147] It should be noted that during normal driving of the vehicle, the normally operating suspension 110 may be affected by external interference or internal system failures, causing a change in the operating state of the suspension 110.

[0148] The abnormal operating state is the operating state in which the suspension 110 fails.

[0149] The abnormal operating state may include: obvious shaking of the vehicle body, roll, decline in handling performance, slow response of the suspension, or no response of the suspension.

[0150] In the actual execution process, the suspension 110 can receive the acceleration data collected by the six-axis accelerometer, process the acceleration data, for example, calculate the acceleration difference degree between the left and right axles, compare the calculated difference degree with the target threshold, and determine that the overall vehicle state is a risk state when it is determined that the difference degree matches the target threshold.

[0151] When it is determined that the overall vehicle state is a risk state and based on the driving state of the vehicle, it is determined that the operating state corresponding to the suspension 110 is an abnormal operating state, the functional safety mechanism of the suspension 110 itself can continuously monitor various sensor signals, obtain the vehicle condition data, and send the vehicle condition data to the controller 120, so that the controller 120 can predict the fault tolerance duration based on the vehicle condition data.

[0152] It should be noted that in the process of predicting the fault tolerance duration, multiple working condition data of the vehicle can be combined for simulation to obtain multiple initial fault tolerance durations, and the initial fault tolerance duration with the shortest fault tolerance duration is determined as the fault tolerance duration.

[0153] During the actual execution process, when it is determined that the operating state of the suspension 110 is an abnormal operating state, the suspension 110 can also send a hazard duration calculation instruction to the controller 120, so that the controller 120, in response to the hazard duration calculation instruction, acquires the working condition data and predicts the fault tolerance duration based on the working condition data.

[0154] The hazard duration calculation instruction is used to instruct the controller 120 to predict the fault tolerance duration.

[0155] As Figure 3 shown, during the actual execution process, the safety mechanism of the suspension 110 can determine the vehicle's overall vehicle state by collecting sensor signals through sensors or performing algorithm estimation, that is, determine whether the acceleration data corresponding to the vehicle matches the target threshold, and then combine the judgment result and the operating state corresponding to the suspension 110 to determine whether the suspension 110 has a functional safety fault (i.e., functional safety failure).

[0156] When it is determined that the acceleration data corresponding to the vehicle matches the target threshold and the operating state corresponding to the suspension 110 is an abnormal operating state, it is determined that the suspension 110 has a functional safety fault, and the working condition data is sent to the controller 120. The controller 120 can predict the fault tolerance duration based on the received working condition data, and based on the fault tolerance duration, determine whether the safety mechanism can respond to the hazards caused by the functional safety fault in a timely manner. In addition, for the final hazards caused by the functional safety failure, the safety mechanism can make handling and responses.

[0157] In the case where the safety mechanism cannot respond in a timely manner, emergency operation is performed to extend the hazard occurrence duration, so that the vehicle has sufficient time to enter a safe state.

[0158] In the case where the safety mechanism can respond in a timely manner, the safety mechanism can be directly executed to make the vehicle enter a safe state.

[0159] As Figure 5 shown, when it is determined that the suspension 110 has a functional safety fault and the fault type is that it cannot enter the safe state in a timely manner (i.e., the fault tolerance duration is less than the target duration), the emergency operation mechanism and the safety mechanism can be executed, such as restricting the adjustment rate, restricting the maximum output power, and operating one or more of the secondary backup systems, so that the vehicle has sufficient time to enter a safe state.

[0160] According to the vehicle provided by the embodiment of the present application, by determining that the acceleration data corresponding to the vehicle matches the target threshold and the operating state corresponding to the suspension 110 is an abnormal operating state, it is determined that a functional safety failure has occurred in the suspension 110. By combining the vehicle's overall state and the operating state of the suspension 110, it is jointly determined whether a functional safety failure has occurred in the suspension 110, improving the accuracy of the functional safety judgment of the suspension 110. Thus, in the case of a functional safety failure in the suspension 110, the vehicle's corresponding operating condition data is sent to the controller 120 to accurately predict the fault tolerance duration, providing a reference basis for whether to perform emergency operation subsequently, and improving the accuracy and scientific nature of the judgment.

[0161] In some embodiments, the controller 120 is configured to output a second control instruction to the suspension 110 when the fault tolerance duration is greater than or equal to the target duration.

[0162] In this embodiment, the fault tolerance duration being greater than or equal to the target duration indicates that the vehicle has sufficient time to enter a safe state before the hazard occurs.

[0163] The second control instruction is used to control the suspension 110 to maintain a normal operating state.

[0164] As Figure 5 shown, in the actual execution process, when it is determined that a functional safety failure has occurred in the suspension 110 and the fault type is such that it can enter a safe state in a timely manner (i.e., the fault tolerance duration is greater than or equal to the target duration), the controller 120 can output a second control instruction to the suspension 110 to control the suspension 110 to execute a safety mechanism, and by shutting down the suspension 110, the vehicle is made to enter a safe state.

[0165] According to the vehicle provided by the embodiment of the present application, when it is determined that the fault tolerance duration is greater than or equal to the target duration, a second control instruction is output to keep the suspension 110 of the vehicle in a normal operating state, enabling the suspension 110 to intervene in real time and process and respond in a timely manner when a hazard may occur, making the vehicle enter a safe state, ensuring the safety of the personnel in the vehicle, and reducing the losses caused by vehicle failures.

[0166] In some embodiments, the suspension 110 is configured to maintain a normal operating state when it is determined that the acceleration data corresponding to the vehicle matches the target threshold and the operating state corresponding to the suspension 110 is a normal operating state.

[0167] In this embodiment, in the actual execution process, when it is determined that the acceleration data corresponding to the vehicle matches the target threshold and the operating state corresponding to the suspension 110 is a normal operating state, the vehicle is in a risk state, but the risk state is not caused by the suspension 110. At this time, the suspension 110 can continue to maintain a normal operating state.

[0168] According to the vehicle provided by the embodiments of the present application, when it is determined that the acceleration data corresponding to the vehicle matches the target threshold and the operating state of the suspension 110 is the normal operating state, it is clear that the suspension 110 maintains the normal operating state to ensure that the vehicle can always maintain a stable posture during driving and improve the stability of the vehicle.

[0169] In some embodiments, the suspension 110 is configured to maintain the normal operating state when it is determined that the acceleration data corresponding to the vehicle does not match the target threshold.

[0170] In this embodiment, during the actual execution process, when it is determined that the acceleration data corresponding to the vehicle does not match the target threshold, the vehicle is in a risk-free state, that is, a safe state. At this time, the suspension 110 can maintain the normal operating state.

[0171] According to the vehicle provided by the embodiments of the present application, when it is determined that the acceleration data corresponding to the vehicle does not match the target threshold, it is clear that the suspension 110 maintains the normal operating state, so that the suspension 110 can be adaptively adjusted according to the operating state of the vehicle, improving the safety of the vehicle.

[0172] The embodiments of the present application also provide a control method for a vehicle.

[0173] As Figure 6 shown, the control method of the vehicle includes: step 610, step 620, and step 630.

[0174] Step 610, obtain the working condition data corresponding to the target vehicle;

[0175] In this embodiment, the target vehicle is the vehicle that needs to be controlled in the actual application scenario.

[0176] The working condition data is the data required to calculate the time from the current driving state of the vehicle to the moment when the vehicle is damaged.

[0177] The working condition data may include: vehicle type, vehicle speed, road condition of the road where the vehicle is located, historical data of the vehicle, body tilt angle, and driving state, etc.

[0178] The working condition data can be collected by sensors provided in the target vehicle.

[0179] Among them, the road condition can be obtained from the real-time road condition information provided on the website or application program.

[0180] Of course, the working condition data can also be obtained by any other feasible means, and the present application does not make any limitations.

[0181] Step 620, based on the working condition data, predict the fault tolerance duration from the current acquisition moment to the moment when the target vehicle is damaged;

[0182] In this step, after obtaining the working condition data, the fault tolerance duration between the current acquisition moment and the moment when the target vehicle is in danger can be predicted based on the working condition data.

[0183] In the actual execution process, the working condition data can be mined and analyzed through a machine learning model or an artificial intelligence model to predict the fault tolerance duration.

[0184] The specific selection of the machine learning model or the artificial intelligence model can be determined based on the actual situation, and the present application does not make any limitations.

[0185] Step 630: Output a first control instruction when it is determined that the fault tolerance duration is less than the target duration; the first control instruction is used to extend the time for the vehicle to enter the dangerous state.

[0186] In this step, when it is determined that the fault tolerance duration is less than the target duration, that is, when the target vehicle cannot enter the safe state in time, a first control instruction can be output to extend the time for the vehicle to enter the dangerous state through the first control instruction.

[0187] The first control instruction can control different components in the vehicle to extend the time for the vehicle to enter the dangerous state.

[0188] In the actual execution process, when the fault tolerance duration between the current acquisition moment and the moment when the target vehicle is in danger is predicted through the working condition data and the fault tolerance duration is less than the target duration, a first control instruction is output to the relevant components in the vehicle. After receiving the first control instruction, the relevant components respond to the first control instruction and perform corresponding actions to extend the time for the vehicle to enter the dangerous state, providing more time for the target vehicle to enter the safe state.

[0189] According to the vehicle control method provided by the embodiments of the present application, by obtaining the working condition data corresponding to the target vehicle and predicting the fault tolerance duration between the current acquisition moment and the moment when the target vehicle is in danger based on the working condition data, the duration corresponding to the suspension 110 executing the safety mechanism is effectively determined. When the fault tolerance duration is less than the target duration, it is determined that the duration corresponding to the suspension 110 executing the safety mechanism is short, and the vehicle cannot enter the safe state in time within the fault tolerance duration. At this time, a first control instruction can be output to control the components in the vehicle, effectively extending the duration of the hazard occurrence, enabling the target vehicle to have enough time to enter the safe state and ensuring the safety of the personnel in the vehicle.

[0190] In some embodiments, the first control instruction includes: an instruction for controlling the suspension 110, and / or, an instruction for controlling the secondary backup system.

[0191] In this embodiment, the first control instruction can control the suspension 110 to delay the time for the vehicle to enter a dangerous state through the suspension 110.

[0192] The first control instruction can control the secondary backup system to delay the time for the vehicle to enter a dangerous state through the secondary backup system.

[0193] The first control instruction can also separately control the suspension 110 and the secondary backup system, and through the suspension 110 and the secondary backup system, jointly delay the time for the vehicle to enter a dangerous state.

[0194] In the actual execution process, the first control instruction output by the controller 120 can be sent to one or more of the suspension 110 and the secondary backup system based on the actual situation of the vehicle.

[0195] According to the vehicle control method provided by the embodiments of the present application, by setting that the first control instruction can separately control the suspension 110 and the secondary backup system, in the actual application scenario, the way to extend the time for the vehicle to enter a dangerous state can be flexibly selected based on the actual situation, improving the flexibility of vehicle control, and being able to control multiple different components, improving the effectiveness of control.

[0196] In some embodiments, the instruction for controlling the suspension 110 includes at least one of: an instruction for restricting the adjustment rate corresponding to the target parameter of the suspension 110, and an instruction for restricting the maximum adjustment output corresponding to the target parameter.

[0197] In this embodiment, the target parameter is a parameter that the suspension 110 needs to adjust in response to emergency operation.

[0198] The target parameter may include parameters such as the stiffness and damping of the suspension 110.

[0199] The specific type of the target parameter can be determined based on the specific type of the accident that the vehicle is about to occur, and the present application does not make a limitation.

[0200] The adjustment rate is the speed at which the target parameter is adjusted from the current value to the target value.

[0201] The maximum adjustment output is the maximum value that the target parameter can reach.

[0202] It should be noted that restricting the adjustment rate corresponding to the target parameter of the suspension 110 can restrict the movement range of the suspension 110.

[0203] Restricting the maximum adjustment output corresponding to the target parameter of the suspension 110 can restrict the force output of the suspension 110.

[0204] During actual execution, the first control instruction output can be one or more of an instruction for restricting the adjustment rate corresponding to the target parameter of the suspension 110 and an instruction for restricting the maximum adjustment output corresponding to the target parameter.

[0205] After receiving the first control instruction, the suspension 110 operates based on the actual situation of the first control instruction.

[0206] When the first control instruction includes one or more of an instruction for restricting the adjustment rate corresponding to the target parameter of the suspension 110 and an instruction for restricting the maximum adjustment output corresponding to the target parameter, the suspension 110 adjusts one or more of the adjustment rate corresponding to the target parameter and the maximum adjustment output corresponding to the target parameter based on the current operating state of the vehicle.

[0207] According to the vehicle control method provided by the embodiments of the present application, by determining the instruction for restricting the adjustment rate corresponding to the target parameter of the suspension 110 and the instruction for restricting the maximum adjustment output corresponding to the target parameter in the first control instruction, and restricting the activity range and force output of the suspension 110 through the first control instruction, the time for the vehicle to enter a dangerous state is effectively extended, and the safety of the vehicle is improved.

[0208] In some embodiments, the instruction for controlling the secondary backup system includes an instruction for activating the secondary backup system.

[0209] In this embodiment, the secondary backup system is a system that provides redundant or backup functions.

[0210] The secondary backup system can take over or support the key functions of the vehicle in the event of the failure of the primary system.

[0211] The secondary backup system can be software-level or hardware-level.

[0212] It should be noted that when the primary braking circuit of the vehicle is working properly, the secondary backup system is in a standby state.

[0213] In the event of the failure of the primary braking circuit of the vehicle, the secondary backup system can receive the first control instruction, and the secondary backup system activates the secondary backup system in response to the first control instruction.

[0214] When the secondary backup system is in an active state, the secondary backup system can perform operations such as power backup, braking backup, and steering backup.

[0215] According to the vehicle control method provided by the embodiments of the present application, by setting the first control instruction to activate the secondary backup system, redundant protection is provided for the vehicle, the time for the vehicle to be in danger is extended, and the safety of the vehicle is improved.

[0216] In some embodiments, step 610 may further include:

[0217] When it is determined that the acceleration data corresponding to the target vehicle matches the target threshold and the operating state of the suspension 110 is an abnormal operating state, obtain the condition data corresponding to the target vehicle.

[0218] In this embodiment, when the acceleration data corresponding to the target vehicle matches the target threshold and the operating state of the suspension 110 is an abnormal operating state, it can be determined that the overall vehicle state of the target vehicle is a risk state and the active system has a functional safety fault. At this time, in order to ensure the safety of the target vehicle, it is necessary to obtain the condition data of the target vehicle, and based on the condition data of the target vehicle at the current acquisition moment, determine the subsequent control method.

[0219] According to the vehicle control method provided by the embodiments of the present application, by obtaining the condition data of the target vehicle when it is determined that the acceleration data corresponding to the target vehicle matches the target threshold and the operating state of the suspension 110 is an abnormal operating state, when there are potential safety hazards in the target vehicle, obtaining the condition data of the target vehicle reduces ineffective acquisition and optimizes the control process.

[0220] In some embodiments, after step 620, the method may further include:

[0221] When it is determined that the fault tolerance duration is greater than or equal to the target duration, control the suspension 110 to maintain a normal operating state.

[0222] In this embodiment, when the fault tolerance duration is greater than or equal to the target duration, it indicates that the target vehicle has enough time to enter a safe state, and the suspension 110 can be controlled to maintain a normal operating state. The suspension 110 can execute a safety mechanism to make the vehicle enter a safe state.

[0223] According to the vehicle control method provided by the embodiments of the present application, by controlling the suspension 110 to maintain a normal operating state when it is determined that the fault tolerance duration is greater than or equal to the target duration, the suspension 110 can execute a safety mechanism to make the vehicle enter a safe state, ensuring the safety of the personnel in the target vehicle.

[0224] In some embodiments, the method may further include:

[0225] When it is determined that the acceleration data corresponding to the target vehicle matches the target threshold and the operating state of the suspension 110 is a normal operating state, control the suspension 110 to maintain a normal operating state.

[0226] In this embodiment, when the acceleration data corresponding to the target vehicle matches the target threshold and the operating state of the suspension 110 is the normal operating state, it indicates that the overall vehicle state of the target vehicle is a risk state, that is, the target vehicle may have an accident, but the risk state is not caused by the suspension 110. At this time, the suspension 110 can be controlled to maintain the normal operating state so that the suspension 110 can execute the safety mechanism in time and make the vehicle enter the safe state.

[0227] According to the vehicle control method provided by the embodiments of the present application, by controlling the suspension 110 to maintain the normal operating state when it is determined that the acceleration data corresponding to the target vehicle matches the target threshold and the operating state of the suspension 110 is the normal operating state, when the target vehicle is in a risk state, the suspension 110 can execute the safety mechanism in time to ensure the safety of the vehicle.

[0228] In some embodiments, the method may further include:

[0229] When it is determined that the acceleration data corresponding to the target vehicle does not match the target threshold, control the suspension 110 to maintain the normal operating state.

[0230] In this embodiment, when the acceleration data corresponding to the target vehicle does not match the target threshold, it indicates that the target vehicle can drive safely. At this time, the suspension 110 can continue to be controlled to maintain the normal operating state so that when the target vehicle is in a risk state subsequently, the risk state can be processed in time and the target vehicle can enter the safe state.

[0231] According to the vehicle control method provided by the embodiments of the present application, by controlling the suspension 110 to maintain the normal operating state when it is determined that the acceleration data corresponding to the target vehicle does not match the target threshold, the suspension 110 can be adaptively adjusted according to the actual operating state of the target vehicle to improve the safety of the vehicle.

[0232] For the vehicle control method provided by the embodiments of the present application, the execution subject may be a vehicle control device. In the embodiments of the present application, taking the vehicle control device executing the vehicle control method as an example, the vehicle control device provided by the embodiments of the present application is described.

[0233] The embodiments of the present application also provide a vehicle control device.

[0234] As Figure 7 shown, the vehicle control device includes: a first processing module 710, a second processing module 720, and a third processing module 730.

[0235] The first processing module 710 is configured to obtain the condition data corresponding to the target vehicle;

[0236] The second processing module 720 is configured to predict the fault tolerance duration between the current acquisition moment and the moment when a hazard occurs to the target vehicle based on the operating condition data;

[0237] The third processing module 730 is configured to output a first control instruction when it is determined that the fault tolerance duration is less than the target duration; the first control instruction is used to extend the time for the vehicle to enter a dangerous state.

[0238] According to the vehicle control device provided by the embodiments of the present application, by acquiring the operating condition data corresponding to the target vehicle and predicting the fault tolerance duration between the current acquisition moment and the occurrence of a hazard to the target vehicle based on the operating condition data, the duration corresponding to the suspension 110 executing the safety mechanism is effectively determined. When the fault tolerance duration is less than the target duration, it is determined that the duration corresponding to the suspension 110 executing the safety mechanism is short, and the vehicle cannot enter the safe state in time within the fault tolerance duration. At this time, a first control instruction can be output to control the components in the vehicle, effectively extending the duration of the occurrence of the hazard, enabling the target vehicle to have sufficient time to enter the safe state, and ensuring the safety of the personnel in the vehicle.

[0239] In some embodiments, the first processing module 710 may further include:

[0240] When it is determined that the acceleration data corresponding to the target vehicle matches the target threshold and the operating state corresponding to the suspension 110 is an abnormal operating state, the operating condition data corresponding to the target vehicle is acquired.

[0241] In some embodiments, the device may further include a fourth processing module, configured to:

[0242] When it is determined that the fault tolerance duration is greater than or equal to the target duration, control the suspension 110 to maintain a normal operating state.

[0243] In some embodiments, the device may further include a fifth processing module, configured to:

[0244] When it is determined that the acceleration data corresponding to the target vehicle matches the target threshold and the operating state corresponding to the suspension 110 is a normal operating state, control the suspension 110 to maintain a normal operating state.

[0245] In some embodiments, the device may further include a sixth processing module, configured to:

[0246] When it is determined that the acceleration data corresponding to the target vehicle does not match the target threshold, control the suspension 110 to maintain a normal operating state.

[0247] The control device of the vehicle in the embodiments of the present application may be a vehicle or an electronic device, or a component in a vehicle or an electronic device, such as an integrated circuit or a chip. The electronic device may be a terminal or other devices other than the terminal. Exemplarily, the electronic device may be a mobile phone, a tablet computer, a laptop computer, a handheld computer, an in-vehicle electronic device, a Mobile Internet Device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc., and may also be a server, a Network Attached Storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, etc. The embodiments of the present application do not make specific limitations.

[0248] The control device of the vehicle in the embodiments of the present application may be a device with an operating system. The operating system may be an Android operating system, an IOS operating system, or other possible operating systems. The embodiments of the present application do not make specific limitations.

[0249] The control device of the vehicle provided by the embodiments of the present application can implement Figures 2 to 6 each process implemented by the method embodiments. To avoid repetition, it will not be elaborated here.

[0250] In some embodiments, as Figure 8 shown, the embodiments of the present application further provide an electronic device 800, including a processor 801, a memory 802, and a computer program stored on the memory 802 and executable on the processor 801. When the program is executed by the processor 801, it implements each process of the above-mentioned method embodiments of the vehicle control, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0251] It should be noted that the electronic devices in the embodiments of the present application include the above-mentioned mobile electronic devices and non-mobile electronic devices.

[0252] The embodiments of the present application further provide a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements each process of the above-mentioned method embodiments of the vehicle control, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0253] Among them, the processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media such as computer read-only memory ROM, random access memory RAM, magnetic disks, or optical discs.

[0254] The embodiment of the present application also provides a computer program product, including a computer program, which when executed by the processor implements the above-mentioned vehicle control method.

[0255] Among them, the processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media such as computer read-only memory ROM, random access memory RAM, magnetic disks, or optical discs.

[0256] The embodiment of the present application further provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement each process of the above-mentioned vehicle control method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0257] It should be understood that the chip mentioned in the embodiment of the present application can also be referred to as a system-on-chip, system chip, chip system, or system-on-chip.

[0258] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, the element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, the features described with reference to certain examples may be combined in other examples.

[0259] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described method of the embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence or the part that contributes to the related art, can be embodied in the form of a computer software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0260] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them belong to the protection scope of the present application.

[0261] In the description of this specification, the description of reference terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means 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 application. 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 can be combined in any one or more embodiments or examples in a suitable manner.

[0262] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A vehicle, characterized in that, Comprising: A suspension (110); A controller (120), the controller (120) being electrically connected to the suspension (110); The controller (120) is configured to output a first control instruction when the fault tolerance duration is less than a target duration; the first control instruction is used to extend the time for the vehicle to enter a dangerous state; The fault tolerance duration is determined according to the working condition data corresponding to the vehicle; The suspension (110) is configured to operate based on the first control instruction when receiving the first control instruction.

2. The vehicle according to claim 1, wherein The first control instruction includes: an instruction for controlling the suspension (110), and / or, an instruction for controlling a secondary backup system.

3. The vehicle according to claim 2, wherein The instruction for controlling the suspension (110) includes at least one of: an instruction for restricting the adjustment rate corresponding to the target parameter of the suspension (110), and an instruction for restricting the maximum adjustment output corresponding to the target parameter.

4. The vehicle according to claim 2, wherein The instruction for controlling the secondary backup system includes an instruction for activating the secondary backup system.

5. The vehicle according to any one of claims 1-4, characterized in that, Further comprising: A secondary backup system, the secondary backup system being configured to operate based on the first control instruction when receiving the first control instruction.

6. The vehicle according to any one of claims 1-4, wherein The suspension (110) is configured to send the working condition data corresponding to the vehicle to the controller (120) when it is determined that the acceleration data corresponding to the vehicle matches a target threshold and the operating state corresponding to the suspension (110) is an abnormal operating state; The controller (120) is configured to predict the fault tolerance duration based on the working condition data.

7. The vehicle according to any one of claims 1-4, characterized in that, The controller (120) is configured to output a second control instruction to the suspension (110) when the fault tolerance duration is greater than or equal to the target duration; the second control instruction is used to control the suspension (110) to maintain a normal operating state.

8. The vehicle according to any one of claims 1-4, characterized in that, The suspension (110) is configured to maintain the normal operating state when it is determined that the acceleration data corresponding to the vehicle matches a target threshold and the operating state corresponding to the suspension (110) is a normal operating state.

9. The vehicle according to any one of claims 1-4, characterized in that, The suspension (110) is configured to maintain a normal operating state when it is determined that the acceleration data corresponding to the vehicle does not match the target threshold.

10. A control method for a vehicle, characterized in that, Comprising: Obtaining the working condition data corresponding to the target vehicle; Predicting the fault tolerance duration between the current acquisition moment and the moment when the target vehicle is damaged based on the working condition data; Outputting a first control instruction when it is determined that the fault tolerance duration is less than the target duration; the first control instruction is used to extend the time for the vehicle to enter a dangerous state.

11. The control method of the vehicle according to claim 10, wherein The first control instruction includes: an instruction for controlling the suspension (110), and / or, an instruction for controlling a secondary backup system.

12. The control method of a vehicle according to claim 11, wherein: The instruction for controlling the suspension (110) includes at least one of an instruction for restricting the adjustment rate corresponding to the target parameter of the suspension (110) and an instruction for restricting the maximum adjustment output corresponding to the target parameter.

13. The control method of a vehicle according to claim 11, wherein: The instruction for controlling the secondary backup system includes an instruction for activating the secondary backup system.

14. The control method of a vehicle according to any one of claims 10-13, characterized in that, The obtaining of the condition data corresponding to the target vehicle includes: When it is determined that the acceleration data corresponding to the target vehicle matches the target threshold and the operating state corresponding to the suspension (110) is an abnormal operating state, obtaining the condition data corresponding to the target vehicle.

15. The control method of a vehicle according to any one of claims 10-13, characterized in that, After predicting the fault tolerance duration between the current acquisition moment and the moment when the target vehicle is damaged based on the condition data, the method further includes: When it is determined that the fault tolerance duration is greater than or equal to the target duration, controlling the suspension (110) to maintain a normal operating state.

16. The control method of a vehicle according to any one of claims 10-13, characterized in that, including: When it is determined that the acceleration data corresponding to the target vehicle matches the target threshold and the operating state corresponding to the suspension (110) is a normal operating state, controlling the suspension (110) to maintain a normal operating state.

17. The control method of a vehicle according to any one of claims 10-13, characterized in that, including: When it is determined that the acceleration data corresponding to the target vehicle does not match the target threshold, controlling the suspension (110) to maintain a normal operating state.

18. A control device for a vehicle, characterized in that, including: A first processing module for obtaining the condition data corresponding to the target vehicle; A second processing module for predicting the fault tolerance duration between the current acquisition moment and the moment when the target vehicle is damaged based on the condition data; A third processing module for outputting a first control instruction when it is determined that the fault tolerance duration is less than the target duration; the first control instruction is used to extend the time for the vehicle to enter a dangerous state.

19. A non-transitory computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is executed by a processor, it implements the control method of a vehicle according to any one of claims 10-17.

20. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the control method of a vehicle according to any one of claims 10-17.

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