Vehicle control method, system, device and equipment and storage medium
By controlling the low-attached half-axle to apply braking force on the vehicle braking system, the torque is increased and distributed to the half-axle to the half-axle to escape, the problem of the vehicle being escaped in the trapped vehicle scenario is solved, the possibility and safety of the vehicle being driven away is improved, and the cost of escape is reduced.
Patent Information
- Application Number
- CN202510639462.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-16
- Publication Date
- 2025-08-08
AI Technical Summary
The vehicle cannot drive normally in a trapped situation, resulting in some wheels losing their driving ability and unable to drive out of the predicament.
By controlling the vehicle's braking system to apply braking force to the low-attached half-axle, the torque of the low-attached half-axle is increased, and the torque and wheel speed of the escaped half-axle are increased by the torque being distributed to the escaped half-axle to control the vehicle's departure from the trapped vehicle.
The wheel speed of the vehicle connected to the half-axle on the side of the escape is improved, the possibility of the vehicle leaving the trapped vehicle scene is enhanced, the safety of drivers and passengers is improved, the cost of escape is reduced, and the vehicle's escape performance and user experience is optimized.
Smart Images
Figure CN120440010A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of data processing technology, and in particular to a vehicle control method, system, device, equipment, and storage medium. Background Art
[0002] With the development of technology, vehicles occupy an important position in people's daily work and life. During the daily driving of vehicles, abnormal situations such as slipping may occur, which may cause some wheels of the vehicle to lose driving ability, and then the vehicle may be trapped in this scene and unable to leave.
[0003] Therefore, it is very important to control the vehicle to escape from the trapped scene as quickly as possible. Summary of the Invention
[0004] The present disclosure aims to solve one of the technical problems in the related art at least to a certain extent.
[0005] To this end, a first aspect of the present disclosure proposes a vehicle control method.
[0006] A second aspect of the present disclosure provides a vehicle control system.
[0007] A third aspect of the present disclosure provides a vehicle control device.
[0008] A fourth aspect of the present disclosure provides a vehicle.
[0009] A fifth aspect of the present disclosure provides an electronic device.
[0010] A sixth aspect of the present disclosure provides a computer-readable storage medium.
[0011] In a first aspect, the present disclosure proposes a vehicle control method, comprising: in response to receiving an escape state activation instruction, controlling the vehicle's braking system to apply a braking force to the low-access side half-shaft on the axle to obtain a target low-access side driving torque on the low-access side half-shaft; obtaining a target escape-side driving torque for the escape-side half-shaft on the axle based on the target low-access side driving torque; and adjusting the wheel speed of the vehicle based on the target escape-side driving torque to control the vehicle to leave the trapped vehicle scenario.
[0012] The second aspect of the present disclosure proposes a vehicle control system, comprising: an interactive component, a braking component, a differential and a motor control component, wherein the interactive component is used to receive an escape state activation instruction; the braking component is used to control the vehicle's braking system to apply a braking force to the low-access half-shaft on the axle in response to receiving the escape state activation instruction, so as to obtain a target low-access half-shaft driving torque on the low-access half-shaft; the differential is used to obtain a target escape-side driving torque of the escape-side half-shaft on the axle according to the target low-access half-shaft driving torque; and the motor control component is used to adjust the wheel speed of the vehicle according to the target escape-side driving torque, so as to control the vehicle to leave the trapped vehicle scenario.
[0013] The third aspect of the present disclosure proposes a vehicle control device, including: a braking module, which is used to control the vehicle's braking system to apply braking force to the low-access side half-shaft on the axle in response to receiving an escape state activation instruction, so as to obtain a target low-access side driving torque on the low-access side half-shaft; a torque distribution module, which is used to obtain a target escape-side driving torque of the escape-side half-shaft on the axle according to the target low-access side driving torque; and an escape module, which is used to adjust the wheel speed of the vehicle according to the target escape-side driving torque, so as to control the vehicle to leave the trapped vehicle scene.
[0014] A fourth aspect of the present disclosure proposes a vehicle, wherein the vehicle is capable of executing the vehicle control method proposed in the first aspect.
[0015] The fifth aspect of the present disclosure proposes an electronic device, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the instructions to implement the vehicle control method proposed in the first aspect above.
[0016] In a sixth aspect, the present disclosure proposes a computer-readable storage medium. When instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the vehicle control method proposed in the first aspect above.
[0017] The vehicle control method, system and device proposed in the present disclosure, in response to receiving an escape state activation instruction, applies a braking force to the low-attachment half-shaft on the vehicle's axle to obtain a target low-attachment drive torque on the low-attachment half-shaft, obtains a target escape-side drive torque on the escape-side half-shaft based on the target low-attachment drive torque, and then adjusts the vehicle's wheel speed based on the target escape-side drive torque so that the vehicle can leave the trapped vehicle scene. In the present disclosure, by applying a braking force to the low-attachment half-shaft, the torque on the low-attachment half-shaft is increased, and then the torque on the escape-side half-shaft is increased, thereby increasing the wheel speed of the wheel connected to the escape-side half-shaft. The vehicle is controlled to leave the trapped vehicle scene based on the increased wheel speed, which increases the possibility of the vehicle leaving the trapped vehicle scene, thereby improving the safety of the driver and passengers in the vehicle. Compared with the method of increasing torque by adding a differential in the related art, no additional hardware deployment is required, the implementation cost of the vehicle escape method is reduced, the utilization rate of the vehicle space is improved, the vehicle's escape performance and escape effect are optimized, and thus the user experience is optimized.
[0018] It should be understood that the contents described in the present disclosure are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] The above and / or additional aspects and advantages of the present disclosure will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:
[0020] Figure 1 1 is a flow chart of a vehicle control method according to an embodiment of the present disclosure;
[0021] Figure 2 Schematic diagram of a low attachment side half shaft and a relief side half shaft according to an embodiment of the present disclosure;
[0022] Figure 3 A schematic flow chart of a vehicle control method according to another embodiment of the present disclosure;
[0023] Figure 4 1 is a flow chart of a vehicle control method according to another embodiment of the present disclosure;
[0024] Figure 5 A schematic flow chart of a vehicle control method according to another embodiment of the present disclosure;
[0025] Figure 6 A simulation diagram of a vehicle control method according to an embodiment of the present disclosure;
[0026] Figure 7 A schematic diagram of a vehicle control system according to an embodiment of the present disclosure;
[0027] Figure 8 A schematic diagram of a vehicle control system according to another embodiment of the present disclosure;
[0028] Figure 9 Schematic diagram of the structure of a vehicle control device according to an embodiment of the present disclosure;
[0029] Figure 10 A block diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION
[0030] The following describes in detail embodiments of the present disclosure, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.
[0031] A vehicle control method, system, apparatus, device, and storage medium proposed in embodiments of the present disclosure will be described below with reference to the accompanying drawings.
[0032] Figure 1 FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present disclosure. Figure 1 As shown, the method includes:
[0033] S101 , in response to receiving an escape state activation instruction, controlling a braking system of a vehicle to apply a braking force to a low-addition half-shaft on an axle to obtain a target low-addition drive torque on the low-addition half-shaft.
[0034] During the daily driving of a vehicle, when the road surface is slippery, muddy or other conditions occur, the vehicle may not be able to drive normally. The scenario in which the vehicle cannot drive normally due to the external driving environment can be determined as a vehicle trapped scenario.
[0035] The vehicle's trapped scenario may be a vehicle escape scenario or other types of trapped scenarios, which are not specifically limited here.
[0036] When a vehicle is in a trapped situation, the vehicle's wheels may slip or partially become airborne, and the vehicle may lose driving ability. In this case, the side where the wheel that has lost driving ability is located can be determined as the low-attachment side of the vehicle, and the half-axle connected to the wheel that has lost driving ability can be determined as the low-attachment side half-axle of the vehicle.
[0037] In an embodiment of the present disclosure, the driving mode used by the vehicle to escape from the trapped vehicle scene can be determined as the vehicle's escape mode, and the activation instruction of the escape mode can be determined as the vehicle's escape state activation instruction.
[0038] Optionally, when the vehicle receives an escape status activation command, it can be determined that the vehicle needs to leave the current trapped car scene. In this scenario, the half-axle connected to the wheel on the side of the vehicle that is slipping can be determined as the low-attachment side half-axle on the vehicle axle, and the half-axle connected to the wheel on the other side that can enable the vehicle to leave the trapped car scene can be determined as the escape side half-axle on the half-axle.
[0039] As an example, Figure 2 As shown, in Figure 2 In the scenario shown, the left half-axle is the half-axle on the axle connected to the wheel on the slipping side, then Figure 2 The left half-shaft shown is identified as the low-side half-shaft on the axle. In the event of wheel slippage on the left half-shaft, the Figure 2 The wheel connected to the right half shaft shown in the figure can be used to free the vehicle. Figure 2 The right side axle shaft shown is identified as the escape side axle shaft on the axle.
[0040] Among them, the low-attachment side half-axle and the escape side half-axle belong to the same axle.
[0041] In the disclosed embodiment, when the vehicle receives an escape state activation command, the torque on the low-attachment side half-shaft can be distributed to the escape side half-shaft, thereby increasing the torque on the escape side half-shaft, and further achieving the purpose of increasing the wheel speed of the wheel connected to the escape side half-shaft.
[0042] Optionally, braking force can be applied to the low-access side half-shaft through the vehicle's braking system. By applying the braking force, the torque on the low-access side half-shaft can be increased. In this scenario, based on the torque distribution strategy preset on the vehicle's axles, when the torque on the low-access side half-shaft increases, the torque on the escape side half-shaft can be increased.
[0043] The torque on the low-access side half-shaft after the braking force is applied may be obtained, and the torque may be determined as the target low-access side driving torque on the low-access side half-shaft.
[0044] S102 , obtaining a target escape-side driving torque of an escape-side half-axle on the axle according to the target low-additional driving torque.
[0045] In the disclosed embodiment, based on the preset torque distribution strategy of the vehicle's axles, part of the torque that can be distributed to the escape-side half-shaft can be obtained from the target low-access side driving torque, and the torque obtained by superimposing the part of the distributed torque and the original torque on the escape-side half-shaft can be determined as the target escape-side driving torque on the escape-side half-shaft.
[0046] Optionally, based on the torque superposition algorithm in the relevant technology, the torque allocated from the target low-attachment side driving torque and the original torque on the escape side half-shaft can be algorithmically processed, and then the target escape side driving torque on the escape side half-shaft is obtained according to the result of the algorithm processing.
[0047] As an example, you can Figure 2 The illustrated limited slip differential distributes torque from the low-approach side half-shaft to the escape-side half-shaft, thereby obtaining a target escape-side driving torque on the escape-side half-shaft.
[0048] S103: adjusting the wheel speed of the vehicle according to the target escape-side driving torque to control the vehicle to leave the trapped vehicle scene.
[0049] In the disclosed embodiment, the target escape-side driving torque is obtained based on the original torque on the escape-side half-shaft plus part of the torque allocated from the low-attachment half-shaft. In this scenario, the torque on the escape-side half-shaft can be increased to the target escape-side driving torque. Further, the wheel speed of the wheels connected to the escape-side half-shaft can be adjusted based on the target escape-side driving torque on the escape-side half-shaft.
[0050] Among them, the wheel speed adjustment of the wheel connected to the half-shaft on the escape side can be achieved based on the wheel speed adjustment method in the relevant technology and the target escape side driving torque, or it can be achieved based on other preset methods, which are not specifically limited here.
[0051] Furthermore, based on the wheel speed after wheel speed adjustment, the vehicle can escape from the current trapped vehicle scene.
[0052] It should be noted that before the vehicle leaves the trapped scene, the vehicle's braking system can continuously apply braking force to the low-access side half-shaft, so that the low-access side half-shaft can continuously obtain the low-access side braking torque, so that the half-shaft on the side of the escape can continuously obtain part of the torque allocated from the low-access side half-shaft, and thus the wheels connected to the half-shaft on the side of the escape can achieve continuous wheel speed adjustment, so that the wheels connected to the half-shaft on the side of the escape can maintain the wheel speed above the set wheel speed value within the set time range, so that the vehicle can achieve the purpose of leaving the current trapped scene.
[0053] The vehicle control method proposed in the present disclosure applies a braking force to the low-access side half-shaft on the axle of the vehicle in response to receiving an escape state activation instruction to obtain a target low-access side driving torque on the low-access side half-shaft, obtains a target escape side driving torque on the escape side half-shaft based on the target low-access side driving torque, and then adjusts the wheel speed of the vehicle based on the target escape side driving torque so that the vehicle can leave the trapped vehicle scene. In the present disclosure, by applying a braking force to the low-access side half-shaft, the torque on the low-access side half-shaft is increased, and then the torque on the escape side half-shaft is increased, thereby increasing the wheel speed of the wheel connected to the escape side half-shaft. The vehicle is controlled to leave the trapped vehicle scene based on the increased wheel speed, which increases the possibility of the vehicle leaving the trapped vehicle scene, thereby improving the safety of the driver and passengers in the vehicle. Compared with the method of increasing torque by adding a differential in the related art, no additional hardware deployment is required, the implementation cost of the vehicle escape method is reduced, the utilization rate of the vehicle space is improved, the vehicle escape performance and escape effect are optimized, and the user experience is optimized.
[0054] In the above embodiment, regarding controlling the vehicle to leave the trapped vehicle scene, it is also possible to combine Figure 3 Further understanding, Figure 3 FIG. 1 is a flow chart of a vehicle control method according to another embodiment of the present disclosure. Figure 3 As shown, the method includes:
[0055] S301, obtaining the vehicle's status parameters to identify whether the vehicle has entered a trapped vehicle scenario.
[0056] In the disclosed embodiment, relevant parameters of the vehicle's driving state can be obtained as the vehicle's state parameters, and then based on the obtained state parameters, it can be identified whether the vehicle is currently in a trapped vehicle scenario where it cannot drive normally.
[0057] The state parameters include at least the vehicle speed, wheel speed, current torque, motor speed, slope and ground friction coefficient.
[0058] As an example, Figure 4 As shown, you can get Figure 4 The vehicle speed signal, wheel speed signal, actual torque signal of the electric drive system, actual speed signal of the motor, slope signal and ground friction coefficient signal are shown. The vehicle speed can be extracted from the vehicle speed signal, the wheel speed can be extracted from the wheel speed signal, and so on. Figure 4 The signals shown are used to obtain various parameters that can characterize the current state of the vehicle, which are used as state parameters of the vehicle.
[0059] Optionally, obtain the judgment condition corresponding to the state parameter.
[0060] In the embodiment of the present disclosure, the discrimination conditions corresponding to the state parameters can be determined based on the parameter items corresponding to the state parameters of the vehicle. For example, the discrimination conditions corresponding to the vehicle speed can be determined based on the speed item corresponding to the vehicle speed in the state parameters, and then the discrimination conditions for each parameter included in the state parameters can be obtained.
[0061] The discrimination condition may be understood as the compliance of the state parameters of the vehicle in the trapped vehicle scenario.
[0062] Optionally, in response to the state parameter matching the judgment condition, it is determined that the vehicle has entered a trapped vehicle scenario.
[0063] In the embodiment of the present disclosure, based on the matching degree comparison algorithm in the related art, the state parameters and their corresponding discrimination conditions can be processed algorithmically, and then the matching degree between the state parameters and the discrimination conditions can be obtained according to the result of the algorithm processing.
[0064] Among them, when the result of the algorithm processing indicates that the state parameter matches the corresponding judgment condition, it can be determined that the current driving state of the vehicle is in an abnormal state where it cannot drive. In this scenario, it can be determined that the current vehicle has entered a trapped vehicle scenario.
[0065] Optionally, in response to the state parameter not matching the judgment condition, it is determined that the vehicle has not entered a trapped vehicle scenario.
[0066] Among them, when the algorithm processing result indicates that the state parameters do not match the judgment conditions, it can be determined that the current vehicle state does not match the state that the vehicle may appear in the trapped vehicle scenario. In this scenario, it can be determined that the current vehicle has not entered the trapped vehicle scenario.
[0067] As an example, Figure 4 As shown, it can be achieved through Figure 4 The escape scene recognition module receives Figure 4 The vehicle speed signal, wheel speed signal, actual torque signal of the electric drive system, actual speed signal of the motor, slope signal and ground friction coefficient signal are displayed, and then the vehicle state parameters are extracted based on the received signals, and then the recognition algorithm configured by the escape scene recognition module is used to identify the vehicle based on the state parameters. Figure 4 Whether the vehicle in the shown scenario has entered a trapped vehicle scenario.
[0068] S302 , in response to identifying that the vehicle has entered a trapped vehicle scenario, sending a trapped vehicle scenario escape status activation pop-up window, so as to receive a trapped vehicle status activation instruction through the trapped vehicle status activation pop-up window.
[0069] In the disclosed embodiment, when it is recognized that the vehicle has entered a trapped vehicle scene, the vehicle needs to enter an escape control mode. Through the operation in the escape control mode, the vehicle can escape from the current trapped vehicle scene.
[0070] In this scenario, the vehicle's control system can display a pop-up window on the vehicle's display screen to ask whether the vehicle needs to enter the escape control mode. This pop-up window is the escape status activation pop-up window for the trapped vehicle scenario. Through the options provided in the pop-up window, the vehicle's driver and passengers can confirm whether the vehicle needs to enter the escape control mode. When the vehicle's driver and passengers confirm that the vehicle needs to enter the escape control mode, they can select the option to confirm entry from the options provided in the escape status activation pop-up window.
[0071] Optionally, based on the operation of the confirmation entry option, the vehicle can receive a confirmation instruction from the vehicle driver and passengers that the vehicle needs to enter the escape control mode, and the confirmation instruction is the vehicle's escape state activation instruction.
[0072] As an example, Figure 4 As shown, it can be achieved through Figure 4 The escape mode activation module shown performs the above operations to activate the pop-up window based on the escape state to obtain Figure 4 The driver of the vehicle shown inputs a command signal to the escape mode activation module, wherein when the command signal is an escape state activation command, it can be determined that the current vehicle needs to activate the escape mode.
[0073] As another example, Figure 5 As shown, the current state of the vehicle is determined by the acquired vehicle state parameters to identify whether the vehicle has entered a trapped vehicle scenario.
[0074] Among them, when it is recognized that the vehicle has entered a trapped vehicle scenario, the user can be asked through the human-computer interaction page whether he needs to enter the escape mode. Among them, when it is detected that the driver and passengers determine that the vehicle needs to enter the escape mode, the vehicle's escape control mode can be activated.
[0075] S303 : In response to receiving the escape state activation instruction, obtaining a candidate low-access drive torque on the low-access half-shaft and a candidate low-access braking torque of the braking force on the low-access half-shaft.
[0076] In the disclosed embodiment, after receiving the escape state activation instruction, the vehicle enters a preset escape mode and drives the vehicle away from the current trapped vehicle scene based on the set operations in the escape mode.
[0077] Optionally, the braking system can be controlled to apply a braking force to the low-accessory half-shaft on the axle of the vehicle, wherein the torque of the low-accessory half-shaft before the braking force is applied can be obtained as a candidate low-accessory driving torque of the low-accessory half-shaft, and the torque generated on the low-accessory half-shaft due to the applied braking force can be obtained as the low-accessory braking torque on the low-accessory half-shaft.
[0078] As an example, Figure 4 As shown, after receiving the escape state activation instruction, the escape control activation module can transmit the information confirming that the vehicle enters the escape mode state to the Figure 4 The escape control module is shown.
[0079] exist Figure 4 In the scenario shown, the braking control signal sent by the escape control module can be used to control the vehicle's braking system to apply braking force to the low-access half-shaft to increase the torque on the low-access half-shaft, thereby obtaining a corresponding low-access braking torque.
[0080] S304 : Obtain a target low-access drive torque on the low-access half-axle according to the candidate low-access drive torque and the candidate low-access brake torque.
[0081] Optionally, there is a set data integration algorithm between the candidate low-accessory driving torque and the low-accessory braking torque, and the two can be integrated based on the algorithm, and the integrated result is determined as the total torque on the low-accessory half-shaft after the braking force is applied, as the target low-accessory driving torque.
[0082] The candidate low-access drive torque and the candidate low-access brake torque may be added together, and the resulting sum may be determined as the target low-access drive torque of the low-access half-shaft.
[0083] S305 : Obtain the distributed torque of the half-axle on the escape side according to the target low-appendage driving torque.
[0084] In the disclosed embodiment, the torque on the low-attachment side half-shaft can be respectively transferred to the escape side half-shaft. In this scenario, after obtaining the target low-attachment side driving torque on the low-attachment side half-shaft, part of the torque can be obtained from it and transferred and distributed to the escape side half-shaft to increase the torque of the escape side half-shaft.
[0085] In this scenario, the torque finally distributed to the escape side half-shaft can be obtained based on the portion of torque transferred from the low attachment side half-shaft to the escape side half-shaft. The portion of torque finally distributed to the escape side half-shaft can be determined as the distributed torque of the escape side half-shaft.
[0086] As an example, Figure 2 As shown, it can be achieved through Figure 2 The limited slip differential shown realizes the transfer and distribution of the distributed torque of the low-side half shaft to the half shaft on the escape side. In this example, part of the torque on the low-side half shaft can be transferred to Figure 2In the limited slip differential shown, the limited slip differential has a set input torque. Based on the partial torque transferred to the limited slip differential from the low-access side half-shaft and the input torque in the limited slip differential, the partial torque currently transferred and distributed to the escape side half-shaft can be obtained. This partial torque is the distributed torque of the escape side half-shaft.
[0087] S306 , obtaining a candidate escape-side driving torque of the escape-side half-shaft before torque distribution, and obtaining a target escape-side driving torque of the escape-side half-shaft based on the candidate escape-side driving torque and the distributed torque.
[0088] In the embodiment of the present disclosure, there is original torque on the escape-side half-shaft before torque distribution, and this torque can be determined as the candidate escape-side driving torque on the escape-side half-shaft.
[0089] Optionally, after obtaining the distributed torque on the escape side half-shaft, the candidate escape side driving torque and the distributed torque can be integrated, and the integrated torque can be determined as the total torque after torque distribution on the escape side half-shaft. The total torque is the target escape side driving torque on the escape side half-shaft.
[0090] S307 , obtaining a target wheel speed corresponding to the target escape-side driving torque, so as to adjust the wheel speed of the escape-side wheel connected to the escape-side half-shaft.
[0091] In the embodiment of the present disclosure, part of the vehicle's wheel is connected to the half-axle on the escape side, and the wheel is the escape-side wheel on the vehicle. When the vehicle is in the escape mode, the rotational speed of the escape-side wheel can be adjusted based on the target escape-side driving torque on the half-axle on the escape side, so that the wheel that reaches this rotational speed can drive away from the current trapped vehicle scene.
[0092] Optionally, the target driving torque on the escape side can be algorithmically processed based on the torque-based speed acquisition algorithm in the relevant technology, and then the speed that the escape side wheel needs to reach is obtained according to the result of the algorithm processing, and this speed can be determined as the target wheel speed of the escape side wheel.
[0093] In this scenario, the wheel speed on the escape side can be adjusted from the current speed to the target wheel speed. As an example, the target wheel speed signal can be transmitted to Figure 4 The escape control module shown, through Figure 4 The motor control signal sent by the escape control module shown enables the escape-side wheel to adjust its speed based on the target wheel speed carried in the target wheel speed signal.
[0094] S308, in response to the wheel on the escape side reaching the target wheel speed and maintaining it until the vehicle leaves the trapped vehicle scene.
[0095] In the disclosed embodiment, the wheel speed of the wheel on the escape side can be adjusted in real time so that its rotation speed can be maintained continuously after reaching the target wheel speed. In this scenario, it can be determined that the current vehicle may have the conditions to escape the trapped vehicle scene.
[0096] Furthermore, based on a preset vehicle control method, the wheels can be controlled to move away from the current trapped vehicle scene when the wheels on the escape side continue to be at the target wheel speed.
[0097] It should be noted that some operations in the vehicle's escape mode may differ from the operations required for normal vehicle driving. In this scenario, the vehicle's escape mode needs to be reset after the vehicle leaves the trapped scene.
[0098] Optionally, in response to the vehicle leaving the trapped vehicle scene, a pop-up window for resetting the escape status is sent.
[0099] In the disclosed embodiment, relevant status information of the vehicle can be obtained in real time, and based on the obtained status information, it can be determined whether the vehicle has currently left the trapped vehicle scene. When it is recognized that the vehicle has left the trapped vehicle scene, a confirmation pop-up window for the vehicle to release the escape mode can be popped up on the vehicle's display device. This pop-up window is the escape status reset pop-up window sent by the vehicle.
[0100] Optionally, in response to receiving an escape status reset instruction through an escape status reset pop-up window, the escape control of the vehicle is terminated.
[0101] In the embodiment of the present disclosure, the driver and passengers of the vehicle can input corresponding instructions through the options provided in the pop-up window after a pop-up window for resetting the escape status pops up on the display device. When the driver and passengers confirm that the vehicle has currently left the trapped vehicle scene, they can select the corresponding option for confirming the release of the escape status from the options provided in the pop-up window for resetting the escape status, and then input the corresponding instruction for releasing the vehicle from the escape mode. This instruction is the escape status reset instruction input by the driver and passengers.
[0102] In this scenario, when the vehicle receives the input escape status reset command, it can be determined that the current vehicle has left the trapped vehicle scene, and then it can be determined that the current vehicle can be reset to the daily driving mode without continuing to maintain the escape mode. Further, the escape control of the vehicle can be ended.
[0103] As an example, Figure 5 As shown, it can be achieved through Figure 5 The vehicle state judgment module shown identifies whether the vehicle is currently in a non-trapped vehicle scene. When it is determined that the vehicle is currently in a non-trapped vehicle scene, the vehicle state judgment module can be used to determine whether the vehicle is currently in a non-trapped vehicle scene. Figure 5The escape control state resetting module is shown to reset the state of the vehicle so as to escape from the escape mode and enter the normal driving mode.
[0104] The vehicle control method proposed in the present disclosure identifies whether the vehicle has entered a trapped car scene through the vehicle's state parameters, thereby improving the vehicle's recognition accuracy for trapped car scenes, interacts with the user through a pop-up window to obtain the input of the escape state activation instruction, thereby improving the accuracy of the vehicle in obtaining user demand information, applies braking force on the low-access side half-shaft, thereby increasing the torque on the low-access side half-shaft, and then increasing the torque on the escape side half-shaft, thereby increasing the wheel speed of the wheel connected to the escape side half-shaft, controls the vehicle to leave the trapped car scene based on the increased wheel speed, increases the possibility of the vehicle leaving the trapped car scene, and then improves the safety of the driver and passengers in the vehicle, compared with the method of increasing torque by adding a differential in the related art, no additional hardware deployment is required, thereby reducing the implementation cost of the vehicle escape method, improving the utilization rate of the vehicle space, optimizing the vehicle's escape performance and escape effect, and controlling the vehicle to reset after the vehicle leaves the trapped car scene, thereby improving the vehicle escape control method.
[0105] To better understand the above embodiments, Figure 6 , Figure 6 FIG. 1 is a simulation diagram of a vehicle control method according to an embodiment of the present disclosure. Figure 6 As shown:
[0106] Time ① is the start of the vehicle's escape control activation. Time ② is when the driver steps on the accelerator, and the vehicle begins to escape. At this time, the speed of the low-coupling wheels connected to the low-coupling half-shaft increases, and the escape wheels connected to the escape-side half-shaft approach a standstill until time ③.
[0107] like Figure 6 As shown, at time point ④, the braking force applied to the low-access side half-axle of the vehicle is increased until time point ⑤. Starting from time point ⑤, the wheels on the escape side obtain the target escape side driving torque based on the allocated torque, so that the wheels on the escape side have the power to drive out of the trapped vehicle scene. In this scene, the speed of the wheels on the escape side is adjusted based on the target wheel speed corresponding to the target escape side driving torque, so that the speed of the wheels on the escape side slowly increases, and the speed difference is maintained during this period until time point ⑥.
[0108] like Figure 6 As shown, the vehicle is freed from the jam at time point ⑥, and stops at time point ⑦. At time point ⑧, the escape mode is reset to turn off the escape mode.
[0109] The vehicle control method proposed in the present disclosure applies braking force to the low-addition side half-shaft, thereby increasing the torque on the low-addition side half-shaft, and further increasing the torque on the escape side half-shaft, thereby increasing the wheel speed of the wheel connected to the escape side half-shaft, and controls the vehicle to leave the trapped vehicle scene based on the increased wheel speed, thereby increasing the possibility of the vehicle leaving the trapped vehicle scene, and further improving the safety of the driver and passengers in the vehicle, and controls the vehicle to reset after the vehicle leaves the trapped vehicle scene, thereby improving the vehicle escape control method.
[0110] The present disclosure also proposes a vehicle control system that can be combined with Figure 7 understand, Figure 7 FIG. 1 is a schematic diagram of a vehicle control system according to another embodiment of the present disclosure, Figure 7 As shown, the vehicle control system 700 includes an interaction component 71, a brake component 72, a differential 73 and a motor control component 74, wherein:
[0111] The interaction component 71 is used to receive an escape state activation instruction.
[0112] The brake assembly 72 is used for controlling the vehicle's braking system to apply a braking force to the low-addition side half-shaft on the axle in response to receiving the escape state activation instruction, so as to obtain a target low-addition side driving torque on the low-addition side half-shaft.
[0113] The differential 73 is used to obtain a target escape-side driving torque of the escape-side half-shaft on the axle according to the target low-access side driving torque.
[0114] The motor control component 74 is used to adjust the wheel speed of the vehicle according to the target escape side driving torque to control the vehicle to leave the trapped vehicle scene.
[0115] In the embodiment of the present disclosure, the vehicle control system 700 may include Figure 7 The interactive component 71 is shown, wherein a corresponding pop-up window can be popped up on the display device of the vehicle through the interactive component 71, and the driver and passengers of the vehicle can input corresponding instructions through the specific options provided in the pop-up window on the display device. When the driver and passengers operate the option to confirm that the vehicle enters the escape mode, the interactive component 71 can receive the vehicle's escape state activation instruction.
[0116] like Figure 7 As shown, the vehicle control system 700 also includes Figure 7 The brake assembly 72, differential 73 and motor control assembly 74 are shown, wherein when a vehicle equipped with the vehicle control system 700 enters an escape mode, a braking force can be applied to the low-attachment half-shaft of the vehicle through the brake assembly 72, thereby obtaining a low-attachment braking torque of the low-attachment half-shaft based on the applied braking force.
[0117] Optionally, based on the low-attachment braking torque and the original candidate low-attachment driving torque of the low-attachment half-shaft, a total target low-attachment driving torque of the low-attachment half-shaft after the braking force is applied is obtained.
[0118] Furthermore, the low-side half shaft transfers part of the target low-side drive torque to Figure 7 In the differential 73 shown, the distributed torque allocated to the escape side half-shaft is obtained based on the partial torque and the input torque in the differential 73, and then based on the distributed torque and the original candidate escape side driving torque on the escape side half-shaft, the target escape side driving torque of the escape side half-shaft after torque distribution is obtained.
[0119] Optionally, you can pass Figure 7 The motor control component 74 shown adjusts the wheel speed of the escape side wheel connected to the escape side half-shaft based on the target escape side driving torque of the escape side half-shaft, so that the escape side wheel can reach and maintain the target wheel speed corresponding to the target escape side driving torque, thereby allowing the vehicle to escape from the trapped vehicle scene.
[0120] The vehicle control system proposed in the present disclosure applies braking force to the low-addition side half-shaft, thereby increasing the torque on the low-addition side half-shaft, and further increasing the torque on the escape side half-shaft, thereby increasing the wheel speed of the wheel connected to the escape side half-shaft, and controls the vehicle to leave the trapped vehicle scene based on the increased wheel speed, thereby increasing the possibility of the vehicle leaving the trapped vehicle scene, and further improving the safety of the driver and passengers in the vehicle. Compared with the method of increasing torque by adding a differential in the related art, no additional hardware deployment is required, thereby reducing the implementation cost of the vehicle escape method, improving the utilization rate of the vehicle space, optimizing the vehicle's escape performance and escape effect, and further optimizing the user experience.
[0121] In the above embodiment, regarding the vehicle control system, it is also possible to combine Figure 8 understand, Figure 8 FIG. 1 is a schematic diagram of a vehicle control system according to another embodiment of the present disclosure, Figure 8 As shown, the vehicle control system 800 also includes an interaction component 81 (not shown in the figure), a brake component 82, a differential 83, a motor control component 84, an information collection component 85 (not shown in the figure) and a vehicle control component 86, wherein:
[0122] The information collection component 85 (not shown in the figure) is used to collect the status parameters of the vehicle.
[0123] The vehicle control component 86 is used to identify whether the vehicle has entered a trapped vehicle scenario based on state parameters, and to obtain the vehicle's power instructions and braking instructions.
[0124] In the embodiment of the present disclosure, the vehicle control system 800 further includes an information collection component 85 (not shown in the figure). Figure 8 In the scenario shown, the wheel speed sensors can be used to collect the wheel speed signals of the low-access side wheels and the escape side wheels, and the collected wheel speed signals are transmitted to the Figure 8 In the vehicle control assembly 86 shown, Figure 8 In the figure, the wheel speed sensor is one of the information collection components 85 (not shown).
[0125] Based on the collection of parameters of the relevant status of the vehicle by the information collection component 85 (not shown in the figure), the status parameters of the vehicle can be obtained. In this scenario, the whole vehicle control component 86 can identify whether the vehicle is currently in a trapped vehicle scenario based on the received vehicle status parameters. When the whole vehicle control component 86 identifies that the vehicle is currently in a trapped vehicle scenario, it can send a pop-up window for activating the escape status to the driver through the interactive component 81 (not shown in the figure) to obtain the input escape status activation instruction.
[0126] Optionally, after the vehicle control component 86 receives the escape state activation instruction, the vehicle can enter the escape mode. In this scenario, the vehicle control component 86 can determine the braking force that needs to be applied to the low-access side half-axle based on relevant information, and then generate a corresponding braking control signal to be transmitted to the brake component 82.
[0127] like Figure 8 As shown, the low-access side half-shaft and the escape side half-shaft are respectively equipped with brake actuators. In this scenario, the brake component 82 can obtain the braking force that needs to be applied to the low-access side half-shaft based on the received brake control signal, and transmit the relevant signal of the braking force that needs to be applied to the brake actuator based on the information interaction link between the brake component 82 and the brake actuator. The brake actuator applies the corresponding braking force to the low-access side half-shaft based on the received signal, so that a low-access side braking torque is generated on the low-access side half-shaft, thereby increasing the torque of the low-access side half-shaft, thereby obtaining the target low-access side driving torque of the low-access side half-shaft.
[0128] Furthermore, the distribution torque of the escape side half-shaft is obtained based on the target low auxiliary drive torque and the input torque in the differential 83, thereby determining the target escape side drive torque on the escape side half-shaft, and then adjusting the wheel speed of the escape side wheel of the vehicle based on the motor control component 84, thereby controlling the vehicle to drive away from the current trapped vehicle scene.
[0129] Compared with the method of increasing torque by adding a differential in related technologies, the vehicle control system proposed in the present disclosure does not require additional hardware deployment, reduces the implementation cost of the vehicle escape method, and improves the utilization rate of the vehicle space.
[0130] Corresponding to the vehicle control methods proposed in the above-mentioned embodiments, an embodiment of the present disclosure further proposes a vehicle control device. Since the vehicle control device proposed in the embodiment of the present disclosure corresponds to the vehicle control methods proposed in the above-mentioned embodiments, the implementation method of the above-mentioned vehicle control method is also applicable to the vehicle control device proposed in the embodiment of the present disclosure, and will not be described in detail in the following embodiments.
[0131] Figure 9 FIG. 1 is a schematic structural diagram of a vehicle control device according to an embodiment of the present disclosure. Figure 9 As shown, the vehicle control device 900 includes a braking module 91, a torque distribution module 92 and an escape module 93, wherein:
[0132] a brake module 91 for controlling the vehicle's brake system to apply a braking force to the low-addition side half-shaft on the axle in response to receiving the escape state activation instruction, so as to obtain a target low-addition side driving torque on the low-addition side half-shaft;
[0133] The torque distribution module 92 is configured to obtain a target escape-side driving torque of the escape-side half-axle on the axle according to the target low-access side driving torque;
[0134] The escape module 93 is used to adjust the wheel speed of the vehicle according to the target escape side driving torque to control the vehicle to escape from the trapped vehicle scene.
[0135] In the embodiment of the present disclosure, the braking module 91 is further used to: in response to receiving an escape state activation instruction, obtain a candidate low-accessory driving torque on the low-accessory half-shaft and a low-accessory braking torque of the braking force on the low-accessory half-shaft; and obtain a target low-accessory driving torque on the low-accessory half-shaft based on the candidate low-accessory driving torque and the low-accessory braking torque.
[0136] In the disclosed embodiment, the torque distribution module 92 is further used to: obtain the distribution torque of the escape side half-shaft according to the target low-access side driving torque; obtain the candidate escape side driving torque of the escape side half-shaft before torque distribution, and obtain the target escape side driving torque of the escape side half-shaft based on the candidate escape side driving torque and the distribution torque.
[0137] In the disclosed embodiment, the escape module 93 is also used to: obtain the target wheel speed corresponding to the target escape side driving torque to adjust the wheel speed of the escape side wheel connected to the escape side half-shaft; respond to the escape side wheel reaching the target wheel speed and maintain it until the vehicle leaves the trapped vehicle scene.
[0138] In the disclosed embodiment, the device also includes an identification module for: obtaining the state parameters of the vehicle to identify whether the vehicle has entered a trapped car scenario, wherein the state parameters include at least the vehicle speed, wheel speed, current torque, motor speed, slope and ground friction coefficient; in response to identifying that the vehicle has entered a trapped car scenario, sending a trapped car scenario escape status activation pop-up window to receive an escape status activation instruction through the escape status activation pop-up window.
[0139] In the disclosed embodiment, the identification module is further used to: obtain the discrimination conditions corresponding to the state parameters; determine that the vehicle has entered a trapped vehicle scenario in response to the state parameters matching the discrimination conditions; and determine that the vehicle has not entered a trapped vehicle scenario in response to the state parameters not matching the discrimination conditions.
[0140] In the disclosed embodiment, the device further includes a reset module for: sending a pop-up window for resetting the vehicle's escape status in response to the vehicle leaving the trapped vehicle scene; and ending the vehicle's escape control in response to receiving a reset instruction for the escape status through the pop-up window for resetting the vehicle's escape status.
[0141] The vehicle control device proposed in the present disclosure applies a braking force to the low-access side half-shaft on the axle of the vehicle in response to receiving an escape state activation instruction to obtain a target low-access side driving torque on the low-access side half-shaft, obtains a target escape side driving torque on the escape side half-shaft based on the target low-access side driving torque, and then adjusts the wheel speed of the vehicle based on the target escape side driving torque so that the vehicle can leave the trapped vehicle scene. In the present disclosure, by applying a braking force to the low-access side half-shaft, the torque on the low-access side half-shaft is increased, and then the torque on the escape side half-shaft is increased, thereby increasing the wheel speed of the wheel connected to the escape side half-shaft. The vehicle is controlled to leave the trapped vehicle scene based on the increased wheel speed, which increases the possibility of the vehicle leaving the trapped vehicle scene, thereby improving the safety of the driver and passengers in the vehicle. Compared with the method of increasing torque by adding a differential in the related art, no additional hardware deployment is required, the implementation cost of the vehicle escape method is reduced, the utilization rate of the vehicle space is improved, the vehicle escape performance and escape effect are optimized, and the user experience is optimized.
[0142] To achieve the above embodiments, the present disclosure also provides a vehicle capable of executing the vehicle control method provided in the above embodiments.
[0143] To achieve the above embodiments, the present disclosure also provides an electronic device, a computer-readable storage medium, and a computer program product.
[0144] Figure 10 is a block diagram of an electronic device 100 according to an embodiment of the present disclosure, as shown in FIG. Figure 10As shown, the electronic device 100 includes a memory 101, a processor 102, and a computer program stored in the memory 101 and executable on the processor 102. When the processor 102 executes program instructions, the vehicle control method provided in the above embodiment is implemented.
[0145] In order to implement the above embodiments, the present disclosure further proposes a non-transitory computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the vehicle control method provided by the above embodiments is implemented.
[0146] In order to implement the above embodiments, the present disclosure further provides a computer program product having a computer program stored thereon. When the computer program is executed by a processor, the vehicle control method provided by the above embodiments is implemented.
[0147] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction 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. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.
[0148] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.
[0149] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.
[0150] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.
[0151] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement the present invention: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field-programmable gate array (FPGA), etc.
[0152] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.
[0153] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.
[0154] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.
[0155] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not limited herein.
[0156] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.
Claims
1. A vehicle control method, characterized in that: The method comprises: In response to receiving the escape state activation command, controlling the vehicle's braking system to apply a braking force to a low-addition half shaft on the axle to obtain a target low-addition drive torque on the low-addition half shaft; According to the target low-attachment driving torque, a target escape-side driving torque of the escape-side half-axle on the axle is obtained; The wheel speed of the vehicle is adjusted according to the target escape-side driving torque to control the vehicle to leave the trapped vehicle scene.
2. The method according to claim 1, characterized in that In response to receiving the escape state activation instruction, controlling the vehicle's braking system to apply a braking force to a low-end half-shaft on the axle to obtain a target low-end driving torque on the low-end half-shaft includes: In response to receiving the escape state activation instruction, obtaining a candidate low-access drive torque on the low-access half-shaft and a low-access brake torque of the braking force on the low-access half-shaft; A target low-attachment driving torque on the low-attachment half-shaft is obtained according to the candidate low-attachment driving torque and the low-attachment braking torque.
3. The method according to claim 2, characterized in that The step of obtaining a target escape-side driving torque of the escape-side half-axle on the axle according to the target low-attachment driving torque comprises: Obtaining a distributed torque of the escape-side half-shaft according to the target low-attachment driving torque; A candidate escape-side driving torque of the escape-side half-shaft before torque distribution is obtained, and the target escape-side driving torque of the escape-side half-shaft is obtained based on the candidate escape-side driving torque and the distributed torque.
4. The method according to claim 1, wherein The adjusting the wheel speed of the vehicle according to the target escape-side driving torque to control the vehicle to leave the trapped vehicle scene includes: Obtaining a target wheel speed corresponding to the target escape-side driving torque to adjust the wheel speed of the escape-side wheel connected to the escape-side half-shaft; In response to the escape-side wheel reaching the target wheel speed and maintaining it until the vehicle leaves the trapped vehicle scene.
5. The method according to claim 1, wherein The method further comprises: Acquiring state parameters of the vehicle to identify whether the vehicle has entered a trapped vehicle scenario, wherein the state parameters include at least the vehicle speed, wheel speed, current torque, motor speed, slope, and ground friction coefficient; In response to identifying that the vehicle enters the trapped vehicle scene, a pop-up window for activating an escape state of the trapped vehicle scene is sent, so as to receive the escape state activation instruction through the pop-up window.
6. The method according to claim 5, characterized in that The obtaining of the vehicle state parameters of the vehicle to identify whether the vehicle has entered a trapped vehicle scenario includes: Obtaining a judgment condition corresponding to the state parameter; In response to the state parameter matching the judgment condition, determining that the vehicle enters the trapped vehicle scenario; In response to the state parameter not matching the judgment condition, it is determined that the vehicle has not entered the trapped vehicle scenario.
7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: In response to the vehicle leaving the trapped vehicle scene, sending a pop-up window for resetting the trapped vehicle state; In response to receiving an escape status reset instruction through the escape status reset pop-up window, terminating the escape control of the vehicle.
8. A vehicle control system, characterized in that: The system includes an interaction component, a brake component, a differential component, and a motor control component, wherein: The interactive component is used to receive an escape state activation instruction; The brake assembly is configured to control the vehicle's brake system to apply a braking force to a low-addition side half-shaft on the axle in response to receiving a command to activate the escape state, so as to obtain a target low-addition side driving torque on the low-addition side half-shaft; The differential is used to obtain a target escape-side driving torque of the escape-side half-axle on the axle according to the target low-access side driving torque; The motor control component is used to adjust the wheel speed of the vehicle according to the target escape side driving torque to control the vehicle to leave the trapped vehicle scene.
9. The system according to claim 8, characterized in that The system also includes an information collection component, a vehicle control component, and a motor control component, wherein: The information collection component is used to collect status parameters of the vehicle; The vehicle control component is used to identify whether the vehicle has entered the trapped vehicle scenario based on the state parameters, and to obtain a braking instruction for the vehicle.
10. A vehicle control device, characterized in that: The device comprises: a braking module, configured to control a braking system of the vehicle to apply a braking force to a low-addition side half shaft on the axle in response to receiving an escape state activation instruction, so as to obtain a target low-addition side driving torque on the low-addition side half shaft; A torque distribution module is configured to obtain a target escape-side driving torque of an escape-side half-axle on the axle according to the target low-access side driving torque; The escape module is used to adjust the wheel speed of the vehicle according to the target escape side driving torque to control the vehicle to leave the trapped vehicle scene.
11. A vehicle, characterized in that: The vehicle is capable of performing the method according to any one of claims 1 to 7.
12. An electronic device, characterized in that: include: processor; a memory for storing executable instructions for the processor; The processor is configured to execute instructions to implement the method according to any one of claims 1 to 7.
13. A computer-readable storage medium, when instructions in the computer-readable storage medium are executed by a processor of an electronic device, enables the electronic device to perform the method according to any one of claims 1 to 7.