Vehicle escape control method and device, computer equipment and storage medium

Abstract

The invention relates to a vehicle escape control method and device, computer equipment, a storage medium and a computer program product. The method comprises the steps that in response to a first escape control request triggered for a vehicle, all driving wheels of the vehicle are driven to rotate under the condition that a traction control system of the vehicle is turned off, and the wheel end speeds of all the driving wheels are obtained; comparing the wheel end speed of each driving wheel to obtain a wheel speed comparison result of each driving wheel; determining escape control information of the vehicle according to the wheel speed comparison result; the escape control information is used for indicating to adjust the suspension height of the corresponding wheel end of the vehicle; the adjusting mode information comprises increasing the height of the suspension to a first height or reducing the height of the suspension to a second height. By adopting the method, the escape control information can be autonomously determined, the suspension height of the corresponding wheel end of the vehicle can be automatically adjusted according to the escape control information, and the escape efficiency of the vehicle is effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle escape control method, device, computer equipment, storage medium and computer program product. Background Art

[0002] While driving, the car may become stuck on complex surfaces due to road conditions and unable to continue driving, such as muddy roads, deep pits, beaches, deep snow, and other complex roads.

[0003] Existing tools used to help cars get out of trouble on complex roads require human intervention to install and remove, resulting in low efficiency in getting cars out of trouble. Summary of the Invention

[0004] Based on this, it is necessary to provide a vehicle escape control method, device, computer equipment, computer-readable storage medium and computer program product that can improve the efficiency of vehicle escape in order to address the above technical problems.

[0005] In a first aspect, the present invention provides a vehicle escape control method. The method comprises:

[0006] In response to a first escape control request triggered for the vehicle, driving each drive wheel of the vehicle to rotate with a traction control system of the vehicle turned off, to obtain a wheel end speed of each drive wheel;

[0007] Comparing the wheel end speeds of the driving wheels to obtain a wheel speed comparison result of the driving wheels;

[0008] Based on the wheel speed comparison result, the vehicle's escape control information is determined; the escape control information is used to indicate the drive wheel whose suspension height is to be adjusted, and the adjustment method information for the suspension height; the adjustment method information includes raising the suspension height to a first height, or lowering the suspension height to a second height.

[0009] In one embodiment, comparing the wheel end speed information of each driving wheel to obtain the wheel speed comparison result of each driving wheel includes:

[0010] When the number of the driving wheels is not less than a preset number threshold, obtaining speed difference ratio information between an average wheel end speed of the front axle driving wheels and an average wheel end speed of the rear axle driving wheels of the vehicle;

[0011] If the speed difference ratio information does not exceed a first threshold, comparing the wheel end speed of the left front drive wheel of the vehicle with the wheel end speed of the right front drive wheel to obtain a first wheel speed comparison result, and comparing the wheel end speed of the left rear drive wheel of the vehicle with the wheel end speed of the right rear drive wheel to obtain a second wheel speed comparison result;

[0012] If the speed difference ratio information is greater than the first threshold, the average wheel end speed of the front axle drive wheels is compared with the average wheel end speed of the rear axle drive wheels to obtain a third wheel speed comparison result.

[0013] In one embodiment, determining the vehicle escape control information based on the wheel speed comparison result includes:

[0014] obtaining a comprehensive wheel speed comparison result based on the first wheel speed comparison result and the second wheel speed comparison result;

[0015] If the comprehensive wheel speed comparison result indicates that the wheel end speed of the right driving wheel of the vehicle is less than the wheel end speed of the left driving wheel of the vehicle, or the wheel end speed of the right driving wheel is greater than the wheel end speed of the left driving wheel, the unilateral control information is confirmed as the escape control information of the vehicle; the unilateral control information is used to instruct to adjust the suspension height of the unilateral driving wheel of the vehicle;

[0016] If the comprehensive wheel speed comparison result indicates that the wheel end speed of one of the driving wheels located at the diagonal corner of the vehicle is greater than the wheel end speed of the other driving wheel located at the diagonal corner of the vehicle, the diagonal control information is confirmed as the vehicle's escape control information; the diagonal control information is used to indicate the adjustment of the suspension height of the diagonal driving wheels of the vehicle.

[0017] In one embodiment, determining the vehicle escape control information based on the wheel speed comparison result includes:

[0018] If the third wheel speed comparison result indicates that the average wheel end speed of the front axle drive wheels is greater than the average wheel end speed of the rear axle drive wheels, then comparing the wheel end speed of the left rear drive wheel with the wheel end speed of the right rear drive wheel to obtain a fourth wheel speed comparison result;

[0019] If the fourth wheel speed comparison result indicates that the wheel end speed of the left rear drive wheel is equal to the wheel end speed of the right rear drive wheel, the castor control information is confirmed as the escape control information of the vehicle, and the suspension height of the rear axle drive wheel of the vehicle is adjusted according to the castor control information; otherwise, the multi-end control information is confirmed as the escape control information of the vehicle, and the suspension height of one or more drive wheels of the vehicle is adjusted according to the multi-end control information;

[0020] or,

[0021] If the third wheel speed comparison result indicates that the average wheel end speed of the front axle drive wheels is less than the average wheel end speed of the rear axle drive wheels, then comparing the wheel end speed of the left front drive wheel with the wheel end speed of the right front drive wheel to obtain a fifth wheel speed comparison result;

[0022] If the fifth wheel speed comparison result indicates that the wheel end speed of the left front drive wheel is equal to the wheel end speed of the right front drive wheel, the tilt control information is confirmed as the vehicle's escape control information, and the suspension height of the vehicle's front axle drive wheels is adjusted according to the tilt control information; otherwise, the multi-end control information is confirmed as the vehicle's escape control information, and the suspension height of one or more drive wheels of the vehicle is adjusted according to the multi-end control information.

[0023] In one embodiment, after determining the vehicle escape control information according to the wheel speed comparison result, the method further includes:

[0024] adjusting the suspension height of the corresponding drive wheel of the vehicle according to the escape control information;

[0025] driving all the driving wheels to rotate while the traction control system is turned on, to obtain updated rear wheel end speeds of all the driving wheels;

[0026] The vehicle's escape result is confirmed based on the updated rear wheel end speed; the escape result is used to indicate whether to restore the vehicle's suspension height from the escape state to the normal state.

[0027] In one embodiment, comparing the wheel end speeds of the driving wheels to obtain the wheel speed comparison results of the driving wheels includes:

[0028] When the number of the driving wheels is less than a preset number threshold, comparing the wheel end speed of the left driving wheel and the wheel end speed of the right driving wheel of the vehicle to obtain a sixth wheel speed comparison result;

[0029] Determining the vehicle escape control information according to the wheel speed comparison result includes:

[0030] If the sixth wheel speed comparison result indicates that the wheel end speed of the left drive wheel is not equal to the wheel end speed of the right drive wheel, the unilateral control information is confirmed as the vehicle's escape control information; the unilateral control information is used to indicate the adjustment of the suspension height of the left drive wheel or the right drive wheel.

[0031] In one embodiment, after determining the vehicle escape control information according to the wheel speed comparison result, the method further includes:

[0032] adjusting the suspension height of the corresponding drive wheel of the vehicle according to the escape control information;

[0033] driving the left drive wheel and the right drive wheel to rotate while the traction control system is turned on, to obtain an updated rear wheel end speed of the left drive wheel and an updated rear wheel end speed of the right drive wheel;

[0034] When the left driving wheel and the right driving wheel are driven to rotate with the traction control system turned on, starting a timer to obtain a cumulative driving time;

[0035] If the accumulated driving time is greater than or equal to the time threshold, confirming the multi-terminal control information as escape control information, and adjusting the suspension height of one or more driving wheels of the vehicle again according to the multi-terminal control information;

[0036] If the accumulated driving time is less than the time threshold, the vehicle's escape result is confirmed based on the updated rear wheel end speed of the left driving wheel and the updated rear wheel end speed of the right driving wheel; the escape result is used to indicate whether to restore the vehicle's suspension height from the escape state to the normal state. In one embodiment, the method further includes:

[0037] In response to a second escape control request triggered for the vehicle, obtaining a target suspension corresponding to the second escape control request and target adjustment information for the target suspension;

[0038] The target adjustment information is used to instruct adjustment of the suspension height of the target suspension.

[0039] In a second aspect, the present invention further provides a vehicle escape control device. The device comprises:

[0040] a speed acquisition module, configured to, in response to a first escape control request triggered for the vehicle, drive each driving wheel of the vehicle to rotate with a traction control system of the vehicle turned off, and obtain a wheel end speed of each driving wheel;

[0041] A speed comparison module, configured to compare the wheel end speeds of the driving wheels to obtain a wheel speed comparison result of the driving wheels;

[0042] An escape control module is used to determine the vehicle's escape control information based on the wheel speed comparison result; the escape control information is used to indicate the drive wheel whose suspension height is to be adjusted, and adjustment method information for the suspension height; the adjustment method information includes raising the suspension height to a first height, or lowering the suspension height to a second height.

[0043] In a third aspect, the present invention further provides a computer device. The computer device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are performed:

[0044] In response to a first escape control request triggered for the vehicle, driving each drive wheel of the vehicle to rotate with a traction control system of the vehicle turned off, to obtain a wheel end speed of each drive wheel;

[0045] Comparing the wheel end speeds of the driving wheels to obtain a wheel speed comparison result of the driving wheels;

[0046] Based on the wheel speed comparison result, the vehicle's escape control information is determined; the escape control information is used to indicate the drive wheel whose suspension height is to be adjusted, and the adjustment method information for the suspension height; the adjustment method information includes raising the suspension height to a first height, or lowering the suspension height to a second height.

[0047] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the following steps:

[0048] In response to a first escape control request triggered for the vehicle, driving each drive wheel of the vehicle to rotate with a traction control system of the vehicle turned off, to obtain a wheel end speed of each drive wheel;

[0049] Comparing the wheel end speeds of the driving wheels to obtain a wheel speed comparison result of the driving wheels;

[0050] Based on the wheel speed comparison result, the vehicle's escape control information is determined; the escape control information is used to indicate the drive wheel whose suspension height is to be adjusted, and the adjustment method information for the suspension height; the adjustment method information includes raising the suspension height to a first height, or lowering the suspension height to a second height.

[0051] In a fifth aspect, the present invention further provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the following steps:

[0052] In response to a first escape control request triggered for the vehicle, driving each drive wheel of the vehicle to rotate with a traction control system of the vehicle turned off, to obtain a wheel end speed of each drive wheel;

[0053] Comparing the wheel end speeds of the driving wheels to obtain a wheel speed comparison result of the driving wheels;

[0054] Based on the wheel speed comparison result, the vehicle's escape control information is determined; the escape control information is used to indicate the drive wheel whose suspension height is to be adjusted, and the adjustment method information for the suspension height; the adjustment method information includes raising the suspension height to a first height, or lowering the suspension height to a second height.

[0055] The above-mentioned vehicle escape control method, device, computer equipment, storage medium and computer program product, in response to the first escape control request triggered for the vehicle, drives each driving wheel of the vehicle to rotate while turning off the vehicle's traction control system, and obtains the wheel end speed of each driving wheel; compares the wheel end speeds of each driving wheel to obtain the wheel speed comparison results of each driving wheel; determines the vehicle's escape control information based on the wheel speed comparison results; the escape control information is used to instruct to adjust the suspension height of the corresponding wheel end of the vehicle; the adjustment method information includes raising the suspension height to a first height, or lowering the suspension height to a second height. Using this method, when the vehicle is trapped, the current trapped state of the vehicle is judged by comparing the wheel end speeds of each driving wheel, thereby selecting appropriate escape control information based on the wheel speed comparison results, and automatically adjusting the suspension height of the corresponding wheel end of the vehicle according to the escape control information, thereby achieving vehicle escape, and effectively improving the vehicle's escape efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 Schematic diagram of a process flow of a vehicle escape control method according to an embodiment;

[0057] Figure 2 FIG1 is a flow chart of the step of comparing the wheel end speeds of each driving wheel in one embodiment;

[0058] Figure 3 A schematic diagram of adjusting the suspension height of a single-side drive wheel of a vehicle through single-side control information in one embodiment;

[0059] Figure 4 A schematic diagram of adjusting the suspension height of a driving wheel located at a diagonal corner of a vehicle using diagonal control information in one embodiment;

[0060] Figure 5 A schematic diagram of adjusting the suspension height of the front and rear axles of a vehicle using forward tilt control information or backward tilt control information in one embodiment;

[0061] Figure 6 A schematic diagram of adjusting the suspension height of one or more driving wheels of a vehicle through multi-terminal control information in one embodiment;

[0062] Figure 7 A schematic flow chart of a vehicle escape control method in another embodiment;

[0063] Figure 8Schematic diagram of a flow chart of a vehicle escape control method in another embodiment;

[0064] Figure 9 This is a structural block diagram of a vehicle escape control device in one embodiment;

[0065] Figure 10 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0067] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the present invention are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0068] In one embodiment, Figure 1 As shown, a vehicle escape control method is provided. This embodiment uses the method applied to a terminal as an example, wherein the terminal is also equipped with a vehicle controller or control system. It is understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0069] Step S101 : In response to a first escape control request triggered for a vehicle, each driving wheel of the vehicle is driven to rotate with a traction control system of the vehicle turned off, to obtain a wheel end speed of each driving wheel.

[0070] The first escape control request is used to represent a triggering request for an automatic escape control mode of the vehicle.

[0071] Drive wheels are the wheels that convert engine power into kinetic energy, propelling the vehicle forward or backward. There are three basic types of drive wheels: front-wheel drive, rear-wheel drive, and four-wheel drive. Wheel speed refers to the speed at which the drive wheels rotate.

[0072] The Traction Control System (TCS) is an electronic safety system designed to prevent excessive slippage of the drive wheels during acceleration (such as on snowy or slippery roads, or during sudden acceleration). The TCS monitors the speed difference between the drive wheels and automatically adjusts engine power or applies the brakes to ensure effective tire adhesion to the road.

[0073] Specifically, when the vehicle is trapped, multiple function switch buttons of the escape control function can be displayed on the vehicle's display screen (such as the car's entertainment main screen, instrument display screen, etc.). The function switch button can be set in the vehicle setting form or directly displayed as a shortcut key on the desktop. The function switch button can also be annotated with prompts such as "off-road escape" around it to remind the user (such as the driver) of the location and use of the function switch; the escape control function can be turned on or off by lightly touching the function switch button with your hand, or it can be turned on or off by voice control.

[0074] After turning on the function switch button of the escape control function, the escape control mode selection interface is entered. Multiple escape control modes are displayed in the selection interface, such as the first escape control mode (such as automatic escape) and the second escape control mode (such as manual escape). The user (such as the driver) can select the escape control mode manually or by voice. For example, when the user wants the vehicle to escape automatically, the user can select the displayed first escape control mode. When the controller receives the selected first escape control mode, it generates a first escape control request and responds. The controller sends an instruction to prohibit the traction control system from being triggered, limiting the vehicle's power output torque / speed (calibrated according to actual vehicle performance) to prevent excessive slippage of the slipping wheels. After the driver presses the accelerator pedal, all drive wheels begin to rotate for a preset time (such as 500ms). During the process of the drive wheels rotating for the preset time, the wheel end speed of each drive wheel can be obtained through the wheel speed sensor at the vehicle wheel end.

[0075] Step S102 : comparing the wheel end speeds of the driving wheels to obtain a wheel speed comparison result of the driving wheels.

[0076] Specifically, the controller performs logical judgment based on the wheel end speed of the driving wheel. It can directly compare the wheel end speeds of each driving wheel, or compare the calculated wheel end speed of each driving wheel with a preset threshold to finally obtain the wheel speed comparison result of each driving wheel.

[0077] The wheel speed comparison result not only refers to the comparison result between the wheel end speeds of each driving wheel, but also refers to the comparison result between the calculation result (such as speed difference ratio information) obtained after calculation of each driving wheel and a preset threshold (such as the first threshold).

[0078] Step S103, determining the vehicle's escape control information based on the wheel speed comparison result; the escape control information is used to indicate the driving wheel whose suspension height is to be adjusted, as well as information on the adjustment method for the suspension height.

[0079] The escape control information refers to the escape control mode of the vehicle, and includes at least unilateral control information, diagonal control information, rearward tilt control information, forward tilt control information, and multi-end control information.

[0080] The suspension height adjustment method information may include raising the suspension height to a first height (eg, 70 mm) or lowering the suspension height to a second height (eg, 40 mm).

[0081] Specifically, the controller can pre-set a first association between the wheel speed comparison result and the escape control information, and a second association between the escape control information and the drive wheels and the suspension height of the drive wheels. Based on the first association, the controller determines the escape control information that matches the wheel speed comparison result; then, based on the second association, the controller determines the drive wheel whose suspension height is to be adjusted corresponding to the escape control information, as well as information on the suspension height adjustment method.

[0082] In the above-mentioned vehicle escape control method, in response to the first escape control request triggered for the vehicle, each driving wheel of the driving vehicle rotates while the traction control system of the vehicle is turned off, and the wheel end speed of each driving wheel is obtained; the wheel end speeds of each driving wheel are compared to obtain the wheel speed comparison results of each driving wheel; based on the wheel speed comparison results, the vehicle's escape control information is determined; the escape control information is used to instruct the adjustment of the suspension height of the corresponding wheel end of the vehicle. Using this method, when the vehicle is trapped, the current trapped state of the vehicle is determined by comparing the wheel end speeds of each driving wheel, so that the appropriate escape control information is selected according to the wheel speed comparison results, and the suspension height of the corresponding wheel end of the vehicle is automatically adjusted according to the escape control information, thereby achieving vehicle escape, and effectively improving the vehicle's escape efficiency.

[0083] In one embodiment, Figure 2 As shown, the above step S102 compares the wheel end speeds of each driving wheel to obtain the wheel speed comparison results of each driving wheel, which specifically includes the following contents:

[0084] Step S201 : When the number of driving wheels is not less than a preset number threshold, obtain speed difference ratio information between the average wheel end speed of the front axle driving wheels and the average wheel end speed of the rear axle driving wheels of the vehicle.

[0085] The front axle drive wheels refer to the front two drive wheels of a four-wheel drive vehicle. These include the left front drive wheel and the right front drive wheel. The rear axle drive wheels refer to the rear two drive wheels of a four-wheel drive vehicle. These include the left rear drive wheel and the right rear drive wheel.

[0086] The speed difference ratio information refers to the ratio of the speed difference between the front and rear drive wheels.

[0087] Specifically, if the number of drive wheels equipped on the vehicle is not less than a preset threshold (e.g., four), indicating that the vehicle is at least a four-wheel drive vehicle, the controller calculates the average wheel-end speed of the vehicle's front axle drive wheels and the average wheel-end speed of the rear axle drive wheels; then calculates the speed difference ratio information between the average wheel-end speed of the front axle drive wheels and the average wheel-end speed of the rear axle drive wheels. In actual applications, the speed difference ratio information (V 差异比例 ) can be expressed by the following formula:

[0088]

[0089] Where V 左前 Indicates the wheel end speed of the vehicle's left front drive wheel; V 右前 Indicates the wheel end speed of the right front driving wheel of the vehicle; V 左后 Indicates the wheel end speed of the vehicle's left rear drive wheel; V 右后 Indicates the wheel end speed of the vehicle's right rear drive wheel.

[0090] In step S202, if the speed difference ratio information does not exceed the first threshold, the wheel end speed of the left front drive wheel of the vehicle is compared with the wheel end speed of the right front drive wheel to obtain a first wheel speed comparison result, and the wheel end speed of the left rear drive wheel of the vehicle is compared with the wheel end speed of the right rear drive wheel to obtain a second wheel speed comparison result.

[0091] The first threshold value refers to a judgment threshold value set for the speed difference ratio information. For example, the first threshold value can be set to 20%. The first threshold value can be set according to the actual vehicle conditions.

[0092] Specifically, the controller compares the speed difference ratio information with the first threshold value to determine whether the vehicle is experiencing a single-axle slip abnormality; if the speed difference ratio information is ≤ the first threshold value (for example, 20%), indicating that the vehicle is not experiencing a single-axle slip abnormality, the controller then continues to compare the wheel-end speed of the left front drive wheel with the wheel-end speed of the right front drive wheel to obtain a first wheel speed comparison result between the wheel-end speed of the left front drive wheel and the wheel-end speed of the right front drive wheel, and compares the wheel-end speed of the left rear drive wheel with the wheel-end speed of the right rear drive wheel to obtain a second wheel speed comparison result between the wheel-end speed of the left rear drive wheel and the wheel-end speed of the right rear drive wheel, so as to determine whether the vehicle is experiencing a single-side slip abnormality or a diagonal slip abnormality by combining the first wheel speed comparison result and the second wheel speed comparison result.

[0093] Step S203 : If the speed difference ratio information is greater than the first threshold, the average wheel end speed of the front axle driving wheels is compared with the average wheel end speed of the rear axle driving wheels to obtain a third wheel speed comparison result.

[0094] Specifically, if the speed difference ratio information is greater than the first threshold, indicating that the vehicle is in a situation where the single-axle slip is abnormal, the controller calculates the average wheel-end speed of the front axle drive wheels and the average wheel-end speed of the rear axle drive wheels, and then compares the average wheel-end speed of the front axle drive wheels with the average wheel-end speed of the rear axle drive wheels to obtain a third wheel speed comparison result between the average wheel-end speed of the front axle drive wheels and the average wheel-end speed of the rear axle drive wheels to determine whether the front axle slip is abnormal or the rear axle slip is abnormal.

[0095] It should be noted that the single axle of a vehicle refers to the front axle or rear axle of the vehicle. The front axle includes two drive wheels, the left front drive wheel and the right front drive wheel, and the rear axle includes two drive wheels, the left rear drive wheel and the right rear drive wheel. In actual application, the average wheel end speed of the front axle drive wheel (V 前 ) can be expressed by the following formula:

[0096]

[0097] Average wheel end speed of the rear axle drive wheels (V 后 ) can be expressed by the following formula:

[0098]

[0099] In this embodiment, when the number of driving wheels is not less than a preset number threshold, the speed difference ratio information between the average wheel end speed of the front axle driving wheels and the average wheel end speed of the rear axle driving wheels of the vehicle is first compared with the first threshold to determine whether it is a single-axle slip. If it is not a single-axle slip, the judgment is continued to determine whether it is a single-sided slip, diagonal slip or other situations. If it is a single-axle slip, the judgment is further made whether only the front axle or the rear axle is slipping, or a multi-end slip situation in which other tires slip in addition to the single-axle slip, thereby realizing the logical judgment of the vehicle's trapped situation and laying the foundation for subsequent accurate escape control information.

[0100] In one embodiment, the above step S103 determines the vehicle's escape control information based on the wheel speed comparison result, which specifically includes the following contents: obtaining a comprehensive wheel speed comparison result based on the first wheel speed comparison result and the second wheel speed comparison result; if the comprehensive wheel speed comparison result indicates that the wheel end speeds of the right driving wheels of the vehicle are all less than the wheel end speeds of the left driving wheels of the vehicle, or the wheel end speeds of the right driving wheels are all greater than the wheel end speeds of the left driving wheels, then the unilateral control information is confirmed as the vehicle's escape control information; the unilateral control information is used to indicate adjustment of the suspension height of the unilateral driving wheels of the vehicle; if the comprehensive wheel speed comparison result indicates that the wheel end speed of one of the driving wheels located diagonally opposite the vehicle is greater than the wheel end speed of the other driving wheel located diagonally opposite the vehicle, then the diagonal control information is confirmed as the vehicle's escape control information; the diagonal control information is used to indicate adjustment of the suspension height of the diagonal driving wheels of the vehicle.

[0101] Single-side control information refers to an escape control mode that adjusts the suspension height on one side of the vehicle. This includes right-side control information, which controls the vehicle's center of gravity to the right for escape in the event of a left-side slip, and left-side control information, which controls the vehicle's center of gravity to the left for escape in the event of a right-side slip.

[0102] Diagonal control information refers to the vehicle's diagonal suspension height adjustment for escape control. Unilateral control information includes left front and right rear diagonal control information for escape from slippage on the left front and right rear diagonals, and left rear and right front diagonal control information for escape from slippage on the left rear and right front diagonals.

[0103] The right drive wheel is used to represent the drive wheel located on the right side of the vehicle; the left drive wheel is used to represent the drive wheel located on the left side of the vehicle.

[0104] Specifically, when the speed difference ratio information does not exceed the first threshold, the controller can determine whether the vehicle is in a unilateral slip situation or a diagonal slip situation by combining the first wheel speed comparison result and the second wheel speed comparison result.

[0105] For unilateral skidding, including skidding on the left side and skidding on the right side of the vehicle, the details are as follows:

[0106] (1) If the first wheel speed comparison result indicates that the wheel end speed of the right front driving wheel is greater than the wheel end speed of the left front driving wheel, and the second wheel speed comparison result indicates that the wheel end speed of the right rear driving wheel is greater than the wheel end speed of the left rear driving wheel, that is, V 右前 >V 左前 , and V 右后 >V 左后 , it means that there is slippage on the right side of the vehicle, and then the controller confirms the left control information as the vehicle's escape control information, and adjusts the suspension height of the left drive wheel and / or the right drive wheel of the vehicle through the left control information, so that the vehicle body tilts to the left and escapes. In actual application, the left control information can be to increase the suspension height on the side with greater slippage, that is, to increase the suspension height of the right drive wheel (including the right front drive wheel and the right rear drive wheel); it can also be to lower the suspension height on the side with less slippage, that is, to lower the suspension height of the left drive wheel (including the left front drive wheel and the left rear drive wheel); it can also be to increase the suspension height on the side with greater slippage and lower the suspension height on the side with less slippage, that is, to increase the suspension height of the right drive wheel and lower the suspension height of the left drive wheel; so that the vehicle forms a lateral posture (higher on the side with greater slippage, lower on the side with less slippage), and the center of gravity of the vehicle shifts to the side with less slippage (i.e., the left side), thereby improving the adhesion of the non-slipping / small-slipping wheels, making it easier to escape. Figure 3 This is a schematic diagram of adjusting the suspension height of a single-sided drive wheel of a vehicle using single-sided control information.

[0107] (2) If the first wheel speed comparison result indicates that the wheel end speed of the left front drive wheel is greater than the wheel end speed of the right front drive wheel, and the second wheel speed comparison result indicates that the wheel end speed of the left rear drive wheel is greater than the wheel end speed of the right rear drive wheel, V 左前 >V 右前 , and V 左后 >V 右后, it indicates that the left side of the vehicle is slipping. The controller then identifies the right-side control information as the vehicle's escape control information, and uses the right-side control information to adjust the suspension height of the vehicle's left and / or right drive wheels, tilting the vehicle body to the right and achieving escape. In actual application, the right-side control information can be to raise the suspension height on the side with greater slippage, that is, to raise the suspension height of the left drive wheels (including the left front drive wheel and the left rear drive wheel); or to lower the suspension height on the side with less slippage, that is, to lower the suspension height of the right drive wheels (including the right front drive wheel and the right rear drive wheel); or to raise the suspension height on the side with greater slippage and lower the suspension height on the side with less slippage, that is, to raise the suspension height of the left drive wheels and lower the suspension height of the right drive wheels. This shifts the vehicle's center of gravity toward the side with less slippage (i.e., the right side), thereby improving the adhesion of the non-slipping / less-slipping wheels and facilitating escape.

[0108] Diagonal skidding includes two situations: the driving wheel skidding on the left front and right rear diagonal lines of the vehicle, and the driving wheel skidding on the left rear and right front diagonal lines of the vehicle. The details are as follows:

[0109] (1) If the first wheel speed comparison result indicates that the wheel end speed of the right front driving wheel is greater than the wheel end speed of the left front driving wheel, and the second wheel speed comparison result indicates that the wheel end speed of the right rear driving wheel is less than the wheel end speed of the left rear driving wheel, that is, V 右前 >V 左前 , and V 左后 >V 右后 , it means that there is a wheel speed difference between the front and rear axles of the vehicle, and the driving wheels on the right front and left rear diagonals are slipping, that is, the right front wheel slips a lot and the left rear wheel slips a lot, and then the right front and left rear diagonal control information is confirmed as the vehicle's escape control information, so that the suspension height of the driving wheels located at the diagonal corners of the vehicle is adjusted through the right front and left rear diagonal control information, so that the suspension height on the left front and right rear diagonals is greater than the suspension height on the right front and left rear diagonals, so that the vehicle can be escaped. In actual application, the right front and left rear diagonal control information can be to raise the suspension height of the diagonal with small slip, that is, to raise the suspension height of the left front drive wheel and the right rear drive wheel; it can also be to lower the suspension height of the diagonal with large slip, that is, to raise the suspension height of the right front drive wheel and the left rear drive wheel; it can also be to raise the suspension height of the diagonal with small slip and lower the suspension height of the diagonal with large slip, that is, to raise the suspension height of the left front drive wheel and the right rear drive wheel, and raise the suspension height of the right front drive wheel and the left rear drive wheel, so that the suspension height (or elongation) of the diagonal wheel end with larger slip of the vehicle is smaller than that of the diagonal wheel end with smaller slip, thereby increasing the supporting force of the diagonal wheel end with smaller slip, thereby improving the adhesion of the wheel without slip or with smaller slip, making it easier to get out of trouble. Figure 4A schematic diagram illustrating adjusting the suspension height of drive wheels located at diagonal corners of a vehicle using diagonal control information.

[0110] (2) If the first wheel speed comparison result indicates that the wheel end speed of the right front driving wheel is less than the wheel end speed of the left front driving wheel, and the second wheel speed comparison result indicates that the wheel end speed of the right rear driving wheel is greater than the wheel end speed of the left rear driving wheel, that is, V 右前 <V 左前 , and V 左后 <V 右后 , it means that there is a wheel speed difference between the front and rear axles of the vehicle, and the driving wheels on the right front and left rear diagonal lines are slipping, that is, the left front wheel slips a lot and the right rear wheel slips a lot. Then the left front and right rear diagonal control information is confirmed as the vehicle's escape control information. The suspension height of the driving wheels located at the diagonal corners of the vehicle is adjusted by the left front and right rear diagonal control information, so that the suspension height on the right front and left rear diagonal lines is greater than the suspension height on the left front and right rear diagonal lines, thereby achieving vehicle escape. Figure 4 As shown, in actual application, the left front and right rear diagonal control information can be to increase the suspension height of the diagonal with small slip, that is, to increase the suspension height of the right front drive wheel and the left rear drive wheel; it can also be to lower the suspension height of the diagonal with large slip, that is, to increase the suspension height of the left front drive wheel and the right rear drive wheel; it can also be to raise the suspension height of the diagonal with small slip and lower the suspension height of the diagonal with large slip, that is, to raise the suspension height of the right front drive wheel and the left rear drive wheel, and raise the suspension height of the left front drive wheel and the right rear drive wheel; similarly, the support force of the diagonal wheel end with small slip is increased, thereby improving the adhesion of the wheel that does not slip or slips little, making it easier to get out of trouble.

[0111] In this embodiment, by combining the first wheel speed comparison result and the second wheel speed comparison result, it is determined whether the wheel end speed of a single drive wheel on the vehicle is greater or the wheel end speed of a diagonally opposite drive wheel is greater, and thus the single-side control information or the diagonally opposite control information is selected as the vehicle escape control information. The single-side control information is then used to cause the vehicle to form a sideways posture, shifting the vehicle's center of gravity toward the side with less slippage, thereby improving the adhesion of the non-slipping or less-slipping wheel and increasing the ground pressure of the drive wheel with good adhesion, thereby effectively suppressing the idling of the slipping drive wheel, enhancing the distribution of effective driving force, and achieving vehicle escape. The diagonally opposite control information can also be used to cause the suspension height of the diagonally opposite wheel with greater slippage to be lower than that of the diagonally opposite wheel with less slippage, thereby increasing the support force of the diagonally opposite wheel with less slippage, improving the adhesion of the non-slipping or less-slipping wheel, and optimizing the adhesion distribution of the four wheels, thereby achieving vehicle escape. It automatically matches the optimal control logic for different skidding modes (single-side / diagonal) and dynamically adjusts the suspension height, effectively improving the vehicle's escape efficiency and success rate under complex road conditions.

[0112] In one embodiment, the above step S103 determines the vehicle's escape control information based on the wheel speed comparison result, which specifically includes the following contents: if the third wheel speed comparison result indicates that the average wheel end speed of the front axle drive wheels is greater than the average wheel end speed of the rear axle drive wheels, then the wheel end speed of the left rear drive wheel is compared with the wheel end speed of the right rear drive wheel to obtain a fourth wheel speed comparison result; if the fourth wheel speed comparison result indicates that the wheel end speed of the left rear drive wheel is equal to the wheel end speed of the right rear drive wheel, then the castor control information is confirmed as the vehicle's escape control information, and the suspension height of the rear axle drive wheels of the vehicle is adjusted according to the castor control information; otherwise, the multi-end control information is confirmed as the vehicle's escape control information, and the suspension height of one or more drive wheels of the vehicle is adjusted according to the multi-end control information.

[0113] Among them, the tilt control information means that the front axle of the vehicle is slipping, and the vehicle body is controlled to tilt backward to escape.

[0114] Among them, multi-terminal control information means that three or more driving wheels of the vehicle are slipping, and the suspension height of multiple driving wheels needs to be adjusted to resolve the slippage and achieve escape.

[0115] Specifically, if the third wheel speed comparison result indicates that the average wheel end speed of the front axle drive wheels is greater than the average wheel end speed of the rear axle drive wheels, that is, V 前 >V 后 , it means that there is a speed difference between the front and rear axles of the vehicle and the front axle is slipping. The controller can further compare the wheel end speed of the left rear drive wheel with the wheel end speed of the right rear drive wheel to obtain a fourth wheel speed comparison result.

[0116] If the fourth wheel speed comparison result indicates that the wheel end speed of the left rear driving wheel is equal to the wheel end speed of the right rear driving wheel, that is, V 左后 =V 右后, it means that there is no speed difference between the two driving wheels on the rear axle of the vehicle and the rear axle is not slipping. The controller can then confirm the tilt control information as the vehicle's escape control information, and adjust the suspension height of the vehicle's rear axle driving wheels according to the tilt control information, so that the vehicle's front axle suspension height is higher than the rear axle suspension height. In actual application, the rearward tilt control information can be to increase the suspension height of the axle with large slippage, that is, to increase the suspension height of the left front drive wheel and the right front drive wheel; it can also be to lower the suspension height of the axle with small slippage, that is, to lower the suspension height of the left rear drive wheel and the right rear drive wheel; it can also be to increase the suspension height of the axle with large slippage and lower the suspension height of the axle with small slippage, that is, to increase the suspension height of the left front drive wheel and the right front drive wheel, and lower the suspension height of the left rear drive wheel and the right rear drive wheel; so that the vehicle forms a rearward tilting pitching posture (the axle side with large slippage is higher, and the axle side with small slippage is lower), so that the center of gravity of the vehicle shifts to the axle side with small slippage, thereby improving the adhesion of the wheels that do not slip or slip less, making it easier to get out of trouble. Figure 5 A schematic diagram of adjusting the suspension height of the front and rear axles of a vehicle using forward or backward tilt control information.

[0117] If the fourth wheel speed comparison result indicates that the wheel end speed of the left rear driving wheel is greater than or less than the wheel end speed of the right rear driving wheel, that is, V 左后 >V 右后 or V 左后 <V 右后 , it means that there is a speed difference between the two driving wheels on the rear axle of the vehicle, and one of the rear axle wheels is slipping. Then the controller recognizes the multi-terminal control information as the vehicle's escape control information and adjusts the suspension height of one or more driving wheels of the vehicle according to the multi-terminal control information. In actual application, if V 左后 >V 右后 , which means that the left rear drive wheel has a larger slip than the right rear drive wheel, then the controller controls the vehicle body to tilt to the right rear through multi-terminal control information, which can be done by raising the suspension height of multiple (3 for four-wheel drive models) wheels with large slip, that is, raising the suspension heights of the left front drive wheel, the right front drive wheel and the left rear drive wheel; or lowering the suspension height of the wheel with small slip (the drive wheel with the smallest slip for four-wheel drive models), that is, lowering the suspension height of the right rear drive wheel; or raising the suspension height of multiple (3 for four-wheel drive models) wheels with large slip and lowering the suspension height of the wheel with small slip (the drive wheel with the smallest slip for four-wheel drive models), that is, raising the suspension heights of the left front drive wheel, the right front drive wheel and the left rear drive wheel, and lowering the suspension height of the right rear drive wheel; making the suspension height of the wheel end with larger slip higher than that of the wheel end with smaller slip, and shifting the center of gravity to the wheel end with smaller slip, thereby improving the adhesion of the wheel without slip or with smaller slip, making it easier to get out of trouble. Figure 6Schematic diagram of adjusting the suspension height of one or more driving wheels of a vehicle through multi-terminal control information. Similarly, if V 左后 <V 右后 , which means that the right rear drive wheel has a greater slippage than the left rear drive wheel. The controller then controls the vehicle body to tilt to the left rear through multi-terminal control information. This may be by raising the suspension heights of the left front drive wheel, the right front drive wheel, and the right rear drive wheel; or by lowering the suspension height of the left rear drive wheel; or by raising the suspension heights of the left front drive wheel, the right front drive wheel, and the right rear drive wheel, and lowering the suspension height of the left rear drive wheel.

[0118] Alternatively, if the third wheel speed comparison result indicates that the average wheel end speed of the front axle drive wheels is less than the average wheel end speed of the rear axle drive wheels, the wheel end speed of the left front drive wheel is compared with the wheel end speed of the right front drive wheel to obtain the fifth wheel speed comparison result; if the fifth wheel speed comparison result indicates that the wheel end speed of the left front drive wheel is equal to the wheel end speed of the right front drive wheel, the forward tilt control information is confirmed as the vehicle's escape control information, and the suspension height of the vehicle's front axle drive wheels is adjusted according to the forward tilt control information; otherwise, the multi-end control information is confirmed as the vehicle's escape control information, and the suspension height of one or more drive wheels of the vehicle is adjusted according to the multi-end control information.

[0119] Among them, the forward tilt control information means that the rear axle of the vehicle is slipping, and the vehicle body is controlled to tilt forward to escape.

[0120] Specifically, if the third wheel speed comparison result indicates that the average wheel end speed of the front axle driving wheels is less than the average wheel end speed of the rear axle driving wheels, that is, V 前 <V 后 , it means that there is a speed difference between the front and rear axles of the vehicle and the rear axle is slipping. The controller can continue to compare the wheel end speed of the left front drive wheel with the wheel end speed of the right front drive wheel to obtain the fifth wheel speed comparison result.

[0121] If the fifth wheel speed comparison result indicates that the wheel end speed of the left front driving wheel is equal to the wheel end speed of the right front driving wheel, that is, V 左前 =V 右前 , the forward tilt control information is confirmed as the vehicle's escape control information, and the suspension height of the vehicle's front axle drive wheel is adjusted according to the forward tilt control information, so that the vehicle's front axle suspension height is lower than the rear axle suspension height. Figure 5As shown, in actual application, the forward tilt control information can be to increase the suspension height of the axle with a large amount of slip, that is, to increase the suspension height of the left rear drive wheel and the right rear drive wheel; it can also be to lower the suspension height of the axle with a small amount of slip, that is, to lower the suspension height of the left front drive wheel and the right front drive wheel; it can also be to increase the suspension height of the axle with a large amount of slip and lower the suspension height of the axle with a small amount of slip, that is, to increase the suspension height of the left rear drive wheel and the right rear drive wheel, and lower the suspension height of the left front drive wheel and the right front drive wheel; so that the vehicle forms a forward tilting pitch posture (the axle side with a large amount of slip is higher, and the axle side with a small amount of slip is lower), so that the center of gravity of the vehicle shifts to the axle side with a small amount of slip, thereby improving the adhesion of the wheels that do not slip or have a small amount of slip, and facilitating escape.

[0122] If the fifth wheel speed comparison result indicates that the wheel end speed of the left front driving wheel is greater than or less than the wheel end speed of the right front driving wheel, that is, V 左前 >V 右前 or V 左前 <V 右前 , it means that there is a speed difference between the two driving wheels on the front axle of the vehicle, and one of the front axle wheels is slipping. Then the controller recognizes the multi-terminal control information as the vehicle's escape control information and adjusts the suspension height of one or more driving wheels of the vehicle according to the multi-terminal control information. Figure 6 As shown, in practical applications, if V 左前 >V 右前 , which means that the left front drive wheel has a greater slip than the right front drive wheel. The controller then controls the vehicle body to tilt to the right front through multi-terminal control information. This can be done by raising the suspension heights of multiple (three for four-wheel drive models) wheels with greater slip, that is, raising the suspension heights of the left front drive wheel, the right rear drive wheel, and the left rear drive wheel. It can also be done by lowering the suspension heights of the wheels with less slip (the drive wheels with the least slip for four-wheel drive models), that is, lowering the suspension heights of the right front drive wheel. It can also be done by raising the suspension heights of multiple (three for four-wheel drive models) wheels with greater slip and lowering the suspension heights of the wheels with less slip (the drive wheels with the least slip for four-wheel drive models), that is, raising the suspension heights of the left front drive wheel, the right rear drive wheel, and the left rear drive wheel, and lowering the suspension height of the right front drive wheel. This causes the suspension height of the vehicle's wheel end with greater slip to be higher than that of the wheel end with less slip, shifting the center of gravity toward the wheel end with less slip, thereby improving the adhesion of the wheels with no slip or less slip, facilitating escape. Similarly, if V 左前 <V 右前 , which means that the right front drive wheel has a greater slippage than the left front drive wheel. The controller then controls the vehicle body to tilt to the front left through multi-terminal control information. This may be by raising the suspension heights of the left rear drive wheel, the right front drive wheel, and the right rear drive wheel; or by lowering the suspension height of the left front drive wheel; or by raising the suspension heights of the left rear drive wheel, the right front drive wheel, and the right rear drive wheel, and lowering the suspension height of the left front drive wheel.

[0123] In this embodiment, if the third wheel speed comparison result indicates that the average wheel end speed of the front axle drive wheels is greater than the average wheel end speed of the rear axle drive wheels, that is, the vehicle's front axle is slipping, the wheel end speed of the left rear drive wheel is further compared with the wheel end speed of the right rear drive wheel to obtain a fourth wheel speed comparison result. The fourth wheel speed comparison result is used to further determine whether the rear axle drive wheels are also slipping, thereby determining whether the current escape strategy is the rearward tilt control information or the multi-end control information. If the third wheel speed comparison result indicates that the average wheel end speed of the front axle drive wheels is less than the average wheel end speed of the rear axle drive wheels, the wheel end speed of the left front drive wheel is further compared with the wheel end speed of the right front drive wheel to obtain a fifth wheel speed comparison result. The fifth wheel speed comparison result is used to further determine whether the front axle drive wheels are also slipping, thereby determining whether the current escape strategy is the forward tilt control information or the multi-end control information. It realizes accurate judgment of the skidding situation of the whole vehicle, and raises the suspension height of the driving wheel with larger skidding through caster control information or multi-end control information, and lowers the suspension height of the driving wheel with smaller skidding, so that the center of the whole vehicle is concentratedly shifted toward the wheel end with smaller skidding, and improves the adhesion of the wheel with smaller skidding to the ground, thereby realizing the vehicle's escape from trouble and dynamically adjusting the suspension height, which effectively improves the vehicle's escape efficiency and success rate under complex road conditions.

[0124] In one embodiment, in the above step S103, after determining the vehicle's escape control information based on the wheel speed comparison result, it also includes: adjusting the suspension height of the vehicle's corresponding drive wheels according to the escape control information; driving all drive wheels to rotate with the traction control system turned on to obtain updated rear wheel end speeds of all drive wheels; confirming the vehicle's escape result based on the updated rear wheel end speed; the escape result is used to indicate whether to restore the vehicle's suspension height from the escape state to the normal state.

[0125] Specifically, the controller adjusts the suspension height of the corresponding drive wheels of the vehicle based on escape control information, such as left-side control information, right-side control information, diagonal control information, rearward tilt control information, forward tilt control information, or multi-end control information. After completing the suspension height adjustment, the controller sends a command to activate the traction control system. The driver then controls the power output via the throttle position. During this process, the controller collects updated rear wheel speeds of all drive wheels and determines whether the updated rear wheel speeds continuously meet the escape conditions within a target duration (e.g., 500ms) to confirm the vehicle's escape result. If the escape conditions are continuously met within the target duration, the escape result is determined to indicate escape is complete. The controller then exits the escape control function and restores the vehicle's suspension height from the escape state (e.g., raised or lowered) to the normal state. If the escape conditions are not continuously met within the target duration, the escape result is determined to indicate escape failure. The controller then re-executes automatic vehicle escape control (e.g., steps S101 to S103 described above) or responds to manual escape control by the user.

[0126] In actual applications, different escape control information may correspond to different or the same escape conditions, as follows:

[0127] (1) For unilateral control information (including left-side control information and right-side control information) and diagonal control information, the escape condition is that the front axle speed difference ratio information between the left front drive wheel and the right front drive wheel is less than or equal to a second threshold (e.g., 10%), and the rear axle speed difference ratio information between the left rear drive wheel and the right rear drive wheel is less than or equal to the second threshold. The front axle speed difference ratio information is used to determine whether the front axle drive wheel is returning to normal or a large wheel speed difference is maintained, and the rear axle speed difference ratio information is used to determine whether the rear axle drive wheel is returning to normal or a large wheel speed difference is maintained. The front axle speed difference ratio information (V 前轴速度差异比例 ) can be expressed by the following formula:

[0128]

[0129] Where, represents the updated rear wheel speed of the left front drive wheel; Indicates the updated rear wheel speed of the right front drive wheel.

[0130] The rear axle speed difference ratio information can be expressed by the following formula:

[0131]

[0132] Where, Updated rear wheel end speed of the left rear drive wheel; Indicates the updated rear wheel speed of the right rear drive wheel.

[0133] (2) For the rearward tilt control information, the forward tilt control information, and the multi-end control information, the escape condition is that the updated speed difference ratio information between the updated average wheel-end speed of the front axle drive wheel and the updated average wheel-end speed of the rear axle drive wheel is less than or equal to a third threshold value (e.g., 20%). The updated speed difference ratio information is used to determine whether the speed difference between the front and rear axle drive wheels is approaching a normal value. The updated speed difference ratio information can be expressed by the following formula:

[0134]

[0135] Where, Indicates the speed difference ratio information after update.

[0136] In this embodiment, the suspension height is first dynamically adjusted according to the escape control information to optimize the ground contact performance of the drive wheels; then, with the assistance of the traction control system, all drive wheels are driven to rotate, and the updated rear wheel end speed is obtained in real time to evaluate the escape effect, so as to accurately determine whether the vehicle has successfully escaped, and automatically decide whether to restore the suspension height to normal, thereby taking into account both escape efficiency and driving comfort.

[0137] In one embodiment, the above step S102 compares the wheel end speeds of each driving wheel to obtain a wheel speed comparison result of each driving wheel, which specifically includes the following content: when the number of driving wheels is less than a preset number threshold, the wheel end speed of the left driving wheel of the vehicle is compared with the wheel end speed of the right driving wheel to obtain a sixth wheel speed comparison result.

[0138] The above step S103 determines the vehicle's escape control information based on the wheel speed comparison result, which specifically includes the following contents: if the sixth wheel speed comparison result indicates that the wheel end speed of the left drive wheel is not equal to the wheel end speed of the right drive wheel, then the unilateral control information is confirmed as the vehicle's escape control information, and the suspension height of the left drive wheel or the right drive wheel is adjusted according to the unilateral control information.

[0139] Specifically, if the number of drive wheels equipped on the vehicle (for example, two, i.e., a two-wheel drive vehicle) is less than a preset threshold value, it means that the vehicle has only front axle drive wheels or only rear axle drive wheels. At this time, the drive wheels of the vehicle do not need to be distinguished as left front, left rear, right front, and right rear as in a four-wheel drive vehicle. The drive wheel on the left side (whether it is the left front or the left rear) is simply referred to as the left drive wheel, and the drive wheel on the right side (whether it is the right front or the right rear) is simply referred to as the right drive wheel. The controller then compares the wheel end speed of the left drive wheel with the wheel end speed of the right drive wheel of the vehicle to obtain a sixth wheel speed comparison result.

[0140] If the sixth wheel speed comparison result indicates that the wheel end speed of the left driving wheel is greater than the wheel end speed of the right driving wheel, that is, V 左 >V右 , indicating that the slippage of the left drive wheel is large, the controller will identify the right control information as the escape control information for the vehicle, and adjust the suspension height of the left drive wheel and / or right drive wheel of the vehicle through the right control information, so that the vehicle body tilts to the right and escapes from the distress. In actual application, for a two-wheel drive vehicle, the right control information can be to increase the suspension height on the side with large slippage, that is, to increase the suspension height of the left drive wheel; it can also be to lower the suspension height on the side with small slippage, that is, to lower the suspension height of the right drive wheel; it can also be to increase the suspension height on the side with large slippage and lower the suspension height on the side with small slippage, that is, to increase the suspension height of the left drive wheel and lower the suspension height of the right drive wheel; so that the center of gravity of the vehicle is shifted to the side with small slippage (i.e., the right side), thereby improving the adhesion of the wheel that does not slip or has small slippage, and facilitating escape from the distress.

[0141] If the sixth wheel speed comparison result indicates that the wheel end speed of the left driving wheel is less than the wheel end speed of the right driving wheel, that is, V 左 <V 右 , indicating that the slippage of the right drive wheel is large, the controller will identify the left control information as the escape control information of the vehicle, and adjust the suspension height of the left drive wheel and / or right drive wheel of the vehicle through the left control information to tilt the vehicle body to the left. In actual application, for a two-wheel drive vehicle, the left control information can be to increase the suspension height on the side with large slippage, that is, to increase the suspension height of the right drive wheel; it can also be to lower the suspension height on the side with small slippage, that is, to lower the suspension height of the left drive wheel; it can also be to increase the suspension height on the side with large slippage and lower the suspension height on the side with small slippage, that is, to increase the suspension height of the right drive wheel and lower the suspension height of the left drive wheel; so that the center of gravity of the vehicle is shifted to the side with small slippage (i.e., the left side), thereby improving the adhesion of the wheel that does not slip or has small slippage.

[0142] In this embodiment, by comparing the wheel end speeds of the left and right drive wheels in real time, it is possible to quickly identify unilateral slippage or insufficient adhesion, and dynamically adjust the suspension height of the corresponding drive wheel, thereby optimizing the ground contact performance of the wheels on one side and improving the efficiency of escape.

[0143] In one embodiment, after determining the vehicle's escape control information based on the wheel speed comparison result in the above step S103, it also includes: adjusting the suspension height of the corresponding drive wheels of the vehicle according to the escape control information; driving the left drive wheel and the right drive wheel to rotate with the traction control system turned on to obtain the updated rear wheel end speed of the left drive wheel and the updated rear wheel end speed of the right drive wheel; when driving the left drive wheel and the right drive wheel to rotate with the traction control system turned on, starting the timer to obtain the cumulative driving time; if the cumulative driving time is greater than or equal to the time threshold, confirming the multi-terminal control information as the escape control information, and adjusting the suspension height of one or more drive wheels of the vehicle again according to the multi-terminal control information; if the cumulative driving time is less than the time threshold, confirming the vehicle's escape result based on the updated rear wheel end speed of the left drive wheel and the updated rear wheel end speed of the right drive wheel; the escape result is used to indicate whether the vehicle's suspension height is restored from the escape state to the normal state.

[0144] Specifically, the controller sends a command to activate the traction control system. The driver controls the power output by adjusting the throttle position and starts a timer. During this process, if the driver's cumulative accelerator pedal time is greater than or equal to a threshold duration (e.g., 5 seconds), indicating that the driver may still be slipping, the multi-terminal control information is confirmed as escape control information. The suspension height is adjusted using the multi-terminal control information to shift the vehicle's center of gravity toward the non-slipping drive wheel. The controller then collects the updated rear wheel speeds of the left and right drive wheels and confirms the vehicle's escape result by determining whether the updated rear wheel speeds continuously meet the escape condition within a target duration (e.g., 500ms). If the escape condition is continuously met within the target duration, the escape result is confirmed, indicating that the escape is complete. The controller then exits the escape control function and restores the vehicle's suspension height from the escape state (e.g., raised or lowered) to its normal state. If the escape condition is not continuously met within the target time, the escape result is confirmed to represent an escape failure, and then the controller re-executes the vehicle's automatic escape control (such as the above steps S101 to S103), or responds to the user's manual escape control.

[0145] In practical applications, the escape condition may be that the left and right wheel speed difference ratio information between the left and right driving wheels is less than or equal to a fourth threshold value (e.g., 10%). 左右轮速差异比例 ) can be expressed by the following formula:

[0146]

[0147] Where, represents the updated rear wheel speed of the left drive wheel; Indicates the wheel end speed of the right drive wheel.

[0148] In this embodiment, the adhesion of the drive wheels is optimized by adjusting the suspension height, and a more efficient escape is achieved in combination with the traction control system. When the driver continues to step on the accelerator for more than a set time threshold, the controller determines that the vehicle may be in a continuous slipping state and automatically switches to the multi-terminal control mode. By adjusting the suspension height, the center of gravity of the vehicle is shifted to the side of the drive wheel with stronger adhesion, thereby improving the grip of the effective drive wheel and helping the vehicle to escape. Through the synergistic effect of intelligent suspension adjustment and traction control, the vehicle's autonomous escape capability is significantly improved, while the driver's control burden is reduced. In one embodiment, the above-mentioned vehicle escape control method also includes: in response to a second escape control request triggered for the vehicle, obtaining a target suspension corresponding to the second escape control request, and target adjustment information for the target suspension; wherein the target adjustment information is used to indicate the adjustment of the suspension height of the target suspension.

[0149] Target adjustment information refers to information generated when a user triggers an interaction with the raise or lower button of the target suspension. Target adjustment information is generated during user interaction with the raise or lower button, for example, continuous interaction with the raise button generates continuous raise adjustment information.

[0150] Specifically, when a user (e.g., a driver) wishes to manually free the vehicle, they may select a second escape control mode displayed on the vehicle's display screen. Upon receiving the selected second escape control mode, the controller displays a suspension height control interface on the display screen, wherein a raise button and a lower button corresponding to the suspension at each wheel end are displayed. When the user continuously interacts with the raise button or lower button corresponding to the target suspension (i.e., the suspension selected by the user for height adjustment) (e.g., the user's finger continuously presses the raise button or lower button corresponding to the target suspension), the target suspension continuously performs the raise or lower action at a certain speed (which can be defined by each manufacturer based on their actual needs). When the user stops interacting with the raise button or lower button corresponding to the target suspension (e.g., the user's finger releases the raise button or lower button corresponding to the target suspension), the raise or lower action of the target suspension is also paused. When the target suspension is performing a raising or lowering action, the suspension stroke sensor continuously monitors the stroke of the target suspension. If the target suspension has not reached its limit stroke and the user has not stopped interacting with the raising button or lowering button (for example, the finger has not left the button), the target suspension continues to perform the raising or lowering action. If during the raising or lowering action, the suspension stroke sensor identifies that the target suspension has currently reached its maximum stroke, the target suspension stops the raising or lowering action. After completing the escape, the driver can choose to click the exit button displayed in the suspension height control interface to exit the escape control function.

[0151] In this embodiment, when the second escape control request is received, the target suspension that needs to be adjusted can be quickly locked, and precise adjustment can be performed based on the received target adjustment information, so as to specifically improve the adhesion of the slipping drive wheel or shift the center of gravity of the vehicle, thereby enhancing the escape ability.

[0152] In one embodiment, Figure 7 As shown, another vehicle escape control method is provided, which is described by taking the application of the method to a terminal as an example, and includes the following steps:

[0153] Step S701 : In response to a first escape control request triggered for the vehicle, each driving wheel of the vehicle is driven to rotate with the traction control system of the vehicle turned off, to obtain the wheel end speed of each driving wheel.

[0154] Step S702 : When the number of driving wheels is not less than a preset number threshold, obtain speed difference ratio information between the average wheel end speed of the front axle driving wheels and the average wheel end speed of the rear axle driving wheels of the vehicle.

[0155] Step S703: If the speed difference ratio information does not exceed the first threshold, the wheel end speed of the left front drive wheel of the vehicle is compared with the wheel end speed of the right front drive wheel to obtain a first wheel speed comparison result, and the wheel end speed of the left rear drive wheel of the vehicle is compared with the wheel end speed of the right rear drive wheel to obtain a second wheel speed comparison result; based on the first wheel speed comparison result and the second wheel speed comparison result, a comprehensive wheel speed comparison result is obtained.

[0156] Step S704: If the comprehensive wheel speed comparison result indicates that the wheel end speed of the right driving wheel of the vehicle is less than the wheel end speed of the left driving wheel of the vehicle, or the wheel end speed of the right driving wheel is greater than the wheel end speed of the left driving wheel, then the unilateral control information is confirmed as the vehicle's escape control information; the unilateral control information is used to indicate the adjustment of the suspension height of the unilateral driving wheel of the vehicle.

[0157] Step S705: If the comprehensive wheel speed comparison result indicates that the wheel end speed of one of the driving wheels located at the diagonal corner of the vehicle is greater than the wheel end speed of the other driving wheel located at the diagonal corner of the vehicle, the diagonal control information is confirmed as the vehicle's escape control information; the diagonal control information is used to indicate the adjustment of the suspension height of the diagonal driving wheels of the vehicle.

[0158] Step S706 : If the speed difference ratio information is greater than the first threshold, the average wheel end speed of the front axle driving wheels is compared with the average wheel end speed of the rear axle driving wheels to obtain a third wheel speed comparison result.

[0159] Step S707: If the third wheel speed comparison result indicates that the average wheel end speed of the front axle drive wheels is greater than the average wheel end speed of the rear axle drive wheels, the wheel end speed of the left rear drive wheel is compared with the wheel end speed of the right rear drive wheel to obtain a fourth wheel speed comparison result.

[0160] Step S708: If the fourth wheel speed comparison result indicates that the wheel end speed of the left rear drive wheel is equal to the wheel end speed of the right rear drive wheel, the castor control information is confirmed as the vehicle's escape control information, and the suspension height of the vehicle's rear axle drive wheels is adjusted according to the castor control information; otherwise, the multi-end control information is confirmed as the vehicle's escape control information, and the suspension height of one or more drive wheels of the vehicle is adjusted according to the multi-end control information.

[0161] Step S709: If the third wheel speed comparison result indicates that the average wheel end speed of the front axle drive wheels is less than the average wheel end speed of the rear axle drive wheels, the wheel end speed of the left front drive wheel is compared with the wheel end speed of the right front drive wheel to obtain a fifth wheel speed comparison result.

[0162] Step S710: If the fifth wheel speed comparison result indicates that the wheel end speed of the left front drive wheel is equal to the wheel end speed of the right front drive wheel, the forward tilt control information is confirmed as the vehicle's escape control information, and the suspension height of the vehicle's front axle drive wheel is adjusted according to the forward tilt control information; otherwise, the multi-end control information is confirmed as the vehicle's escape control information, and the suspension height of one or more drive wheels of the vehicle is adjusted according to the multi-end control information.

[0163] Step S711: adjusting the suspension height of the corresponding driving wheels of the vehicle according to the escape control information.

[0164] Step S712: Drive all driving wheels to rotate with the traction control system turned on to obtain updated rear wheel end speeds of all driving wheels; confirm the vehicle's escape result based on the updated rear wheel end speeds; the escape result is used to indicate whether to restore the vehicle's suspension height from the escape state to the normal state.

[0165] The above-mentioned vehicle escape control method can achieve the following beneficial effects: when the vehicle is trapped, the current trapped state of the vehicle is judged by comparing the wheel end speeds of each driving wheel, and then appropriate escape control information is selected according to the wheel speed comparison result, and the suspension height of the corresponding wheel end of the vehicle is automatically adjusted according to the escape control information, thereby achieving vehicle escape, and effectively improving the vehicle's escape efficiency.

[0166] In order to more clearly illustrate the vehicle escape control method provided by the embodiment of the present disclosure, the vehicle escape control method is specifically described below using a specific embodiment. Figure 8 As shown, another vehicle escape control method is provided, which can be applied to a terminal, specifically including the following contents:

[0167] If the vehicle's escape control function is not turned on, the vehicle will not respond to user-triggered escape control requests.

[0168] When the vehicle's escape control function is turned on, the escape control request triggered by the user is responded to, and multiple escape control modes are displayed for the user to choose. If the user selects the first escape control mode, the wheel end speed of each wheel is obtained through the wheel speed sensor at the wheel end of the vehicle. The wheel end speed of each wheel is dynamically calculated and analyzed to determine which type of slip the vehicle is currently in, such as unilateral slip, single-axis slip, multi-end slip or diagonal slip. After determining the slip situation, the height of the corresponding suspension is adjusted according to the escape control information corresponding to the slip situation. After the adjustment is completed, it is determined whether the vehicle has escaped successfully; if the escape fails, the dynamic calculation and analysis will continue. If the escape is successful, the escape control function will be exited.

[0169] If the user selects the second escape control mode (manual escape), the suspension height is raised or lowered while the user interacts with the raise or lower button. During this interaction, if the suspension's maximum travel has not been reached, the suspension height adjustment continues; if the suspension's maximum travel has been reached, the suspension height adjustment ceases.

[0170] In this embodiment, when a vehicle is stuck and skidding, the wheel-end speed is used to automatically determine the type of skidding condition the vehicle is currently in. This allows for the selection of appropriate escape control information based on the actual skidding condition, and the automatic adjustment of the suspension height at the corresponding wheel end according to the escape control information. This enables automatic escape, effectively improving the vehicle's escape efficiency. Furthermore, the user can manually escape the vehicle through interaction with a button, providing high flexibility.

[0171] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0172] Based on the same inventive concept, embodiments of the present invention further provide a vehicle escape control device for implementing the aforementioned vehicle escape control method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations in one or more embodiments of the vehicle escape control device provided below can be found in the aforementioned limitations on the vehicle escape control method and will not be further elaborated here.

[0173] In one embodiment, Figure 9 As shown, a vehicle escape control device 900 is provided, comprising: a speed acquisition module 901, a speed comparison module 902 and an escape control module 903, wherein:

[0174] The speed acquisition module 901 is configured to, in response to a first escape control request triggered for the vehicle, drive each driving wheel of the vehicle to rotate with the traction control system of the vehicle turned off, and obtain the wheel end speed of each driving wheel.

[0175] The speed comparison module 902 is used to compare the wheel end speeds of each driving wheel to obtain a wheel speed comparison result of each driving wheel.

[0176] The escape control module 903 is used to determine the vehicle's escape control information based on the wheel speed comparison result; the escape control information is used to indicate the drive wheel whose suspension height is to be adjusted, as well as the adjustment method information for the suspension height; the adjustment method information includes raising the suspension height to a first height, or lowering the suspension height to a second height.

[0177] In one embodiment, the speed comparison module 902 is further configured to obtain speed difference ratio information between the average wheel end speed of the front axle drive wheels and the average wheel end speed of the rear axle drive wheels of the vehicle when the number of drive wheels is not less than a preset number threshold; if the speed difference ratio information does not exceed a first threshold, the wheel end speed of the left front drive wheel of the vehicle is compared with the wheel end speed of the right front drive wheel to obtain a first wheel speed comparison result, and the wheel end speed of the left rear drive wheel of the vehicle is compared with the wheel end speed of the right rear drive wheel to obtain a second wheel speed comparison result; if the speed difference ratio information is greater than the first threshold, the average wheel end speed of the front axle drive wheels is compared with the average wheel end speed of the rear axle drive wheels to obtain a third wheel speed comparison result.

[0178] In one embodiment, the escape control module 903 is further used to obtain a comprehensive wheel speed comparison result based on the first wheel speed comparison result and the second wheel speed comparison result; if the comprehensive wheel speed comparison result indicates that the wheel end speed of the right driving wheel of the vehicle is less than the wheel end speed of the left driving wheel of the vehicle, or the wheel end speed of the right driving wheel is greater than the wheel end speed of the left driving wheel, then the unilateral control information is confirmed as the vehicle's escape control information; the unilateral control information is used to indicate adjustment of the suspension height of the unilateral driving wheel of the vehicle; if the comprehensive wheel speed comparison result indicates that the wheel end speed of one of the driving wheels located diagonally opposite the vehicle is greater than the wheel end speed of the other driving wheel located diagonally opposite the vehicle, then the diagonal control information is confirmed as the vehicle's escape control information; the diagonal control information is used to indicate adjustment of the suspension height of the diagonal driving wheels of the vehicle.

[0179] In one embodiment, the escape control module 903 is further used to compare the wheel end speed of the left rear drive wheel with the wheel end speed of the right rear drive wheel to obtain a fourth wheel speed comparison result if the third wheel speed comparison result indicates that the average wheel end speed of the front axle drive wheel is greater than the average wheel end speed of the rear axle drive wheel; if the fourth wheel speed comparison result indicates that the wheel end speed of the left rear drive wheel is equal to the wheel end speed of the right rear drive wheel, the rearward tilt control information is confirmed as the escape control information of the vehicle, and the suspension height of the rear axle drive wheel of the vehicle is adjusted according to the rearward tilt control information; otherwise, the multi-end control information is confirmed as the escape control information of the vehicle, and one or more of the vehicle's suspension heights are adjusted according to the multi-end control information. suspension height of the driving wheels; or, if the third wheel speed comparison result indicates that the average wheel end speed of the front axle driving wheels is less than the average wheel end speed of the rear axle driving wheels, the wheel end speed of the left front driving wheel is compared with the wheel end speed of the right front driving wheel to obtain a fifth wheel speed comparison result; if the fifth wheel speed comparison result indicates that the wheel end speed of the left front driving wheel is equal to the wheel end speed of the right front driving wheel, the forward tilt control information is confirmed as the vehicle's escape control information, and the suspension height of the front axle driving wheels of the vehicle is adjusted according to the forward tilt control information; otherwise, the multi-end control information is confirmed as the vehicle's escape control information, and the suspension height of one or more driving wheels of the vehicle is adjusted according to the multi-end control information.

[0180] In one embodiment, the vehicle escape control device 900 also includes a first escape judgment module, which is used to adjust the suspension height of the corresponding drive wheels of the vehicle according to the escape control information; drive all drive wheels to rotate with the traction control system turned on to obtain updated rear wheel end speeds of all drive wheels; confirm the vehicle's escape result based on the updated rear wheel end speed; the escape result is used to indicate whether to restore the vehicle's suspension height from the escape state to the normal state.

[0181] In one embodiment, the speed comparison module 902 is further configured to compare the wheel-end speed of the vehicle's left drive wheel with the wheel-end speed of the vehicle's right drive wheel to obtain a sixth wheel speed comparison result when the number of drive wheels is less than a preset threshold. The escape control module 903 is further configured to, if the sixth wheel speed comparison result indicates that the wheel-end speed of the left drive wheel is not equal to the wheel-end speed of the right drive wheel, identify the unilateral control information as the vehicle's escape control information; the unilateral control information is used to instruct adjustment of the suspension height of the left drive wheel or the right drive wheel.

[0182] In one embodiment, the vehicle escape control device 900 also includes a second escape judgment module, which is used to adjust the suspension height of the corresponding drive wheels of the vehicle according to the escape control information; drive the left drive wheel and the right drive wheel to rotate with the traction control system turned on to obtain the updated rear wheel end speed of the left drive wheel and the updated rear wheel end speed of the right drive wheel; when the left drive wheel and the right drive wheel are driven to rotate with the traction control system turned on, start the timer to obtain the cumulative driving time; if the cumulative driving time is greater than or equal to the time threshold, the multi-terminal control information is confirmed as the escape control information, and the suspension height of one or more drive wheels of the vehicle is adjusted again according to the multi-terminal control information; if the cumulative driving time is less than the time threshold, the vehicle's escape result is confirmed based on the updated rear wheel end speed of the left drive wheel and the updated rear wheel end speed of the right drive wheel; the escape result is used to indicate whether the vehicle's suspension height is restored from the escape state to the normal state.

[0183] In one embodiment, the vehicle escape control device 900 also includes a manual escape module for obtaining a target suspension corresponding to the second escape control request and target adjustment information for the target suspension in response to a second escape control request triggered for the vehicle; wherein the target adjustment information is used to indicate the adjustment of the suspension height of the target suspension.

[0184] Each module in the vehicle escape control device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in hardware form, or stored in a computer device memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0185] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 10As shown. The computer device includes a processor, memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals via wired or wireless means, and the wireless means can be implemented via Wi-Fi, mobile cellular networks, NFC (near-field communication), or other technologies. When executed by the processor, the computer program implements a vehicle escape control method. The display unit of the computer device is used to form a visually visible image, and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse.

[0186] Those skilled in the art will understand that Figure 10 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present invention and does not constitute a limitation on the computer device to which the solution of the present invention is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0187] In one embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0188] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0189] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0190] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the above-described method embodiments. Any reference to memory, database, or other media used in the embodiments provided herein may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), quantum computing-based data processing logic devices, and the like.

[0191] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0192] The above-described embodiments merely represent several implementation methods of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A vehicle escape control method, characterized in that: The method comprises: In response to a first escape control request triggered for the vehicle, driving each drive wheel of the vehicle to rotate with a traction control system of the vehicle turned off, to obtain a wheel end speed of each drive wheel; Comparing the wheel end speeds of the driving wheels to obtain a wheel speed comparison result of the driving wheels; Based on the wheel speed comparison result, the vehicle's escape control information is determined; the escape control information is used to indicate the drive wheel whose suspension height is to be adjusted, and the adjustment method information for the suspension height; the adjustment method information includes raising the suspension height to a first height, or lowering the suspension height to a second height.

2. The method according to claim 1, characterized in that The comparing the wheel end speed information of each driving wheel to obtain the wheel speed comparison result of each driving wheel includes: When the number of the driving wheels is not less than a preset number threshold, obtaining speed difference ratio information between an average wheel end speed of the front axle driving wheels and an average wheel end speed of the rear axle driving wheels of the vehicle; If the speed difference ratio information does not exceed a first threshold, comparing the wheel end speed of the left front drive wheel of the vehicle with the wheel end speed of the right front drive wheel to obtain a first wheel speed comparison result, and comparing the wheel end speed of the left rear drive wheel of the vehicle with the wheel end speed of the right rear drive wheel to obtain a second wheel speed comparison result; If the speed difference ratio information is greater than the first threshold, the average wheel end speed of the front axle drive wheels is compared with the average wheel end speed of the rear axle drive wheels to obtain a third wheel speed comparison result.

3. The method according to claim 2, characterized in that Determining the vehicle escape control information according to the wheel speed comparison result includes: obtaining a comprehensive wheel speed comparison result based on the first wheel speed comparison result and the second wheel speed comparison result; If the comprehensive wheel speed comparison result indicates that the wheel end speed of the right driving wheel of the vehicle is less than the wheel end speed of the left driving wheel of the vehicle, or the wheel end speed of the right driving wheel is greater than the wheel end speed of the left driving wheel, the unilateral control information is confirmed as the escape control information of the vehicle; the unilateral control information is used to instruct to adjust the suspension height of the unilateral driving wheel of the vehicle; If the comprehensive wheel speed comparison result indicates that the wheel end speed of one of the driving wheels located at the diagonal corner of the vehicle is greater than the wheel end speed of the other driving wheel located at the diagonal corner of the vehicle, the diagonal control information is confirmed as the vehicle's escape control information; the diagonal control information is used to indicate the adjustment of the suspension height of the diagonal driving wheels of the vehicle.

4. The method according to claim 2, characterized in that Determining the vehicle escape control information according to the wheel speed comparison result includes: If the third wheel speed comparison result indicates that the average wheel end speed of the front axle drive wheels is greater than the average wheel end speed of the rear axle drive wheels, then comparing the wheel end speed of the left rear drive wheel with the wheel end speed of the right rear drive wheel to obtain a fourth wheel speed comparison result; If the fourth wheel speed comparison result indicates that the wheel end speed of the left rear drive wheel is equal to the wheel end speed of the right rear drive wheel, the castor control information is confirmed as the escape control information of the vehicle, and the suspension height of the rear axle drive wheel of the vehicle is adjusted according to the castor control information; otherwise, the multi-end control information is confirmed as the escape control information of the vehicle, and the suspension height of one or more drive wheels of the vehicle is adjusted according to the multi-end control information; or, If the third wheel speed comparison result indicates that the average wheel end speed of the front axle drive wheels is less than the average wheel end speed of the rear axle drive wheels, then comparing the wheel end speed of the left front drive wheel with the wheel end speed of the right front drive wheel to obtain a fifth wheel speed comparison result; If the fifth wheel speed comparison result indicates that the wheel end speed of the left front drive wheel is equal to the wheel end speed of the right front drive wheel, the tilt control information is confirmed as the vehicle's escape control information, and the suspension height of the vehicle's front axle drive wheels is adjusted according to the tilt control information; otherwise, the multi-end control information is confirmed as the vehicle's escape control information, and the suspension height of one or more drive wheels of the vehicle is adjusted according to the multi-end control information.

5. The method according to claim 3 or 4, characterized in that: After determining the vehicle escape control information according to the wheel speed comparison result, the method further includes: adjusting the suspension height of the corresponding drive wheel of the vehicle according to the escape control information; driving all the driving wheels to rotate while the traction control system is turned on, to obtain updated rear wheel end speeds of all the driving wheels; The vehicle's escape result is confirmed based on the updated rear wheel end speed; the escape result is used to indicate whether to restore the vehicle's suspension height from the escape state to the normal state.

6. The method according to claim 1, characterized in that The comparing the wheel end speeds of the driving wheels to obtain the wheel speed comparison results of the driving wheels includes: When the number of the driving wheels is less than a preset number threshold, comparing the wheel end speed of the left driving wheel and the wheel end speed of the right driving wheel of the vehicle to obtain a sixth wheel speed comparison result; Determining the vehicle escape control information according to the wheel speed comparison result includes: If the sixth wheel speed comparison result indicates that the wheel end speed of the left drive wheel is not equal to the wheel end speed of the right drive wheel, the unilateral control information is confirmed as the vehicle's escape control information; the unilateral control information is used to indicate the adjustment of the suspension height of the left drive wheel or the right drive wheel.

7. The method according to claim 6, characterized in that After determining the vehicle escape control information according to the wheel speed comparison result, the method further includes: adjusting the suspension height of the corresponding drive wheel of the vehicle according to the escape control information; driving the left drive wheel and the right drive wheel to rotate while the traction control system is turned on, to obtain an updated rear wheel end speed of the left drive wheel and an updated rear wheel end speed of the right drive wheel; When the left driving wheel and the right driving wheel are driven to rotate with the traction control system turned on, starting a timer to obtain a cumulative driving time; If the accumulated driving time is greater than or equal to the time threshold, confirming the multi-terminal control information as escape control information, and adjusting the suspension height of one or more driving wheels of the vehicle again according to the multi-terminal control information; If the accumulated driving time is less than the time threshold, the vehicle's escape result is confirmed based on the updated rear wheel end speed of the left drive wheel and the updated rear wheel end speed of the right drive wheel; the escape result is used to indicate whether the vehicle's suspension height is restored from the escape state to the normal state.

8. The method according to claim 1, characterized in that The method further comprises: In response to a second escape control request triggered for the vehicle, obtaining a target suspension corresponding to the second escape control request and target adjustment information for the target suspension; The target adjustment information is used to instruct adjustment of the suspension height of the target suspension.

9. A vehicle escape control device, characterized in that: The device comprises: a speed acquisition module, configured to, in response to a first escape control request triggered for the vehicle, drive each driving wheel of the vehicle to rotate with a traction control system of the vehicle turned off, and obtain a wheel end speed of each driving wheel; A speed comparison module, configured to compare the wheel end speeds of the driving wheels to obtain a wheel speed comparison result of the driving wheels; An escape control module is used to determine the vehicle's escape control information based on the wheel speed comparison result; the escape control information is used to indicate the drive wheel whose suspension height is to be adjusted, and adjustment method information for the suspension height; the adjustment method information includes raising the suspension height to a first height, or lowering the suspension height to a second height.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

12. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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