Quick stop control method and system in out-of-control state of vehicle

Abstract

The invention relates to a quick stop control method and system in a vehicle out-of-control state, and belongs to the technical field of vehicle parking control. In the vehicle running process, the vehicle speed and working parameters of a vehicle power system or / and a braking system are obtained in real time; judging whether the vehicle is in an out-of-control state according to the working parameters; when the vehicle is out of control, power output of the vehicle is cut off, brake pressure of wheels of the vehicle is adjusted to keep the vehicle stable, and the vehicle is controlled to slow down; and when the vehicle speed is reduced to the set speed threshold value, the vehicle is controlled to stop. In the out-of-control state of the vehicle, the vehicle can be effectively and rapidly parked, and the safety of vehicle driving is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle stop control, and in particular to a method and system for quickly stopping a vehicle in an out-of-control state. Background Art

[0002] During vehicle operation, a loss of vehicle control (e.g., brake or throttle failure) is an extremely dangerous condition. When a vehicle is out of control, it cannot accelerate or decelerate as the driver intended, which can easily lead to serious traffic accidents.

[0003] Existing technologies have developed some solutions to address the need for rapid vehicle stops in out-of-control situations, but these solutions have significant limitations in practice. Road speed reduction devices (such as auxiliary speed bumps) are not practical for heavily loaded trucks. Emergency lanes at toll booths also fail to completely prevent secondary damage caused by vehicles continuing to move forward. Consequently, current methods for rapid vehicle stops in out-of-control situations struggle to meet the demands of different vehicle types and scenarios. Summary of the Invention

[0004] To address the existing issues of the difficulty in effectively and quickly stopping a vehicle when it is out of control, this application provides a method and system for quickly stopping a vehicle when it is out of control. This method uses real-time vehicle speed and operating parameters of the vehicle's power system and / or braking system to determine whether the vehicle is out of control. If the vehicle is out of control, the system cuts off power output, adjusts the brake pressure on each wheel, controls deceleration, and controls the emergency braking device to stop the vehicle when the speed reaches a set threshold. This method enables the vehicle to be quickly and effectively stopped when it is out of control, improving driving safety.

[0005] In a first aspect, a method for quickly stopping a vehicle in an out-of-control state is provided, which is applied to the vehicle. The method comprises: During vehicle operation, real-time acquisition of vehicle speed and operating parameters of the vehicle power system and / or braking system; Determine whether the vehicle is out of control based on operating parameters; When the vehicle is out of control, the vehicle's power output is cut off, the braking pressure of each wheel of the vehicle is adjusted, and the vehicle is decelerated; When the vehicle speed drops to the set speed threshold, the emergency brake device is controlled to stop the vehicle.

[0006] In embodiments of the present application, real-time acquisition (e.g., through onboard sensors, with sampling rates down to milliseconds) of operating parameters of the powertrain and / or braking system can accurately capture signs of loss of control or initial conditions. Based on these operating parameters, the system can determine whether the vehicle is in a loss-of-control state. This allows for the detection of anomalies at the earliest stages of the risk of loss of control, enabling rapid safety intervention. When the vehicle is in a loss-of-control state, the system first cuts off power output, depriving it of the power to accelerate. The system then adjusts the brake pressure on each wheel to maintain stability and maneuverability, preventing dangerous situations such as skidding and tailspinning. Simultaneously, the system controls vehicle deceleration to prevent excessive speed from causing a collision and potentially causing a traffic accident. When the vehicle speed drops to a set threshold, the emergency braking system is controlled to stop the vehicle. Through this control strategy, the present application can effectively and quickly stop the vehicle in an out-of-control state, significantly improving driving safety and reducing the risk of traffic accidents.

[0007] In conjunction with the first aspect, in certain implementations of the first aspect, the operating parameters include an accelerator pedal opening and / or a brake pedal travel, and a method for determining whether the vehicle is in an out-of-control state based on the operating parameters is: After the accelerator pedal is operated, determining whether the accelerator pedal opening continues to increase or decrease for a set time; or / and, after the brake pedal is operated, determining whether the brake pedal stroke remains unchanged; When the accelerator pedal opening continues to increase or decrease for a set time, or / and the brake pedal stroke remains unchanged, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0008] In the embodiments of the present application, whether a vehicle is in a loss-of-control state is determined based on the accelerator pedal opening and / or brake pedal travel. This determination can be made using either accelerator pedal opening alone or in combination. Abnormal accelerator pedal opening is the earliest sign of throttle loss of control. Using accelerator pedal opening to determine vehicle loss of control can detect anomalies at the earliest stages of the throttle loss of control risk, identify the risk of vehicle loss of control, and enable rapid safety intervention. Abnormal brake pedal travel can directly disrupt the force transmission or signal feedback logic of the braking system, ultimately leading to loss of braking performance. Using brake pedal travel to determine vehicle loss of control can promptly detect anomalies and identify the risk of vehicle loss of control when the braking performance is lost, enabling rapid safety intervention. It should be noted that whether accelerator pedal opening or brake pedal travel is used to determine vehicle loss of control, misjudgments can occur. Therefore, combining accelerator pedal opening and brake pedal travel to determine vehicle loss of control can reduce the misjudgment rate and improve the accuracy of vehicle loss of control determinations.

[0009] In conjunction with the first aspect, in certain implementations of the first aspect, the operating parameter further includes brake pressure; and the method for determining whether the vehicle is in an out-of-control state based on the operating parameter is: After operating the brake pedal, determine whether there is brake pressure; When there is no brake pressure, the vehicle is judged to be in an out-of-control state; when there is brake pressure, it is judged whether the brake pressure is less than the set pressure threshold; When the brake pressure is less than the set pressure threshold, the vehicle is determined to be in an out-of-control state; when the brake pressure is greater than or equal to the set pressure threshold, the vehicle is determined to be in a non-out-of-control state.

[0010] Brake pressure is the core physical parameter of a brake system's ability to transmit braking force. Abnormal brake pressure (e.g., too low pressure, or an inability to build pressure) can directly disrupt a vehicle's deceleration balance and posture stability, and is a key factor in causing loss of control. In this embodiment, brake pressure is introduced as a factor in determining vehicle loss of control. By determining whether the brake pressure is abnormal, the vehicle's loss of control can be quickly identified at the initial stage of the risk, enabling rapid safety intervention.

[0011] In conjunction with the first aspect, in certain implementations of the first aspect, a method for determining whether a vehicle is in an out-of-control state based on operating parameters is: After the accelerator pedal is operated, determining whether the accelerator pedal opening continues to increase or decrease for a set time, and / or after the brake pedal is operated, determining whether the brake pedal travel remains unchanged; and after the brake pedal is operated, determining whether there is brake pressure; When the accelerator pedal opening continues to increase or decrease for a set time, or / and the brake pedal stroke remains unchanged, and there is no brake pressure, it is determined that the vehicle is in an out-of-control state; when the accelerator pedal opening continues to increase or decrease for a set time, or / and the brake pedal stroke remains unchanged, and there is brake pressure, it is determined whether the brake pressure is less than a set pressure threshold; When the accelerator pedal opening increases or decreases continuously for a set time, or / and the brake pedal stroke remains unchanged, and when the brake pressure is less than the set pressure threshold, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0012] In an embodiment of the present application, the vehicle loss-of-control device is judged by the accelerator pedal opening and brake pressure, or the brake pedal stroke and brake pressure, or a combination of the accelerator pedal opening, brake pedal stroke and brake pressure. Compared with a single working parameter, the combination of two working parameters can more accurately judge the vehicle loss-of-control and reduce the misjudgment rate.

[0013] In conjunction with the first aspect, in certain implementations of the first aspect, the operating parameter further includes an engine speed, and a method for determining whether the vehicle is in an out-of-control state based on the operating parameter is: Determine whether the current engine speed matches the current vehicle speed; When the current engine speed does not match the current vehicle speed, it is determined that the vehicle is in an out-of-control state; when the current engine speed matches the current vehicle speed, it is determined that the vehicle is not in an out-of-control state.

[0014] In an embodiment of the present application, engine speed is introduced as a factor in determining vehicle loss of control. By judging whether the vehicle is in a state of loss of control through engine speed, vehicle loss of control can be quickly identified at the embryonic stage of the risk of vehicle loss of control, and safety intervention can be performed quickly.

[0015] In conjunction with the first aspect, in certain implementations of the first aspect, a method for determining whether a vehicle is in an out-of-control state based on operating parameters is: After the accelerator pedal is operated, determining whether the accelerator pedal opening continues to increase or decrease for a set time, and / or after the brake pedal is operated, determining whether the brake pedal travel remains unchanged; determining whether the current engine speed matches the current vehicle speed; When the accelerator pedal opening continues to increase or decrease for a set time, or / and the brake pedal stroke remains unchanged, and when the current engine speed does not match the current vehicle speed, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0016] In the embodiment of the present application, the accelerator pedal opening and engine speed, or the brake pedal travel and engine speed are combined to determine whether the vehicle is in an out-of-control state. Compared with a single working parameter, combining two working parameters can more accurately determine whether the vehicle is out of control and reduce the misjudgment rate. In conjunction with the first aspect, in certain implementations of the first aspect, a method for determining whether a vehicle is in an out-of-control state based on operating parameters is: Determine whether the current engine speed matches the current vehicle speed; after operating the brake pedal, determine whether there is brake pressure; When the current engine speed does not match the current vehicle speed and there is no brake pressure, it is determined that the vehicle is in an out-of-control state; when the current engine speed does not match the current vehicle speed and there is brake pressure, it is determined whether the brake pressure is less than the set pressure threshold; When the current engine speed does not match the current vehicle speed and the brake pressure is less than the set pressure threshold, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0017] In this embodiment, the engine speed and brake pressure are combined to determine whether the vehicle is in an out-of-control state. If both the engine speed and brake pressure are abnormal, the vehicle is considered to be in an out-of-control state. Compared with a single operating parameter, combining engine speed and brake pressure can more accurately determine vehicle out-of-control and reduce the rate of false positives.

[0018] In conjunction with the first aspect, in certain implementations of the first aspect, a method for determining whether a vehicle is in an out-of-control state based on operating parameters is: After operating the accelerator pedal, determine whether the accelerator pedal opening continues to increase or decrease for a set time, or after operating the brake pedal, determine whether the brake pedal travel remains unchanged; determine whether the current engine speed matches the current vehicle speed; after operating the brake pedal, determine whether there is brake pressure; If the accelerator pedal opening increases or decreases continuously for a set time, or the brake pedal travel remains unchanged, and the current engine speed does not match the current vehicle speed, and there is no brake pressure, the vehicle is determined to be in an out-of-control state; if the current engine speed does not match the current vehicle speed, and there is brake pressure, it is determined whether the brake pressure is less than the set pressure threshold; When the accelerator pedal opening increases or decreases continuously for a set time, or the brake pedal stroke remains unchanged, when the current engine speed does not match the current vehicle speed, and the brake pressure is less than the set pressure threshold, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0019] In this embodiment, the vehicle's out-of-control status is determined by combining engine speed, brake pressure, and accelerator pedal travel, or by combining engine speed, brake pressure, and brake pedal travel. If all three operating parameters are abnormal, the vehicle is considered out-of-control. Compared to a single operating parameter, combining all three can more accurately determine vehicle out-of-control and reduce the risk of false positives.

[0020] In conjunction with the first aspect, in certain implementations of the first aspect, a method for determining whether a vehicle is in an out-of-control state based on operating parameters is: After operating the accelerator pedal, determine whether the accelerator pedal opening continues to increase or decrease for a set time; after operating the brake pedal, determine whether the brake pedal travel remains unchanged and whether there is brake pressure; determine whether the current engine speed matches the current vehicle speed; When the accelerator pedal opening continues to increase or decrease for a set time, the brake pedal travel remains unchanged, the current engine speed does not match the current vehicle speed, and there is no brake pressure, the vehicle is determined to be in an out-of-control state; when the accelerator pedal opening continues to increase or decrease for a set time, the brake pedal travel remains unchanged, the current engine speed does not match the current vehicle speed, and there is brake pressure, the brake pressure is determined to be less than the set pressure threshold; When the accelerator pedal opening continues to increase or decrease for a set time, the brake pedal travel remains unchanged, the current engine speed does not match the current vehicle speed, and the brake pressure is less than the set pressure threshold, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0021] In this embodiment, the accelerator pedal position, brake pedal travel, brake pressure, and engine speed are combined to determine whether the vehicle is in an out-of-control state. If all four operating parameters are abnormal, the vehicle is considered out-of-control. Compared to a single operating parameter, combining all four can more accurately determine vehicle out-of-control and reduce the rate of false positives.

[0022] In conjunction with the first aspect, in certain implementations of the first aspect, the method for adjusting the brake pressure of each wheel of the vehicle is: Obtain the actual driving status of the vehicle in real time; Calculating the state deviation between the actual driving state of the vehicle and the expected driving state; Determine whether the state deviation exceeds the set state deviation threshold; When the state deviation exceeds a set state deviation threshold, the wheel brake pressure is adjusted so that the state deviation is less than the set deviation threshold.

[0023] In an embodiment of the present application, whether to adjust the wheel brake pressure is determined by judging whether the state deviation between the actual driving state of the vehicle obtained in real time and the expected driving state exceeds the set state deviation threshold. When the state deviation exceeds the set state deviation threshold, the wheel brake pressure is adjusted to make the state deviation less than the set deviation threshold, so that the vehicle can travel stably and prevent the vehicle from skidding, drifting, rolling over and other dangerous situations.

[0024] In combination with the first aspect, in certain implementations of the first aspect, the method for controlling vehicle deceleration is: controlling the engine to generate braking torque and / or controlling downshifting.

[0025] In the embodiments of the present application, vehicle deceleration is achieved by controlling the engine to generate braking torque. Braking torque can be adjusted in milliseconds, enabling rapid deceleration control. Vehicle deceleration is achieved by controlling downshifts, enabling rapid and smooth deceleration. Combining transmission braking and downshifting allows for more stable and rapid deceleration of an out-of-control vehicle.

[0026] In conjunction with the first aspect, in certain implementations of the first aspect, the method for controlling the engine to generate torque is: controlling the engine throttle opening and adjusting the ignition timing to cause the engine to generate braking torque; The method for controlling downshifting is as follows: for manual transmission vehicles, a prompt message is generated and sent to a display screen in the vehicle to prompt the driver to manually downshift; for automatic transmission vehicles, the transmission is controlled to downshift.

[0027] In combination with the first aspect, in certain implementations of the first aspect, the method for controlling the vehicle to stop is: after controlling the emergency braking device to stop the vehicle, controlling the handbrake to be pulled up.

[0028] In the embodiment of the present application, after the vehicle is stopped by the emergency braking device, controlling the handbrake to be pulled up can effectively prevent the vehicle from sliding and ensure that the vehicle does not slide when parked.

[0029] In conjunction with the first aspect, in some implementations of the first aspect, the control method further includes: Real-time detection of obstacles in front of and around the vehicle; When an obstacle is detected in front of the vehicle, an optimal avoidance path is generated based on the vehicle speed and the distance from the vehicle to the obstacle. The vehicle's driving direction is adjusted according to the optimal avoidance path to avoid a collision between the vehicle and the obstacle.

[0030] In an embodiment of the present application, by real-time monitoring of obstacles in front of and around the vehicle, when the vehicle loses control, the vehicle's driving direction is adjusted according to the optimal avoidance path calculated based on the vehicle speed and the distance from the vehicle to the obstacle, which can avoid collisions with obstacles as much as possible, improve safety, and reduce the occurrence of traffic accidents.

[0031] In combination with the first aspect, in certain implementations of the first aspect, the control method further includes: when the vehicle is in an out-of-control state, controlling the alarm device in the vehicle to sound an alarm, and generating vehicle fault information and sending it to the vehicle manufacturer's customer service center and / or traffic management department.

[0032] In an embodiment of the present application, when it is determined that the vehicle is in an out-of-control state, an alarm is sounded through the alarm device in the vehicle, and vehicle fault information is generated and sent to the vehicle manufacturer's customer service center and / or traffic management department, which can promptly notify the driver and relevant departments and facilitate rescue work.

[0033] In a second aspect, a rapid stop control system for a vehicle in an out-of-control state is provided, which is applied to a vehicle. The system includes: An acquisition module is used to obtain the vehicle speed and the operating parameters of the vehicle power system and / or braking system in real time during the operation of the vehicle; A judgment module determines whether the vehicle is in an out-of-control state based on operating parameters and whether the vehicle speed has dropped to a set speed threshold; The control module is configured to: cut off the vehicle's power output, adjust the braking pressure of each wheel of the vehicle to maintain vehicle stability, and control vehicle deceleration when the vehicle is out of control; and control the emergency braking device to stop the vehicle when the vehicle speed drops to a set speed threshold.

[0034] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition module includes: A first position sensor is provided on the accelerator pedal and is used to detect the accelerator pedal opening in real time; A second position sensor is provided on the brake pedal and is used to detect the brake pedal travel in real time; The pressure sensor is installed on the throttle actuator and is used to detect the brake pressure in real time; A first speed sensor is provided on the engine and is used to detect the engine speed in real time; The second speed sensor is arranged on the vehicle body and is used for detecting the vehicle speed in real time.

[0035] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition module further includes: A yaw rate sensor is installed on the vehicle body and is used to detect the vehicle's yaw rate in real time; A lateral acceleration sensor is installed on the vehicle body and is used to detect the lateral acceleration of the vehicle in real time; The wheel speed sensor is installed on the vehicle body component that rotates synchronously with the wheel and is used to detect the wheel speed in real time.

[0036] In combination with the second aspect, in certain implementations of the second aspect, the system further includes a calculation module, which is used to calculate a state deviation between an actual driving state and an expected driving state of the vehicle.

[0037] In combination with the second aspect, in some implementations of the second aspect, the judgment module is further configured to: judge whether the state deviation exceeds a set state deviation threshold.

[0038] In combination with the second aspect, in certain implementations of the second aspect, the control module is further configured to: when the state deviation exceeds a set state deviation threshold, control and adjust the braking pressure of the wheel so that the state deviation is less than the set deviation threshold.

[0039] In combination with the second aspect, in certain implementations of the second aspect, the control module is further configured to: control the engine to generate braking torque and / or control downshifting.

[0040] In combination with the second aspect, in certain implementations of the second aspect, the control module is further configured to: control the application of a handbrake after controlling the emergency braking device to stop the vehicle.

[0041] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition module further includes: Camera, installed on the vehicle body, used to detect the environment in front of and around the vehicle in real time; The distance sensor is installed on the vehicle body and is used to measure the distance between the vehicle and obstacles.

[0042] In combination with the second aspect, in certain implementations of the second aspect, the control module is further configured to: when an obstacle is detected in front of the vehicle, generate an optimal avoidance path based on the vehicle speed and the distance from the vehicle to the obstacle, and adjust the vehicle's driving direction according to the optimal avoidance path.

[0043] In combination with the second aspect, in certain implementations of the second aspect, the control module is further configured to: when the vehicle is in an out-of-control state, control the alarm device in the vehicle to sound an alarm, and generate vehicle fault information and send it to the vehicle manufacturer's customer service center and / or traffic management department.

[0044] In a third aspect, a vehicle is provided. The vehicle includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the processor implements the method for rapidly stopping a vehicle in an out-of-control state described in the first aspect; or the vehicle includes the rapid stopping control system for a vehicle in an out-of-control state described in the second aspect.

[0045] The beneficial effects of the technical solutions provided in the embodiments of the present application include at least: The embodiments of the present application provide a method and system for quickly stopping a vehicle in an out-of-control state, which is applied to vehicles. First, based on the real-time acquired working parameters of the power system and / or the braking system, it is determined whether the vehicle is in an out-of-control state, and abnormalities can be discovered at the embryonic stage of the out-of-control risk, so that safety intervention can be carried out quickly. Secondly, when the vehicle is in an out-of-control state, on the one hand, the power output of the vehicle is cut off, so that the vehicle loses the power to continue accelerating; on the other hand, the braking pressure of each wheel of the vehicle is adjusted to maintain the stability and controllability of the vehicle and prevent the vehicle from skidding, drifting, and other dangerous situations; on the other hand, the vehicle is controlled to slow down to prevent the vehicle from colliding due to excessive speed and causing traffic accidents. Finally, when the vehicle speed drops to the set speed threshold, the emergency braking device is controlled to stop the fast vehicle. Through the above-mentioned control strategy, the present application can effectively stop the vehicle quickly when the vehicle is out of control, greatly improving the safety of vehicle driving and reducing the occurrence of traffic accidents.

[0046] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0048] Figure 1 This is a flow chart of a method for quickly stopping a vehicle in an out-of-control state according to an embodiment of the present application.

[0049] Figure 2 This is a flow chart of a method for determining whether a vehicle is in an out-of-control state based on the accelerator pedal opening according to an embodiment of the present application.

[0050] Figure 3 This is a flow chart of a method for determining whether a vehicle is in an out-of-control state based on brake pedal travel according to an embodiment of the present application.

[0051] Figure 4 This is a flow chart of a method for determining whether a vehicle is in an out-of-control state based on the accelerator pedal opening and brake pedal travel in an embodiment of the present application.

[0052] Figure 5 This is a flow chart of a method for determining whether a vehicle is in an out-of-control state based on brake pressure according to an embodiment of the present application.

[0053] Figure 6 This is a flow chart of a method for determining whether a vehicle is in an out-of-control state based on the accelerator pedal opening and brake pressure in an embodiment of the present application.

[0054] Figure 7 This is a flow chart of a method for determining whether a vehicle is in an out-of-control state based on brake pedal travel and brake pressure in an embodiment of the present application.

[0055] Figure 8 This is a flow chart of a method for determining whether a vehicle is in an out-of-control state based on the accelerator pedal, brake pedal travel and brake pressure in an embodiment of the present application.

[0056] Figure 9 This is a flow chart of a method for determining whether a vehicle is in an out-of-control state based on engine speed according to an embodiment of the present application.

[0057] Figure 10 This is a flow chart of a method for determining whether a vehicle is in an out-of-control state based on the accelerator pedal opening and engine speed in an embodiment of the present application.

[0058] Figure 11 This is a flow chart of a method for determining whether a vehicle is in an out-of-control state based on brake pedal travel and engine speed in an embodiment of the present application.

[0059] Figure 12 This is a flow chart of a method for determining whether a vehicle is in an out-of-control state based on engine speed and brake pressure in an embodiment of the present application.

[0060] Figure 13 This is a flow chart of a method for determining whether a vehicle is in an out-of-control state based on the accelerator pedal opening, brake pressure and engine speed in an embodiment of the present application.

[0061] Figure 14This is a flow chart of a method for determining whether a vehicle is in an out-of-control state based on brake pedal travel, brake pressure and engine speed in an embodiment of the present application.

[0062] Figure 15 This is a flow chart of a method for determining whether a vehicle is in an out-of-control state based on the accelerator pedal opening, brake pedal travel, brake pressure and engine speed in an embodiment of the present application.

[0063] Figure 16 This is a schematic diagram of the architecture of a quick stop control system for an out-of-control vehicle according to an embodiment of the present application.

[0064] Figure 17 This is a schematic diagram of the structure of the acquisition module in the embodiment of the present application.

[0065] Figure 18 This is a schematic diagram of the vehicle architecture of an embodiment of the present application.

[0066] In the figure, 100 is a rapid stop control system for a vehicle in an out-of-control state, 101 is an acquisition module, 1011 is a first position sensor, 1012 is a second position sensor, 1013 is a pressure sensor, 1014 is a first speed sensor, 1015 is a second speed sensor, 1016 is a yaw angular velocity sensor, 1017 is a lateral acceleration sensor, 1018 is a wheel speed sensor, 1019 is a camera, 1010 is a ranging sensor, 102 is a judgment module, 103 is a control module, 104 is a calculation module, 200 is a vehicle, 201 is a memory, 202 is a processor, and 203 is a computer program. DETAILED DESCRIPTION

[0067] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is 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.

[0068] In the embodiments of the present application, prefixes such as "first" and "second" are used only to distinguish different description objects and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present application does not constitute a restriction on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary restriction. In addition, in the description of this embodiment, unless otherwise specified, the meaning of "plurality" is two or more.

[0069] The following describes the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents "or." For example, A / B can represent A or B. "And / or" in this document is merely a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, or B exists alone.

[0070] In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection of some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0071] With the rapid development of the transportation industry, vehicles have become indispensable means of transportation and logistics in modern society, and vehicle safety remains a key concern for the industry. However, during operation, vehicle loss of control due to mechanical failures, electronic system malfunctions, operator errors, extreme road conditions, and other factors is common. Loss of brake control, throttle control, and stalling are the most common. Such failures prevent the vehicle from accelerating, decelerating, or steering as intended by the driver, easily leading to serious traffic accidents (such as rear-end collisions, rollovers, and collisions with fixed infrastructure). These not only pose a significant threat to the safety of drivers and passengers, but can also cause road congestion and damage to public facilities.

[0072] In response to the need for rapid stopping when a vehicle loses control, existing technologies have developed some countermeasures, but they have obvious limitations in practical applications: (1) Install road speed reduction devices, which include auxiliary speed bumps, raised speed reduction ridges, speed reduction guardrails, etc. Road speed reduction devices achieve deceleration by forcibly increasing the vehicle's driving resistance. However, such devices are sensitive to the vehicle's load and speed. For heavy trucks, their own inertia is large, and the resistance generated by the road speed reduction device is difficult to achieve effective braking within a short distance. In addition, the severe impact may cause secondary damage to the vehicle structure or cargo, making it less practical.

[0073] (2) Emergency lanes are set up at toll stations. Although emergency lanes are set up in specific areas such as toll stations, their buffering and interception capabilities are limited for vehicles that have lost control. It is difficult to completely avoid secondary losses caused by the vehicle continuing to rush forward, and their practicality is low.

[0074] Based on the above application scenarios, this application proposes a method for quickly stopping a vehicle in an out-of-control state.

[0075] Figure 1 This is a schematic flow chart of a method for rapidly stopping a vehicle in an out-of-control state, provided in this embodiment. The method is applicable to a vehicle and includes the following steps.

[0076] S1. During vehicle operation, the vehicle speed and operating parameters of the vehicle power system and / or braking system are obtained in real time.

[0077] During vehicle operation, the powertrain provides the power and propulsion for the vehicle. The braking system brakes the vehicle, providing braking force and slowing it down. As the core of vehicle operation, the powertrain and braking systems' status and coordinated relationship directly determine the vehicle's stability.

[0078] In an embodiment of the present application, the vehicle speed and operating parameters of the vehicle power system and / or braking system are acquired in real time during vehicle operation. On the one hand, the vehicle speed can be used to determine the vehicle's operating speed, allowing for adjustment based on the surrounding environment or road speed limits. Alternatively, the vehicle speed and the operating parameters of the vehicle power system and braking system can be used to determine whether the vehicle is abnormal. Furthermore, the operating parameters can be used to monitor the status of the vehicle power system and braking system in real time. If an abnormality occurs in the vehicle power system or braking system, the abnormality can be detected promptly, allowing for rapid and subsequent safety intervention.

[0079] S2. Determine whether the vehicle is in an out-of-control state based on the operating parameters.

[0080] The powertrain outputs torque through components like the engine, transmission, and drive shafts to drive the wheels. The core of the powertrain is "on-demand power delivery." Abnormal power delivery (excessive, insufficient, or sudden changes in power) or imbalanced distribution (for example, a malfunctioning transfer case in a four-wheel drive vehicle can cause excessive power to be biased toward one axle, disrupting the load balance between the front and rear axles; during rapid acceleration in a rear-wheel drive vehicle, if power is concentrated on the rear wheels and exceeds road adhesion, oversteer can occur, causing the rear end of the vehicle to swing outward; during rapid acceleration in a front-wheel drive vehicle, the rearward shift in center of gravity reduces front wheel adhesion, potentially causing understeer and outward drift of the front end) can easily lead to vehicle instability and loss of control.

[0081] The braking system achieves braking force through friction between the brake pads and brake discs, and through pressure transmitted by the brake fluid. The core of the braking system is "on-demand deceleration." Failure in the braking system can lead to inability to decelerate, uneven deceleration, or excessive deceleration, directly contributing to a loss of control.

[0082] The operating parameters of the powertrain and / or braking system can accurately detect signs of loss of control or initial conditions. In the embodiments of the present application, the operating parameters of the powertrain and / or braking system are used to determine whether the vehicle is in a loss of control state. This allows for the detection of abnormalities at the budding stage of the risk of loss of control, enabling both accurate judgment of the loss of control state and rapid safety intervention.

[0083] In one embodiment of the present application, the operating parameter includes an accelerator pedal opening, and whether the vehicle is in an out-of-control state is determined based on the accelerator pedal opening.

[0084] Specifically, see Figure 2 The method for judging whether the vehicle is out of control according to the accelerator pedal opening is as follows: After the accelerator pedal is operated, it is determined whether the accelerator pedal opening continues to increase or decrease for a set time; When the accelerator pedal opening continues to increase or decrease for a set time, it is determined that the vehicle is in an out-of-control state; otherwise, it is determined that the vehicle is in a non-out-of-control state.

[0085] Accelerator pedal opening refers to the percentage of the accelerator pedal's total travel. It serves as a "direct input signal" for the driver's power demand and is equivalent to the load command the driver requests from the engine. Throttle runaway is a major factor leading to vehicle loss of control. Throttle runaway (vehicle power output not under the driver's control, such as sudden acceleration, a surge in power, or an inability to recover) is directly and fundamentally linked to abnormal accelerator pedal opening (such as deviations from normal in the pedal's mechanical structure, signal transmission, or actual travel). Abnormal changes in accelerator pedal opening (such as unexpected increases, sticking, or signal jumps) are often the earliest signs of throttle runaway.

[0086] In an embodiment of the present application, after operating the accelerator pedal, whether the vehicle is in an out-of-control state is determined by judging whether the accelerator pedal opening continues to increase or decrease for a set time. Abnormalities can be discovered in the embryonic stage of the risk of vehicle out-of-control. On the one hand, the vehicle out-of-control state can be accurately judged, and on the other hand, safety intervention can be quickly carried out. On the other hand, by setting a continuous set time, accidental touches and false alarms can be prevented.

[0087] In one embodiment of the present application, see Figure 3 The working parameters include brake pedal stroke, and whether the vehicle is in an out-of-control state is determined based on the brake pedal stroke.

[0088] Specifically, see Figure 3 , the method for judging whether the vehicle is out of control according to the brake pedal travel is: After operating the brake pedal, determine whether the brake pedal travel remains unchanged; When the brake pedal travel remains unchanged, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0089] Brake pedal travel refers to the total displacement of the brake pedal from full release to no longer being able to be depressed (or reaching maximum braking effectiveness). Brake loss of control is another major factor in vehicle loss of control. Brake loss of control (the vehicle fails to decelerate as expected, the braking effectiveness drops sharply or fails completely) has a direct causal relationship with abnormal brake pedal travel (the pedal travel is too long, too short, stuck or the feedback is abnormal). Brake pedal travel is the "physical input carrier" of the driver's braking intention. Its abnormal changes will directly destroy the force transmission or signal feedback logic of the braking system, and ultimately lead to loss of control of braking effectiveness. For example: abnormalities in the mechanical connection structure of the brake pedal (such as the pedal shaft, push rod, return spring) will cause the physical state of the pedal travel to deviate from the normal range, directly destroying the basic force transmission path of the braking system.

[0090] In an embodiment of the present application, after operating the brake pedal, whether the vehicle is in an out-of-control state is determined by whether the brake pedal stroke remains unchanged. The risk of vehicle out-of-control is discovered in a timely manner through abnormalities in the brake pedal stroke. On the one hand, the vehicle out-of-control state can be accurately determined, and on the other hand, safety intervention can be quickly performed.

[0091] In one embodiment of the present application, the working parameters include an accelerator pedal opening and a brake pedal travel, and whether the vehicle is in an out-of-control state is determined based on the accelerator pedal opening and the brake pedal travel.

[0092] Specifically, the method for determining whether the vehicle is in an out-of-control state based on the accelerator pedal opening and brake pedal travel is as follows: After the accelerator pedal is operated, it is determined whether the accelerator pedal opening continues to increase or decrease for a set time; after the brake pedal is operated, it is determined whether the brake pedal stroke remains unchanged; When the accelerator pedal opening continues to increase or decrease for a set time and the brake pedal stroke remains unchanged, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0093] When relying solely on a single operating parameter to determine vehicle loss of control, misjudgments can occur. For example, the accelerator pedal opening may be the same for normal rapid acceleration and abnormal vehicle movement. In the embodiment of the present application, the accelerator pedal opening and brake pedal travel are combined to determine whether the vehicle is in a loss of control state. Compared to a single operating parameter, this can reduce the rate of misjudgments of vehicle loss of control, avoid emergency braking stops due to misjudgments during normal driving, and reduce damage to emergency brake components.

[0094] For example, see Figure 4 The method for judging whether the vehicle is out of control based on the accelerator pedal opening and brake pedal travel is as follows: After the accelerator pedal is operated, it is determined whether the accelerator pedal opening continues to increase or decrease for a set time; When the accelerator pedal opening increases or decreases continuously for a set time, after the brake pedal is operated, determine whether the brake pedal travel remains unchanged; When the accelerator pedal opening continues to increase or decrease for a set time and the brake pedal stroke remains unchanged, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0095] It should be noted that it is also possible to first determine whether the brake pedal stroke satisfies its corresponding abnormal condition (i.e., the brake pedal stroke satisfies the condition of unchanged brake pedal stroke). After the brake pedal stroke satisfies its corresponding abnormal condition, it is then determined whether the accelerator pedal opening satisfies its corresponding abnormal condition (i.e., the accelerator pedal opening satisfies the condition of increasing or decreasing for a set period of time) to determine whether the vehicle is in an abnormal state. It is also possible to simultaneously determine whether the accelerator pedal opening and the brake pedal stroke satisfy their corresponding abnormal conditions. Then, after the accelerator pedal opening and the brake pedal stroke each satisfy their corresponding abnormal conditions, it is determined that the vehicle is in an out-of-control state.

[0096] In one embodiment of the present application, the operating parameters also include brake pressure; and whether the vehicle is in an out-of-control state is determined based on the brake pressure.

[0097] Specifically, see Figure 5 , the method of judging whether the vehicle is in an out-of-control state according to the brake pressure is: After operating the brake pedal, determine whether there is brake pressure; When there is no brake pressure, the vehicle is judged to be in an out-of-control state; when there is brake pressure, it is judged whether the brake pressure is less than the set pressure threshold; When the brake pressure is less than the set pressure threshold, the vehicle is determined to be in an out-of-control state; when the brake pressure is greater than or equal to the set pressure threshold, the vehicle is determined to be in a non-out-of-control state.

[0098] In this embodiment, the presence of brake pressure and whether the brake pressure is less than a set pressure threshold determine whether the vehicle is in an out-of-control state. Brake pressure can be collected in real time by onboard pressure sensors (such as wheel cylinder pressure sensors and master cylinder pressure sensors), with a sampling frequency of over 100 times per second. This allows for rapid identification of vehicle out-of-control risks at their incipient stages, enabling swift safety intervention.

[0099] In one embodiment of the present application, the operating parameters include accelerator pedal opening and brake pressure, and whether the vehicle is in an out-of-control state is determined based on the accelerator pedal opening and brake pressure.

[0100] Specifically, see Figure 6 The method for judging whether the vehicle is out of control based on the accelerator pedal opening and brake pressure is as follows: After the accelerator pedal is operated, it is determined whether the accelerator pedal opening continues to increase or decrease for a set time; When the accelerator pedal opening increases or decreases for a set time, after the brake pedal is operated, determine whether there is brake pressure; When the accelerator pedal opening increases or decreases continuously for a set time and there is no brake pressure, the vehicle is judged to be in an out-of-control state; when the accelerator pedal opening increases or decreases continuously for a set time and there is brake pressure, it is judged whether the brake pressure is less than the set pressure threshold; When the accelerator pedal opening increases or decreases continuously for a set time and the brake pressure is less than a set pressure threshold, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0101] Because reliance on a single operating parameter to determine vehicle loss of control can lead to misjudgments, in this embodiment, the accelerator pedal opening and brake pressure are combined to determine whether the vehicle is in a loss of control state. Compared to using a single operating parameter, this can reduce the rate of misjudgments of vehicle loss of control, avoid emergency braking stops due to misjudgments during normal driving, and reduce damage to emergency brake components.

[0102] In one embodiment of the present application, the operating parameters include brake pedal travel and brake pressure, and whether the vehicle is in an out-of-control state is determined based on the accelerator pedal and brake pressure.

[0103] Specifically, see Figure 7 The method for judging whether the vehicle is out of control based on the brake pedal travel and brake pressure is as follows: After operating the brake pedal, determine whether the brake pedal travel remains unchanged; When the brake pedal travel remains unchanged, determine whether there is brake pressure; When the brake pedal travel remains unchanged and there is no brake pressure, the vehicle is judged to be in an out-of-control state; when the brake pedal travel remains unchanged and there is brake pressure, whether the brake pressure is less than a set pressure threshold is judged; When the brake pedal stroke remains unchanged and the brake pressure is less than the set pressure threshold, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0104] Because reliance on a single operating parameter to determine vehicle loss of control can lead to misjudgments, in this embodiment, a combination of two operating parameters, brake pedal travel and brake pressure, is used to determine whether a vehicle is in a loss of control state. Compared to using a single operating parameter, this can reduce the rate of misjudgments of vehicle loss of control, avoid emergency braking stops due to misjudgments during normal driving, and reduce damage to emergency brake components.

[0105] In one embodiment of the present application, the working parameters include accelerator pedal opening, brake pedal travel and brake pressure, and whether the vehicle is in an out-of-control state is determined based on the accelerator pedal, brake pedal travel and brake pressure.

[0106] Specifically, the method for determining whether the vehicle is in an out-of-control state based on the accelerator pedal, brake pedal travel and brake pressure is as follows: After the accelerator pedal is operated, it is determined whether the accelerator pedal opening continues to increase or decrease for a set time; after the brake pedal is operated, it is determined whether the brake pedal travel remains unchanged and whether there is brake pressure; If the accelerator pedal opening continues to increase or decrease for a set time, the brake pedal travel remains unchanged, and there is no brake pressure, the vehicle is determined to be in an out-of-control state; if the accelerator pedal opening continues to increase or decrease for a set time, the brake pedal travel remains unchanged, and there is brake pressure, the brake pressure is determined to be less than the set pressure threshold; When the accelerator pedal opening continues to increase or decrease for a set time, the brake pedal stroke remains unchanged, and the brake pressure is less than the set pressure threshold, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0107] In this embodiment, the accelerator pedal position, brake pedal travel, and brake pressure are combined to determine whether the vehicle is out of control. If all three operating parameters are abnormal, the vehicle is considered out of control. Compared to a single operating parameter, combining these three parameters can more accurately determine vehicle out of control and reduce the rate of false positives.

[0108] For example, see Figure 8 The method for determining whether the vehicle is out of control based on the accelerator pedal, brake pedal travel and brake pressure is as follows: After the accelerator pedal is operated, it is determined whether the accelerator pedal opening continues to increase or decrease for a set time; When the accelerator pedal opening increases or decreases continuously for a set time, after the brake pedal is operated, determine whether the brake pedal travel remains unchanged; When the brake pedal travel remains unchanged, determine whether there is brake pressure; When there is no brake pressure, the vehicle is judged to be in an out-of-control state; when there is brake pressure, it is judged whether the brake pressure is less than the set pressure threshold; When the brake pressure is less than the set pressure threshold, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0109] In one embodiment of the present application, the operating parameters also include engine speed, and whether the vehicle is in an out-of-control state is determined based on the engine speed.

[0110] Specifically, see Figure 9 , the method of judging whether the vehicle is in an out-of-control state according to the engine speed is: Determine whether the current engine speed matches the current vehicle speed; When the current engine speed does not match the current vehicle speed, it is determined that the vehicle is in an out-of-control state; when the current engine speed matches the current vehicle speed, it is determined that the vehicle is not in an out-of-control state.

[0111] Engine speed is a core parameter reflecting the state of engine power output. Abnormalities (such as sudden increases or decreases, persistent exceeding of the upper limit, and excessive fluctuations) can directly undermine the stability and controllability of vehicle power output, thereby triggering or exacerbating the risk of vehicle loss of control. In this embodiment, engine speed is introduced as a factor in determining vehicle loss of control. By using engine speed to determine whether a vehicle is in a loss of control state, this allows for rapid identification of vehicle loss of control at its incipient stage, enabling swift safety intervention.

[0112] In one embodiment of the present application, the operating parameters include an accelerator pedal opening and an engine speed, and whether the vehicle is in an out-of-control state is determined based on the accelerator pedal opening and the engine speed.

[0113] Specifically, the method for determining whether the vehicle is in an out-of-control state based on the accelerator pedal opening and engine speed is as follows: After operating the accelerator pedal, determine whether the accelerator pedal opening continues to increase or decrease for a set time; determine whether the current engine speed matches the current vehicle speed; When the accelerator pedal opening continues to increase or decrease for a set time and the current engine speed does not match the current vehicle speed, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0114] In this embodiment, the accelerator pedal position and engine speed are combined to determine whether the vehicle is in an out-of-control state. If both operating parameters are abnormal, the vehicle is considered to be in an out-of-control state. Compared with a single operating parameter, combining these two operating parameters can more accurately determine vehicle out-of-control and reduce the rate of false positives.

[0115] For example, see Figure 10 The method for judging whether the vehicle is out of control based on the accelerator pedal opening and engine speed is as follows: After the accelerator pedal is operated, it is determined whether the accelerator pedal opening continues to increase or decrease for a set time; When the accelerator pedal opening increases or decreases continuously for a set time, it is determined whether the current engine speed matches the current vehicle speed; When the current engine speed does not match the current vehicle speed, it is determined that the vehicle is in an out-of-control state; otherwise, it is determined that the vehicle is in a non-out-of-control state.

[0116] In one embodiment of the present application, the operating parameters include brake pedal travel and engine speed, and whether the vehicle is in an out-of-control state is determined based on the brake pedal travel and engine speed.

[0117] Specifically, the method for determining whether the vehicle is in an out-of-control state based on the brake pedal travel and engine speed is as follows: After the brake pedal is operated, determine whether the brake pedal travel remains unchanged; determine whether the current engine speed matches the current vehicle speed; When the brake pedal stroke remains unchanged and the current engine speed does not match the current vehicle speed, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0118] In this embodiment, the brake pedal travel and engine speed are combined to determine whether the vehicle is in an out-of-control state. If both operating parameters are abnormal, the vehicle is considered out-of-control. Compared to a single operating parameter, combining these two parameters can more accurately determine vehicle out-of-control and reduce the rate of false positives.

[0119] For example, see Figure 11 , the method of judging whether the vehicle is in an out-of-control state based on the brake pedal travel and engine speed is: After operating the brake pedal, determine whether the brake pedal travel remains unchanged; When the brake pedal travel remains unchanged, determine whether the current engine speed matches the current vehicle speed; When the current engine speed does not match the current vehicle speed, it is determined that the vehicle is in an out-of-control state; otherwise, it is determined that the vehicle is in a non-out-of-control state.

[0120] In one embodiment of the present application, the operating parameters include engine speed and brake pressure, and whether the vehicle is in an out-of-control state is determined based on the engine speed and brake pressure.

[0121] Specifically, see Figure 12 , the method of judging whether the vehicle is in an out-of-control state based on the engine speed and brake pressure is: Determine whether the current engine speed matches the current vehicle speed; determine whether there is brake pressure after the brake pedal is operated; When the current engine speed does not match the current vehicle speed and there is no brake pressure, it is determined that the vehicle is in an out-of-control state; when the current engine speed does not match the current vehicle speed and there is brake pressure, it is determined whether the brake pressure is less than the set pressure threshold; When the current engine speed does not match the current vehicle speed and the brake pressure is less than the set pressure threshold, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0122] In this embodiment, the engine speed and brake pressure are combined to determine whether the vehicle is in an out-of-control state. If both operating parameters are abnormal, the vehicle is considered to be in an out-of-control state. Compared with a single operating parameter, combining the two operating parameters can more accurately determine vehicle out-of-control and reduce the false positive rate.

[0123] In one embodiment of the present application, the working parameters include accelerator pedal opening, brake pressure and engine speed, and whether the vehicle is in an out-of-control state is determined based on the accelerator pedal opening, brake pedal travel, brake pressure and engine speed.

[0124] Specifically, the method for determining whether the vehicle is in an out-of-control state based on the accelerator pedal opening, brake pressure, and engine speed is as follows: After operating the accelerator pedal, determine whether the accelerator pedal opening continues to increase or decrease for a set time; determine whether the current engine speed matches the current vehicle speed; after operating the brake pedal, determine whether there is brake pressure; If the accelerator pedal opening increases or decreases continuously for a set time, the current engine speed does not match the current vehicle speed, and there is no brake pressure, the vehicle is judged to be in an out-of-control state; if the accelerator pedal opening increases or decreases continuously for a set time, the current engine speed does not match the current vehicle speed, and there is brake pressure, it is judged whether the brake pressure is less than the set pressure threshold; When the accelerator pedal opening increases or decreases continuously for a set time, the current engine speed does not match the current vehicle speed, and the brake pressure is less than the set pressure threshold, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0125] In this embodiment, the accelerator pedal position, brake pressure, and engine speed are combined to determine whether the vehicle is in an out-of-control state. If all three operating parameters are abnormal, the vehicle is considered out-of-control. Compared to a single operating parameter, combining these three parameters can more accurately determine vehicle out-of-control and reduce the rate of false positives.

[0126] For example, see Figure 13 , the method for judging whether the vehicle is in an out-of-control state based on the accelerator pedal opening, brake pressure and engine speed is as follows: After the accelerator pedal is operated, it is determined whether the accelerator pedal opening continues to increase or decrease for a set time; When the accelerator pedal opening increases or decreases continuously for a set time, after the brake pedal is operated, it is determined whether the current engine speed matches the current vehicle speed; When the current engine speed does not match the current vehicle speed, after the brake pedal is operated, determine whether there is brake pressure; When there is no brake pressure, the vehicle is judged to be in an out-of-control state; when there is brake pressure, it is judged whether the brake pressure is less than the set pressure threshold; When the brake pedal stroke is unchanged, the current engine speed is not matched with the current vehicle speed, and the brake pressure is less than the set pressure threshold, it is determined that the vehicle is in the out-of-control state; otherwise, it is determined that the vehicle is in the non-out-of-control state.

[0127] In an embodiment of the present application, the working parameters include brake pedal stroke, brake pressure and engine speed, and whether the vehicle is in the out-of-control state is determined according to the accelerator pedal opening, brake pedal stroke, brake pressure and engine speed.

[0128] Specifically, the method for determining whether the vehicle is in the out-of-control state according to the brake pedal stroke, brake pressure and engine speed is as follows: After operating the accelerator pedal, it is determined whether the accelerator pedal opening is continuously increased or decreased for a set time; after operating the brake pedal, it is determined whether the brake pedal stroke is unchanged, and whether there is brake pressure; it is determined whether the current engine speed is matched with the current vehicle speed; When the brake pedal stroke is unchanged, the current engine speed is not matched with the current vehicle speed, and there is no brake pressure, it is determined that the vehicle is in the out-of-control state; when the brake pedal stroke is unchanged, the current engine speed is not matched with the current vehicle speed, and there is brake pressure, it is determined whether the brake pressure is less than the set pressure threshold; When the brake pedal stroke is unchanged, the current engine speed is not matched with the current vehicle speed, and the brake pressure is less than the set pressure threshold, it is determined that the vehicle is in the out-of-control state; otherwise, it is determined that the vehicle is in the non-out-of-control state.

[0129] In the embodiment of the present application, whether the vehicle is in the out-of-control state is determined in combination with the brake pedal stroke, brake pressure and engine speed, and it is considered that the vehicle is in the out-of-control state when all the three working parameters are in abnormal conditions. Compared with a single working parameter, the vehicle out-of-control can be more accurately determined in combination with the three working parameters, and the misjudgment rate is reduced.

[0130] For example, referring to Figure 14 , the method for determining whether the vehicle is in the out-of-control state according to the brake pedal stroke, brake pressure and engine speed is as follows: After operating the brake pedal, it is determined whether the brake pedal stroke is unchanged, When the brake pedal stroke is unchanged, it is determined whether the current engine speed is matched with the current vehicle speed; When the current engine speed is not matched with the current vehicle speed, after operating the brake pedal, it is determined whether there is brake pressure; When there is no brake pressure, it is determined that the vehicle is in the out-of-control state; when there is brake pressure, it is determined whether the brake pressure is less than the set pressure threshold; When the brake pressure is less than the set pressure threshold, it is determined that the vehicle is in the out-of-control state; otherwise, it is determined that the vehicle is in the non-out-of-control state.

[0131] In one embodiment of the present application, the working parameters include accelerator pedal opening, brake pedal travel, brake pressure and engine speed, and whether the vehicle is in an out-of-control state is determined based on the accelerator pedal opening, brake pedal travel, brake pressure and engine speed.

[0132] Specifically, the method for determining whether the vehicle is in an out-of-control state based on the accelerator pedal opening, brake pedal travel, brake pressure and engine speed is as follows: After operating the accelerator pedal, determine whether the accelerator pedal opening continues to increase or decrease for a set time; after operating the brake pedal, determine whether the brake pedal travel remains unchanged and whether there is brake pressure; determine whether the current engine speed matches the current vehicle speed; When the accelerator pedal opening increases or decreases continuously for a set time, the brake pedal travel remains unchanged, there is no brake pressure, and the current engine speed does not match the current vehicle speed, the vehicle is determined to be in an out-of-control state; when the accelerator pedal opening increases or decreases continuously for a set time, the brake pedal travel remains unchanged, the current engine speed does not match the current vehicle speed, and there is brake pressure, the brake pressure is determined to be less than the set pressure threshold; When the accelerator pedal opening continues to increase or decrease for a set time, the brake pedal travel remains unchanged, the current engine speed does not match the current vehicle speed, and the brake pressure is less than the set pressure threshold, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0133] In this embodiment, the accelerator pedal position, brake pedal travel, brake pressure, and engine speed are combined to determine whether the vehicle is in an out-of-control state. If all four operating parameters are abnormal, the vehicle is considered out-of-control. Compared to a single operating parameter, combining all four can more accurately determine vehicle out-of-control and reduce the rate of false positives.

[0134] For example, see Figure 15 The method for determining whether the vehicle is in an out-of-control state based on the accelerator pedal opening, brake pedal travel, brake pressure and engine speed is as follows: After the accelerator pedal is operated, it is determined whether the accelerator pedal opening continues to increase or decrease for a set time; When the accelerator pedal opening increases or decreases continuously for a set time, after the brake pedal is operated, determine whether the brake pedal travel remains unchanged; When the brake pedal travel remains unchanged, determine whether the current engine speed matches the current vehicle speed; When the current engine speed does not match the current vehicle speed, after the brake pedal is operated, determine whether there is brake pressure; When there is no brake pressure, the vehicle is judged to be in an out-of-control state; when there is brake pressure, it is judged whether the brake pressure is less than the set pressure threshold; When the brake pressure is less than the set pressure threshold, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

[0135] S3. When the vehicle is out of control, cut off the vehicle's power output, adjust the braking pressure of each wheel of the vehicle to maintain vehicle stability, and control vehicle deceleration.

[0136] In this embodiment, when a vehicle is out of control, the vehicle's power output is first cut off, depriving it of the power to accelerate further. The braking pressure at each wheel is then adjusted to maintain vehicle stability and maneuverability, preventing dangerous situations such as skidding and tailspinning. Simultaneously, the vehicle is decelerated to prevent excessive speed and collisions, which could lead to traffic accidents. This control allows for rapid vehicle deceleration, improving driving safety and reducing the likelihood of traffic accidents.

[0137] In one embodiment of the present application, the method for cutting off the power output of the vehicle is: For fuel engine vehicles, the fuel injection system is controlled to stop supplying fuel to the engine; For electric vehicles, the battery management system is controlled to disconnect the battery from the motor, causing the motor to stop running.

[0138] In one embodiment of the present application, the method for adjusting the brake pressure of each wheel of the vehicle is: Obtain the actual driving status of the vehicle in real time; Calculating the state deviation between the actual driving state of the vehicle and the expected driving state; Determine whether the state deviation exceeds the set state deviation threshold; When the state deviation exceeds a set state deviation threshold, the wheel brake pressure is adjusted so that the state deviation is less than the set deviation threshold.

[0139] In an embodiment of the present application, whether to adjust the wheel brake pressure is determined by judging whether the state deviation between the actual driving state of the vehicle obtained in real time and the expected driving state exceeds the set state deviation threshold. When the state deviation exceeds the set state deviation threshold, the wheel brake pressure is adjusted to make the state deviation less than the set deviation threshold, so that the vehicle can travel stably and prevent the vehicle from skidding, drifting, rolling over and other dangerous situations.

[0140] Specifically, the driving state includes actual yaw rate, actual lateral acceleration and actual wheel speed.

[0141] Exemplarily, the method for adjusting the brake pressure of each wheel of the vehicle is: The actual yaw rate, actual lateral acceleration and actual wheel speed of the vehicle are obtained in real time.

[0142] a yaw rate deviation between the actual yaw rate and the desired yaw rate, a lateral acceleration deviation between the actual lateral acceleration and the desired lateral acceleration, and a wheel speed deviation between the actual wheel speed and the desired wheel speed.

[0143] When the yaw rate deviation exceeds a set yaw rate deviation threshold, the brake pressure of the wheel is adjusted so that the yaw rate deviation is less than the set yaw rate deviation threshold, and the vehicle is restored to a stable driving state; or when the lateral acceleration deviation exceeds a set lateral acceleration deviation threshold, the brake pressure of the wheel is adjusted so that the lateral acceleration deviation is less than the set yaw rate deviation threshold, and the vehicle is restored to a stable driving state; or when the wheel speed deviation exceeds a set wheel speed deviation threshold, the brake pressure of the wheel is adjusted so that the wheel speed deviation is less than the set wheel speed deviation threshold, and the vehicle is restored to a stable driving state.

[0144] Alternatively, at least two of the yaw rate deviation, the lateral acceleration deviation, and the wheel speed deviation exceed their set thresholds, the brake pressure of the wheel is adjusted so that the corresponding deviation is less than the set deviation, and the vehicle is restored to a stable driving state.

[0145] Specifically, the brake pressure of the wheel can be automatically adjusted by an electronic stability program (ESP). It should be noted that the ESP system is an active safety technology, and the main function is to monitor the driving state of the vehicle (such as the steering angle, the wheel speed, the lateral acceleration, etc.) in real time through sensors during the operation of the vehicle. When the system detects signs of loss of control such as understeering (pushing the head) or oversteering (spinning), it will automatically apply brake force to a single or multiple wheels and intervene with the engine power output to help the driver regain control of the vehicle, thereby avoiding dangerous situations such as skidding or rollover.

[0146] In an embodiment of the present application, the method of controlling the vehicle to decelerate is to control the engine to generate brake torque or / and to control downshift.

[0147] In an embodiment of the present application, the vehicle deceleration is achieved by controlling the engine to generate brake torque, which can adjust the brake torque in milliseconds and quickly achieve deceleration control. It can also reduce the wear of brake system components, prolong the service life of brake system components, and reduce maintenance costs. The vehicle deceleration is achieved by controlling downshift, which can quickly obtain multiplied brake force (at the same vehicle speed, the brake force of low gear is 3-5 times that of high gear), and the vehicle speed is more stable, which can make the vehicle quickly and smoothly decelerate. In combination with the transmission brake and downshift, the out-of-control vehicle can be decelerated more stably and quickly in the out-of-control state.

[0148] Specifically, the method for controlling engine torque generation involves controlling the engine throttle opening and adjusting the ignition timing to generate braking torque. For example, closing the throttle reduces intake air volume, increases engine intake resistance, and delays ignition, so that combustion energy dissipates kinetic energy instead of pushing the piston. This causes the engine to consume more energy during the compression stroke, allowing the engine to quickly generate braking torque, thereby reducing vehicle speed.

[0149] Specifically, the method for controlling downshift is: For manual transmission vehicles, a prompt message is generated and sent to the in-vehicle display screen to prompt the driver to manually downshift; For automatic transmission vehicles, control the transmission to downshift.

[0150] S4. When the vehicle speed drops to a set speed threshold, the emergency braking device is controlled to stop the vehicle.

[0151] The emergency brake system typically responds faster than temporary measures like manually operating a gear downshift and applying the parking brake. For example, the emergency brake system takes only 0.2-0.5 seconds from triggering to applying braking force, while the driver's reaction and operation time for manually shifting to a lower gear may exceed 1 second. In the embodiments of the present application, when the vehicle speed drops to a set speed threshold, the emergency brake system is controlled to stop the vehicle. Using the emergency brake system to stop the vehicle can achieve a rapid stop.

[0152] In one embodiment of the present application, the method for controlling the parking of a vehicle is: after controlling the emergency braking device to stop the vehicle, controlling the handbrake to be pulled up.

[0153] Specifically, the handbrake can be automatically controlled to be pulled up through the electronic control unit ECU.

[0154] In the embodiment of the present application, after the vehicle is stopped by the emergency braking device, controlling the handbrake to be pulled up can effectively prevent the vehicle from sliding and ensure that the vehicle does not slide when parked.

[0155] In one embodiment of the present application, the control method further includes: Real-time detection of obstacles in front of and around the vehicle; When an obstacle is detected in front of the vehicle, an optimal avoidance path is generated based on the vehicle speed and the distance from the vehicle to the obstacle. The vehicle's driving direction is adjusted according to the optimal avoidance path to avoid a collision between the vehicle and the obstacle.

[0156] Specifically, onboard sensors such as radar and cameras can monitor obstacles in front of and around the vehicle in real time. The vehicle's electronic control unit (ECU) can calculate the optimal avoidance path and adjust the vehicle's driving direction based on the optimal avoidance path.

[0157] In an embodiment of the present application, by real-time monitoring of obstacles in front of and around the vehicle, when the vehicle loses control, the vehicle's driving direction is adjusted according to the optimal avoidance path calculated based on the vehicle speed and the distance from the vehicle to the obstacle, which can avoid collisions with obstacles as much as possible, improve safety, and reduce the occurrence of traffic accidents.

[0158] In one embodiment of the present application, the control method further includes: when the vehicle is in an out-of-control state, controlling an alarm device in the vehicle to sound an alarm, and generating vehicle fault information to be sent to the vehicle manufacturer's customer service center and / or traffic management department.

[0159] Specifically, the alarm device may be a buzzer or an audible and visual alarm device.

[0160] In an embodiment of the present application, when it is determined that the vehicle is in an out-of-control state, an alarm is sounded through the alarm device in the vehicle, and vehicle fault information is generated and sent to the vehicle manufacturer's customer service center and / or traffic management department, which can promptly notify the driver and relevant departments and facilitate rescue work.

[0161] Exemplarily, a method for quickly stopping a vehicle in an out-of-control state comprises the following steps: S1. During vehicle operation, the vehicle speed and operating parameters of the vehicle power system and / or braking system are obtained in real time, the actual driving state of the vehicle is obtained in real time, and obstacles in front of and around the vehicle are detected in real time.

[0162] S2. Determine whether the vehicle is in an out-of-control state based on the operating parameters.

[0163] S3. When the vehicle is out of control: cut off the power output of the vehicle; calculate the state deviation between the actual driving state of the vehicle and the expected driving state, determine whether the state deviation exceeds the set state deviation threshold, and when the state deviation exceeds the set state deviation threshold, adjust the braking pressure of each wheel of the vehicle so that the state deviation is less than the set deviation threshold; control the vehicle to slow down; when an obstacle is detected in front of the vehicle, generate an optimal avoidance path based on the vehicle speed and the distance from the vehicle to the obstacle, and adjust the vehicle's driving direction according to the optimal avoidance path to avoid a collision between the vehicle and the obstacle; control the alarm device in the vehicle to sound an alarm, and generate vehicle fault information and send it to the vehicle manufacturer's customer service center and / or traffic management department.

[0164] S4. When the vehicle speed drops to the set speed threshold, the emergency braking device is controlled to stop the vehicle and the handbrake is pulled up.

[0165] An embodiment of the present application provides a quick stop control system for a vehicle in an out-of-control state, which is applicable to a vehicle. Figure 16 Shown is a schematic structural diagram of the rapid stop control system in the vehicle out-of-control state.

[0166] The rapid stopping control system 100 in the vehicle out-of-control state comprises: An acquisition module 101, configured to acquire a vehicle speed and working parameters of a power system or / and a braking system of the vehicle in real time during operation of the vehicle; A judgment module 102, configured to judge whether the vehicle is in an out-of-control state according to the working parameters and whether the vehicle speed is reduced to a set speed threshold; A control module 103, configured to cut off power output of the vehicle, adjust braking pressure of each wheel of the vehicle to keep the vehicle stable, and control the vehicle to decelerate when the vehicle is in the out-of-control state, and control an emergency braking device to stop the vehicle when the vehicle speed is reduced to the set speed threshold.

[0167] In the embodiment of the application, the control module can adopt an electronic control unit (ECU).

[0168] Referring to Figure 17 , in an embodiment of the application, the acquisition module 101 comprises: A first position sensor 1011 arranged on an accelerator pedal and configured to detect an accelerator pedal opening in real time; A second position sensor 1012 arranged on a brake pedal and configured to detect a brake pedal stroke in real time; A pressure sensor 1013 arranged on an accelerator actuator and configured to detect a brake pressure in real time; A first speed sensor 1014 arranged on an engine and configured to detect an engine speed in real time; A second speed sensor 1015 arranged on a vehicle body and configured to detect a vehicle speed in real time.

[0169] Continuing to refer to Figure 17 , in an embodiment of the application, the acquisition module 101 further comprises: A yaw rate sensor 1016 arranged on the vehicle body and configured to detect a yaw rate of the vehicle in real time; A lateral acceleration sensor 1017 arranged on the vehicle body and configured to detect a lateral acceleration of the vehicle in real time; A wheel speed sensor 1018 arranged on a vehicle body component rotating synchronously with a wheel and configured to detect a wheel speed in real time.

[0170] Continuing to refer to Figure 16 , in an embodiment of the application, the system further comprises a calculation module 104 configured to calculate a state deviation between an actual driving state and an expected driving state of the vehicle.

[0171] In an embodiment of the application, the judgment module is further configured to judge whether the state deviation exceeds a set state deviation threshold.

[0172] In an embodiment of the present application, the control module is further configured to control the brake pressure of the wheels to make the state deviation less than the set deviation threshold when the state deviation exceeds the set state deviation threshold.

[0173] In an embodiment of the present application, the control module is further configured to control the engine to generate braking torque or / and control downshift.

[0174] In an embodiment of the present application, the control module is further configured to control the handbrake to be pulled up after the emergency brake device is controlled to stop the vehicle.

[0175] With reference to Figure 17 In an embodiment of the present application, the acquisition module 101 further comprises: a camera 1019 mounted on the vehicle body for real-time detection of the environment in front of and around the vehicle; a distance measuring sensor 1010 mounted on the vehicle body for measuring the distance between the vehicle and the obstacle.

[0176] In an embodiment of the present application, the control module is further configured to generate an optimal avoidance path according to the vehicle speed and the distance from the vehicle to the obstacle, and adjust the driving direction of the vehicle according to the optimal avoidance path when it is detected that there is an obstacle in front of the vehicle.

[0177] In an embodiment of the present application, the control module is further configured to control the alarm device in the vehicle to alarm and generate vehicle fault information sent to the customer service center of the vehicle manufacturer or / and the traffic management department when the vehicle is in the out-of-control state.

[0178] An embodiment of the present application provides a vehicle.

[0179] Illustratively, with reference to Figure 18 The vehicle 200 comprises a memory 201, a processor 202, and a computer program 203 stored in the memory 201 and executable on the processor 202, and the processor 202 implements the vehicle out-of-control state fast stopping control method related to the above-mentioned embodiments when executing the computer program 203.

[0180] Illustratively, the vehicle 200 can comprise an acquisition module, a judgment module, and a control module, and the judgment module and the control module are integrated in the processor.

[0181] The acquisition module is configured to acquire the vehicle speed and the working parameters of the vehicle power system or / and the braking system in real time during the operation of the vehicle; The judgment module is configured to judge whether the vehicle is in the out-of-control state according to the working parameters, and whether the vehicle speed is reduced to the set speed threshold; The control module is configured to: when the vehicle is out of control, cut off the vehicle's power output, adjust the braking pressure of each wheel of the vehicle to maintain vehicle stability, and control vehicle deceleration; when the vehicle speed drops to a set speed threshold, control the emergency braking device to stop the vehicle.

[0182] Those skilled in the art will appreciate that the modules, units, and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0183] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be covered and fall within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for quickly stopping a vehicle in an out-of-control state, characterized in that: Applied to a vehicle, the method comprises: During vehicle operation, real-time acquisition of vehicle speed and operating parameters of the vehicle power system and / or braking system; Determine whether the vehicle is out of control based on operating parameters; When the vehicle is out of control, the vehicle's power output is cut off, the braking pressure of each wheel of the vehicle is adjusted, and the vehicle is decelerated; When the vehicle speed drops to the set speed threshold, the emergency brake device is controlled to stop the vehicle.

2. The method for quickly stopping a vehicle in an out-of-control state according to claim 1, characterized in that: The operating parameters include the accelerator pedal opening and / or the brake pedal travel. The method for determining whether the vehicle is in an out-of-control state based on the operating parameters is as follows: After the accelerator pedal is operated, determining whether the accelerator pedal opening continues to increase or decrease for a set time; or / and, after the brake pedal is operated, determining whether the brake pedal stroke remains unchanged; When the accelerator pedal opening continues to increase or decrease for a set time, or / and the brake pedal stroke remains unchanged, the vehicle is determined to be in an out-of-control state; otherwise, the vehicle is determined to be in a non-out-of-control state.

3. The method for quickly stopping a vehicle in an out-of-control state according to claim 2, characterized in that: The operating parameters also include brake pressure; the method for determining whether the vehicle is in an out-of-control state based on the operating parameters is: After operating the brake pedal, determine whether there is brake pressure; When there is no brake pressure, the vehicle is judged to be in an out-of-control state; when there is brake pressure, it is judged whether the brake pressure is less than the set pressure threshold; When the brake pressure is less than the set pressure threshold, the vehicle is determined to be in an out-of-control state; when the brake pressure is greater than or equal to the set pressure threshold, the vehicle is determined to be in a non-out-of-control state.

4. The method for quickly stopping a vehicle in an out-of-control state according to claim 2 or 3, characterized in that: The operating parameters also include engine speed. The method for determining whether the vehicle is in an out-of-control state based on the operating parameters is as follows: Determine whether the current engine speed matches the current vehicle speed; When the current engine speed does not match the current vehicle speed, it is determined that the vehicle is in an out-of-control state; when the current engine speed matches the current vehicle speed, it is determined that the vehicle is not in an out-of-control state.

5. The method for quickly stopping a vehicle in an out-of-control state according to claim 1, characterized in that: The method for adjusting the brake pressure of each wheel of the vehicle is as follows: Obtain the actual driving status of the vehicle in real time; Calculating the state deviation between the actual driving state of the vehicle and the expected driving state; Determine whether the state deviation exceeds the set state deviation threshold; When the state deviation exceeds a set state deviation threshold, the wheel brake pressure is adjusted so that the state deviation is less than the set deviation threshold.

6. The method for quickly stopping a vehicle in an out-of-control state according to claim 1, characterized in that: The method of controlling vehicle deceleration is: controlling the engine to generate braking torque and / or controlling downshifting.

7. The method for quickly stopping a vehicle in an out-of-control state according to claim 6, characterized in that: The method of controlling the engine to generate torque is as follows: controlling the engine throttle opening and adjusting the ignition timing to enable the engine to generate braking torque; The method for controlling downshifting is as follows: for manual transmission vehicles, a prompt message is generated and sent to a display screen in the vehicle to prompt the driver to manually downshift; for automatic transmission vehicles, the transmission is controlled to downshift.

8. The method for quickly stopping a vehicle in an out-of-control state according to claim 1, characterized in that: The control method further includes: Real-time detection of obstacles in front of and around the vehicle; When an obstacle is detected in front of the vehicle, an optimal avoidance path is generated based on the vehicle speed and the distance from the vehicle to the obstacle. The vehicle's driving direction is adjusted according to the optimal avoidance path to avoid a collision between the vehicle and the obstacle.

9. A rapid stop control system for a vehicle in an out-of-control state, characterized in that: Applied to vehicles, including: An acquisition module is used to obtain the vehicle speed and the operating parameters of the vehicle power system and / or braking system in real time during the operation of the vehicle; A judgment module determines whether the vehicle is in an out-of-control state based on operating parameters and whether the vehicle speed has dropped to a set speed threshold; The control module is configured to: cut off the vehicle's power output, adjust the braking pressure of each wheel of the vehicle to maintain vehicle stability, and control vehicle deceleration when the vehicle is out of control; and control the emergency braking device to stop the vehicle when the vehicle speed drops to a set speed threshold.

10. A vehicle, characterized in that: The vehicle includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the processor implements the method for quickly stopping a vehicle in an out-of-control state as described in any one of claims 1 to 8; or the vehicle includes the quick-stop control system for a vehicle in an out-of-control state as described in claim 9.

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