Vehicle escape control method and device, electronic equipment and vehicle

Abstract

The invention provides a vehicle escape control method and device, electronic equipment and a vehicle, and relates to the technical field of vehicles, whether the vehicle is in a trapped state or not is judged, if the vehicle is judged to be in the trapped state, acquired image information of a set area around the vehicle is analyzed, and a recognition result of a road surface type is acquired; determining a target slip rate corresponding to the recognition result of the road surface type according to the recognition result of the road surface type, determining a target torque of a driving motor of the vehicle according to the target slip rate corresponding to the recognition result of the road surface type, obtaining a current actual speed of the vehicle, and determining a target rotating speed of the driving motor according to the current actual speed of the vehicle, a driving motor is controlled to drive the vehicle to get out of trouble at the target rotating speed and the target torque; according to the invention, the escape capability after the vehicle is trapped in the pit is improved, and the excessive slip of the wheels is avoided after the vehicle escapes from the pit.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle escape control method and device, an electronic device and a vehicle. BACKGROUND

[0002] With the wide use of electric vehicles, more and more consumers use electric vehicles for field driving. When working or off-road driving in complex terrain or adverse weather conditions, the vehicle may be stuck in sandy, muddy or other soft ground, causing the rear wheels or all wheels to slip and unable to move forward.

[0003] In related technologies, when the vehicle is stuck in sandy, muddy or other soft ground, the vehicle often increases the torque of the drive motor of the electric vehicle to escape, however, if the torque of the drive motor is too large, the speed will quickly rise, and when the slip rate reaches the upper limit, the braking system of the vehicle will intervene, thereby affecting the escape ability, and for the stuck wheels, the increase of the torque of the drive motor will raise the speed, causing excessive wheel slip after escaping, i.e. causing the vehicle to fly. SUMMARY

[0004] The problem solved by the present application is how to improve the escape ability of the vehicle after being stuck, and prevent excessive wheel slip after escaping.

[0005] To solve the above problems, the present application provides a vehicle escape control method, device, electronic device and vehicle.

[0006] In a first aspect, the present application provides a vehicle escape control method, comprising: determining whether the vehicle is in a stuck state, and if it is determined that the vehicle is in a stuck state, analyzing the acquired image information of a set area around the vehicle to obtain an identification result of a road surface type; determining a target slip rate corresponding to the identification result of the road surface type according to the identification result of the road surface type; the target slip rate is a slip rate corresponding to a maximum adhesion coefficient corresponding to the identification result of the road surface type; determining a target torque of a drive motor of the vehicle according to the target slip rate corresponding to the identification result of the road surface type; acquiring a current actual speed of the vehicle, and determining a target speed of the drive motor according to the current actual speed of the vehicle; controlling the drive motor to drive the vehicle to escape at the target speed and the target torque.

[0007] Optionally, the analysis of the acquired image information of the set area around the vehicle to obtain the identification result of the road surface type comprises: input image information of a set area around the vehicle into a pre-constructed road surface recognition model to obtain a recognition result of a road surface type output by the road surface recognition model; the road surface recognition model is constructed by a neural network model.

[0008] Optionally, further comprising: acquiring, by a vision system of the vehicle, image information of a set area around the vehicle; the vision system comprises at least one of a front camera of the vehicle, a 360° surround view camera of the vehicle, and a wide-angle camera of the vehicle.

[0009] Optionally, the determining, according to the recognition result of the road surface type, of a target slip ratio corresponding to the recognition result of the road surface type comprises: determining, according to a preset relationship between the road surface type and a peak adhesion coefficient, a peak adhesion coefficient corresponding to the recognition result of the road surface type, the peak adhesion coefficient being a maximum value of adhesion coefficients; determining, according to a preset relationship between the peak adhesion coefficient and the slip ratio, a target slip ratio corresponding to the peak adhesion coefficient; or, determining, according to a preset relationship between the road surface type and the slip ratio, a target slip ratio corresponding to the recognition result of the road surface type.

[0010] Optionally, the determining, according to the target slip ratio corresponding to the recognition result of the road surface type, of a target torque of a drive motor of the vehicle comprises: determining a current slip ratio of the vehicle according to a current motion state of the vehicle; determining a basic torque of the drive motor of the vehicle; adjusting the basic torque of the drive motor according to a comparison result of the current slip ratio of the vehicle and the target slip ratio to obtain a target torque of the drive motor of the vehicle.

[0011] Optionally, the adjusting, according to the comparison result of the current slip ratio of the vehicle and the target slip ratio, of the basic torque of the drive motor comprises: if an absolute value of a difference between the current slip ratio of the vehicle and the target slip ratio is greater than or equal to a preset threshold, adjusting the basic torque of the drive motor by a predetermined adjustment amount; if the absolute value of the difference between the current slip ratio of the vehicle and the target slip ratio is less than the preset threshold, performing oscillation adjustment on the basic torque of the drive motor within a preset adjustment range.

[0012] Optionally, the acquiring of the current actual speed of the vehicle comprises: acquiring a resolver signal output by a resolver transformer in the drive motor, and determining a wheel end speed of the vehicle according to the resolver signal; acquiring a speed of a speed measuring device of the vehicle; if the wheel end speed of the vehicle is consistent with the speed of the speed measuring device, taking the wheel end speed of the vehicle as the current actual speed of the vehicle; if the wheel end speed of the vehicle is not consistent with the speed of the speed measuring device, taking the speed of the speed measuring device as the current actual speed of the vehicle.

[0013] In a second aspect, the present application provides a vehicle escape control device, comprising: a road surface identification module, configured to determine whether the vehicle is in a trapped state, and if the vehicle is determined to be in the trapped state, analyze the acquired image information of a set region around the vehicle to obtain an identification result of a road surface type; a slip rate determination module, configured to determine a target slip rate corresponding to the identification result of the road surface type according to the identification result of the road surface type, the target slip rate being a slip rate corresponding to a maximum adhesion coefficient corresponding to the identification result of the road surface type; a target torque determination module, configured to determine a target torque of a drive motor of the vehicle according to the target slip rate corresponding to the identification result of the road surface type; a target rotating speed determination module, configured to acquire a current actual speed of the vehicle, and determine a target rotating speed of the drive motor according to the current actual speed of the vehicle; an escape control module, configured to control the drive motor to drive the vehicle to escape at the target rotating speed and the target torque.

[0014] In a third aspect, the present application provides an electronic device, comprising a memory and a processor; the memory, configured to store a computer program; the processor, configured to, when executing the computer program, implement the escape control method of the vehicle according to the first aspect.

[0015] In a fourth aspect, the present application provides a computer readable storage medium, the storage medium storing a computer program, when the computer program is executed by a processor, the escape control method of the vehicle according to the first aspect is implemented.

[0016] The vehicle escape control method, device, electronic equipment and vehicle of the present application have the following beneficial effects: whether the vehicle is in a trapped state is determined, if the vehicle is determined to be in a trapped state, the acquired image information of the set area around the vehicle is analyzed, the identification result of the road surface type is acquired, so as to determine the road surface type of the vehicle under the current road condition, and provide data support for subsequent escape. According to the identification result of the road surface type, the target slip rate corresponding to the identification result of the road surface type is determined, so as to determine the slip rate corresponding to the maximum road adhesion coefficient according to different road surface types. According to the target slip rate corresponding to the identification result of the road surface type, the target torque of the driving motor of the vehicle is determined, and the optimal target torque capable of escaping is determined according to the target slip rate, so as to ensure that the torque of the driving motor can control the slip rate near the maximum adhesion coefficient that can be provided by the current road surface, thereby ensuring that the wheels always output the maximum traction force allowed by the current road surface, thereby providing the most effective thrust for escape, while avoiding power waste or deepening of the trapped vehicle caused by excessive slipping. The current actual speed of the vehicle is acquired, and according to the current actual speed of the vehicle, the target speed of the driving motor is determined, and the speed of the driving motor corresponding to the current actual speed of the vehicle is taken as the target speed. The driving motor is controlled to drive the vehicle to escape at the target speed and the target torque, and after the vehicle escapes at the target torque and the target speed, the speed and torque of the vehicle will not change abruptly, and the vehicle can stably enter the next working condition without the problem of flying. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 A flowchart of a vehicle escape control method according to an embodiment of the present application; Figure 2 A schematic diagram showing the relationship between the road surface type and the adhesion coefficient according to an embodiment; Figure 3 A schematic diagram showing the relationship between the road surface type and the slip rate according to an embodiment; Figure 4 A flowchart of determining the target torque of the driving motor of the vehicle according to an embodiment; Figure 5 A flowchart of acquiring the current actual speed of the vehicle according to an embodiment; Figure 6 A structural schematic diagram of a vehicle escape control device according to an embodiment of the present application; Figure 7 A structural schematic diagram of an electronic equipment according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0019] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0020] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0021] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0022] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0023] like Figure 1 As shown in the figure, the present invention provides a vehicle traction control method applicable to scenarios involving controlling an electric vehicle to escape from a difficult situation. This method can be executed by an electric vehicle traction control device, which can be implemented in hardware and / or software. The device can be configured in an electric vehicle controller. The vehicle traction control method includes the following steps: Step S100: Determine whether the vehicle is trapped. If the vehicle is trapped, analyze the image information of the set area around the vehicle to obtain the road surface type recognition result.

[0024] Specifically, determining whether the vehicle is in the stuck state can be determined by comparing the rotation speed of the vehicle driving motor with the wheel rotation speed. If the two are basically the same, it means that the vehicle is in a normal driving state. If the wheel rotation speed is significantly greater than the rotation speed of the driving motor, it means that the vehicle is in a stuck state. The rotation speed of the driving motor can be calculated based on the resolver signal output by the resolver transformer in the driving motor, and the wheel rotation speed can be calculated based on the signal of the wheel speed sensor.

[0025] Specifically, the vehicle in the stuck state means that the vehicle cannot obtain sufficient traction to escape the current predicament or achieve normal driving due to the serious lack of adhesion between the driving wheel and the road surface.

[0026] Specifically, the image information is the image information of the set area around the vehicle collected by the vision system of the vehicle, and then the image information is processed and analyzed to obtain the road surface type of the set area around the vehicle. The image information can be a picture or a video of the set area around the vehicle.

[0027] In some embodiments, the road surface type can include grass, sand, deep snow, and rock, etc.

[0028] Step S200: determining the target slip ratio corresponding to the identification result of the road surface type according to the identification result of the road surface type.

[0029] Specifically, the target slip ratio is the slip ratio corresponding to the maximum adhesion coefficient corresponding to the identification result of the road surface type.

[0030] Specifically, different road surface types determine the adhesion coefficient that can be generated when the tire interacts with the road surface. The adhesion coefficient refers to the ratio of the maximum tangential force (i.e. traction or braking force) that can be generated between the tire and the road surface to the vertical load, which is a key physical quantity for measuring the road "grip" and directly determines the upper limit of the driving ability of the vehicle. The slip ratio is a dimensionless index for measuring the degree of wheel slip.

[0031] Since different road surface types (such as sand, mud, or ice and snow) have different adhesion coefficient ranges, as shown in Figure 2 Based on different adhesion coefficient ranges, each road surface type has a specific slip ratio range, as shown in Figure 3 The peak traction can be achieved within the slip ratio range, which avoids both the complete non-slip of the wheel due to the too low slip ratio and the adhesion coefficient decline, heat accumulation and power waste due to the too high slip ratio, so the target slip ratio can be any value within the specific slip ratio range.

[0032] Step S300: determining the target torque of the driving motor of the vehicle according to the target slip ratio corresponding to the identification result of the road surface type.

[0033] Specifically, if it is necessary to ensure that the slip ratio is controlled near the target slip ratio, the target torque corresponding to the slip ratio controlled near the target slip ratio can be inversely deduced.

[0034] Specifically, the target slip ratio corresponding to the identified road surface type is taken as a set value, and then the current motion state of the vehicle is continuously monitored through a wheel speed sensor or the like, the current slip ratio of the vehicle is calculated in real time, the current slip ratio is compared with the target slip ratio, and the torque of the driving motor of the motor is adjusted according to the deviation between the two, so as to determine the target torque of the driving motor.

[0035] In some embodiments, the embodiment also calls the vehicle's stabilizer to raise the height of the vehicle chassis and adjust the steering angle of the vehicle according to the identification result of the road surface type, so as to improve the tire grip.

[0036] Step S400: Obtain the current actual speed of the vehicle, and determine the target speed of the driving motor according to the current actual speed of the vehicle.

[0037] Specifically, the current actual speed of the vehicle can be obtained through a speed signal of a speed measuring device of the vehicle, or can be obtained through a resolver signal output by a resolver transformer in the driving motor. The speed measuring device can be a GPS speed measuring device, a Beidou speed measuring device, etc.

[0038] Specifically, after obtaining the reliable actual speed of the vehicle, the target speed of the driving motor can be calculated according to the basic kinematics principle of the vehicle driving, for example, the calculation expression can be: n_target=(v * K *60) / (2*π*r), wherein n_target is the target speed, v is the actual speed of the vehicle, K is the final transmission ratio of the vehicle (the product of the transmission ratio of the reducer and the differential), and r is the rolling radius of the tire.

[0039] Step S500: Control the driving motor to drive the vehicle to escape at the target speed and the target torque.

[0040] Specifically, on the one hand, controlling the driving motor at the target speed can make the speed of the vehicle wheel not change suddenly after the vehicle escapes, and on the other hand, controlling the driving motor at the target torque can control the slip ratio of the vehicle wheel near the maximum value of the adhesion coefficient between the vehicle wheel and the road surface when the vehicle escapes, so that the vehicle does not slip when it escapes, thereby improving the escape ability of the vehicle.

[0041] In this embodiment, it is judged whether the vehicle is in a trapped state. If it is judged that the vehicle is in a trapped state, the image information of the set area around the vehicle is analyzed to obtain an identification result of the road surface type, so as to determine the road surface type of the vehicle under the current road condition and provide data support for subsequent escape. According to the identification result of the road surface type, a target slip ratio corresponding to the identification result of the road surface type is determined, so as to determine the slip ratio corresponding to the maximum road adhesion coefficient according to different road surface types. According to the target slip ratio, a target torque of the driving motor of the vehicle is determined, and the optimal target torque capable of escaping is determined according to the target slip ratio, so as to ensure that the torque of the driving motor can control the slip ratio near the maximum adhesion coefficient provided by the current road surface, thereby ensuring that the wheel always outputs the maximum traction force allowed by the current road surface, thereby providing the most effective thrust for escaping, while avoiding power waste or deepening of the trapped vehicle due to excessive slipping. The current actual speed of the vehicle is obtained, and according to the current actual speed of the vehicle, a target speed of the driving motor is determined, and the speed of the driving motor corresponding to the current actual speed of the vehicle is taken as the target speed. The driving motor is controlled to drive the vehicle to escape at the target speed and the target torque. After the vehicle escapes at the target torque and the target speed, the speed and torque of the vehicle will not change abruptly, and the vehicle can stably enter the next working condition without the problem of flying.

[0042] Optionally, the image information of the set area around the vehicle is analyzed to obtain an identification result of the road surface type, including: The image information of the set area around the vehicle is input into a pre-constructed road surface identification model to obtain an identification result of the road surface type output by the road surface identification model. The road surface identification model is constructed by a neural network model.

[0043] Specifically, before the road surface type is identified, the road surface identification model needs to be trained, which can include the following steps: Step S110: Collect pictures or videos of different road surface types by the vehicle, and mark each road surface type (such as snow, sand, grass, etc.).

[0044] Step S120: Extract the key features of each picture or video, mainly including the color, texture, pattern, etc. of the road surface, to form a key feature vector.

[0045] Step S130: Train the road surface identification model based on the labeled pictures or videos and the key feature vector.

[0046] In this optional embodiment, the road surface identification model constructed by the neural network model identifies the road surface type in the image information of the set area around the vehicle and outputs an identification result of the road surface type, so as to improve the accuracy of road surface type identification.

[0047] Optionally, the image information of the set region around the vehicle can be acquired by a vision system of the vehicle, which can include at least one of a front camera, a 360° surround view camera and a wide-angle camera of the vehicle.

[0048] In some embodiments, the image information acquired by the front camera of the vehicle is preferentially used for road surface type recognition. If the image information acquired by the front camera cannot recognize the road surface type, for example, when the vehicle is climbing a steep slope, the front camera is directed to the sky and cannot acquire the image of the road surface, the image information acquired by the 360° surround view camera or the wide-angle camera is used for road surface type recognition.

[0049] In the optional embodiments, different image information acquired by different cameras is used for road surface type recognition according to the actual position of the vehicle, which can ensure accurate recognition of the road surface type of the vehicle under the current road condition.

[0050] Optionally, according to the recognition result of the road surface type, the target slip ratio corresponding to the recognition result of the road surface type is determined, including the following two ways: (1) According to a preset relationship between the road surface type and the peak adhesion coefficient, the peak adhesion coefficient corresponding to the recognition result of the road surface type is determined, and the peak adhesion coefficient is the maximum value of the adhesion coefficient; according to a preset relationship between the peak adhesion coefficient and the slip ratio, the target slip ratio corresponding to the peak adhesion coefficient is determined.

[0051] Specifically, for each road surface type, the upper limit of the grip force that can be provided by the road surface type can be extracted by experiment, that is, the preset relationship between the road surface type and the peak adhesion coefficient can be obtained, and the relationship is stored in the memory, and the peak adhesion coefficient is determined by table lookup when needed.

[0052] Specifically, for different road surface types, there are different relationship curves between the adhesion coefficient and the slip ratio. In the case of known peak adhesion coefficient, the corresponding slip ratio can be determined according to the relationship curve, that is, the target slip ratio. That is, under the target slip ratio, the adhesion coefficient between the wheel and the road surface can be the maximum value, realizing the maximum grip force between the wheel and the ground.

[0053] (2) According to a preset relationship between the road surface type and the slip ratio, the target slip ratio corresponding to the recognition result of the road surface type is determined.

[0054] Specifically, a mapping relationship between different road surface types (such as asphalt, sandy land and ice and snow) and the corresponding optimal slip ratio (target slip ratio) can be constructed based on a large number of experiments. When the recognition result of the road surface type (such as "soft sandy land") is determined based on the image information, the target slip ratio corresponding to the recognition result of the road surface type can be determined by querying the above mapping relationship.

[0055] In the optional embodiment, the target slip rate is determined by a preset relationship lookup table, without complex real-time calculation, and the verified target slip rate can be called from the preset database by matching the currently identified road type, greatly improving the real-time performance of the vehicle escape control.

[0056] Optionally, as shown in Figure 4 According to the target slip rate corresponding to the identification result of the road type, the target torque of the drive motor of the vehicle is determined, including the following steps: Step S410: determining the current slip rate of the vehicle according to the current motion state of the vehicle.

[0057] Specifically, the current motion state of the vehicle at least includes the rotational speed of the drive wheel and the rotational speed of the non-drive wheel, and the current slip rate of the vehicle can be determined according to the following expression: λ=[(n_drive - n_free) / n_drive] × 100%; Wherein, λ represents the current slip rate, n_drive represents the rotational speed of the drive wheel, and n_free represents the rotational speed of the non-drive wheel.

[0058] Step S420: determining the base torque of the drive motor of the vehicle.

[0059] Specifically, the base torque of the drive motor is determined according to the following expression: T=9550*P / n; Wherein, T represents the base torque, P represents the power of the drive motor, and n represents the rotational speed of the drive motor.

[0060] Step S430: adjusting the base torque of the drive motor according to the comparison result of the current slip rate and the target slip rate of the vehicle, to obtain the target torque of the drive motor of the vehicle.

[0061] Specifically, if the current slip rate is significantly higher than the target slip rate, it indicates that the wheel is slipping, and the base torque of the drive motor is reduced to obtain the target torque, so that the drive motor outputs the target torque to make the slip rate fall back to the optimal value; otherwise, if the current slip rate is significantly lower than the target slip rate, it indicates that the wheel has sufficient grip, and the base torque of the drive motor is appropriately increased to optimize the acceleration performance.

[0062] In some embodiments, the adjustment of the base torque of the drive motor according to the comparison result of the current slip rate and the target slip rate of the vehicle includes: If the absolute value of the difference between the current slip rate and the target slip rate of the vehicle is greater than or equal to a preset threshold, the base torque of the drive motor is adjusted by a predetermined adjustment amount.

[0063] If the absolute value of the difference between the current slip ratio of the vehicle and the target slip ratio is less than a preset threshold, the base torque of the drive motor is adjusted in an oscillation manner within a preset adjustment range.

[0064] Specifically, when the absolute value of the slip ratio deviation is greater than or equal to the preset threshold, it indicates that the vehicle is in a significant slip state, and a fast intervention strategy is adopted to adjust the base torque of the motor according to a preset larger fixed adjustment amount, so as to quickly curb the slip trend and make the slip ratio return to the vicinity of the target slip ratio.

[0065] Specifically, when the absolute value of the slip ratio deviation is less than the preset threshold, it indicates that the vehicle has been in a stable state close to the target slip ratio, and a fine tuning strategy is adopted, that is, the base torque is adjusted in a high-frequency and small-amplitude oscillation manner within a preset torque adjustment range, so as to maximize the traction and stability of the vehicle while ensuring driving smoothness.

[0066] In the optional embodiment, the base torque of the drive motor is adjusted based on the current slip ratio of the vehicle and the target slip ratio, so that the current slip ratio of the vehicle can quickly approach the target slip ratio.

[0067] Optionally, as shown in Figure 5 obtaining the current actual speed of the vehicle includes the following steps: Step S510: obtaining a resolver signal output by a resolver transformer in the drive motor, and determining the wheel end speed of the vehicle according to the resolver signal.

[0068] Step S520: obtaining a speed of a speed measuring device of the vehicle. The speed of the speed measuring device can be a GPS speed.

[0069] Step S530: if the wheel end speed of the vehicle is consistent with the speed of the speed measuring device, the wheel end speed of the vehicle is taken as the current actual speed of the vehicle; if the wheel end speed of the vehicle is not consistent with the speed of the speed measuring device, the speed of the speed measuring device is taken as the current actual speed of the vehicle.

[0070] In the case that the vehicle is not slipping, the wheel end speed of the vehicle is consistent with the speed of the speed measuring device, and the wheel end speed of the vehicle is taken as the current actual speed of the vehicle because the resolver transformer in the drive motor outputs the resolver signal at a high frequency and has a fast response speed; in the case that the vehicle is slipping, the wheel end speed of the vehicle is not consistent with the speed of the speed measuring device, and the wheel end speed is significantly greater than the speed of the speed measuring device, so the speed of the speed measuring device is taken as the current actual speed of the vehicle because the wheel end speed error is large.

[0071] After determining the current actual speed of the vehicle, a target rotating speed of the driving motor corresponding to the current actual speed is determined to control the driving motor to work at the target rotating speed, so that the rotating speed of the wheel after the vehicle is unstuck is the same as the actual speed of the vehicle in the stuck state, and the runaway phenomenon does not occur.

[0072] In the optional embodiment, the current actual speed of the vehicle is determined according to different situations based on the phenomenon that the wheel of the vehicle is easy to slip after the vehicle is stuck, so as to obtain an accurate actual speed of the vehicle.

[0073] As shown in Figure 6 The vehicle unstuck control device 600 provided by the embodiment of the present application comprises: A road surface identification module 610 is configured to determine whether the vehicle is in a stuck state, and if it is determined that the vehicle is in the stuck state, analyze the obtained image information of a set area around the vehicle to obtain an identification result of a road surface type. A slip rate determination module 620 is configured to determine a target slip rate corresponding to the identification result of the road surface type according to the identification result of the road surface type, the target slip rate being a slip rate corresponding to a maximum adhesion coefficient of the identification result of the road surface type. A target torque determination module 630 is configured to determine a target torque of a driving motor of the vehicle according to the target slip rate corresponding to the identification result of the road surface type. A target rotating speed determination module 640 is configured to obtain a current actual speed of the vehicle, and determine a target rotating speed of the driving motor according to the current actual speed of the vehicle. An unstuck control module 650 is configured to control the driving motor to drive the vehicle to be unstuck at the target rotating speed and the target torque.

[0074] Optionally, the road surface identification module 610 is configured to: input the image information of the set area around the vehicle into a pre-constructed road surface identification model to obtain the identification result of the road surface type output by the road surface identification model, and the road surface identification model is constructed by a neural network model.

[0075] Optionally, the vehicle unstuck control device 600 further comprises an image acquisition module configured to: acquire the image information of the set area around the vehicle through a visual system of the vehicle, and the visual system comprises at least one of a front camera, a 360° surround view camera and a wide-angle camera of the vehicle.

[0076] Optionally, the slip rate determination module 620 is configured to: According to a preset relationship between the road surface type and the peak adhesion coefficient, a peak adhesion coefficient corresponding to the identification result of the road surface type is determined, and the peak adhesion coefficient is a maximum value of the adhesion coefficient; according to a preset relationship between the peak adhesion coefficient and the slip ratio, a target slip ratio corresponding to the peak adhesion coefficient is determined; or According to a preset relationship between the road surface type and the slip ratio, a target slip ratio corresponding to the identification result of the road surface type is determined.

[0077] Optionally, the target torque determination module 630 is configured to: determine a current slip ratio of the vehicle according to a current motion state of the vehicle; determine a basic torque of the drive motor of the vehicle; adjust the basic torque of the drive motor according to a comparison result of the current slip ratio and the target slip ratio to obtain a target torque of the drive motor of the vehicle.

[0078] Optionally, the target speed determination module 640 is configured to: if an absolute value of a difference between the current slip ratio and the target slip ratio is greater than or equal to a preset threshold, adjust the basic torque of the drive motor according to a predetermined adjustment amount; if the absolute value of the difference between the current slip ratio and the target slip ratio is less than the preset threshold, perform oscillation adjustment on the basic torque of the drive motor within a preset adjustment range.

[0079] Optionally, the target speed determination module 640 is further configured to: obtain a resolver signal output by a resolver transformer in the drive motor, and determine a wheel end speed of the vehicle according to the resolver signal; obtain a speed of a speed measuring device of the vehicle; if the wheel end speed of the vehicle is consistent with the speed of the speed measuring device, take the wheel end speed of the vehicle as a current actual speed of the vehicle; if the wheel end speed of the vehicle is inconsistent with the speed of the speed measuring device, take the speed of the speed measuring device as the current actual speed of the vehicle.

[0080] As shown in Figure 7 The electronic device 700 provided by the embodiment of the present application includes a memory 710 and a processor 720; the memory 710 is used for storing a computer program; the processor 720 is used for implementing the vehicle escape control method as described above when the computer program is executed.

[0081] Alternatively, an electronic device 700 includes a memory 710 and a processor 720 coupled to the memory 710; the memory 710 is configured to store a computer program; the processor 720 is configured to perform the following operations when the computer program is executed: determining whether the vehicle is in a trapped state, if it is determined that the vehicle is in the trapped state, analyzing the acquired image information of the set area around the vehicle to obtain a recognition result of a road surface type; determining a target slip ratio corresponding to the recognition result of the road surface type according to the recognition result of the road surface type; the target slip ratio is a slip ratio corresponding to a maximum value of an adhesion coefficient corresponding to the recognition result of the road surface type; determining a target torque of a driving motor of the vehicle according to the target slip ratio corresponding to the recognition result of the road surface type; acquiring a current actual speed of the vehicle, and determining a target rotating speed of the driving motor according to the current actual speed of the vehicle; controlling the driving motor to drive the vehicle to escape from the trapped state at the target rotating speed and the target torque.

[0082] The vehicle provided by the embodiment of the present application comprises an electronic device, so as to realize the trapped state escape control method of the vehicle as described above.

[0083] The computer readable storage medium provided by the embodiment of the present application has a computer program stored thereon, and when the computer program is executed by a processor, the trapped state escape control method of the vehicle as described above is realized.

[0084] Alternatively, a non-volatile computer readable storage medium has a computer program stored thereon, and when the computer program is executed by a processor, the processor performs the following operations: determining whether the vehicle is in a trapped state, if it is determined that the vehicle is in the trapped state, analyzing the acquired image information of the set area around the vehicle to obtain a recognition result of a road surface type; determining a target slip ratio corresponding to the recognition result of the road surface type according to the recognition result of the road surface type; the target slip ratio is a slip ratio corresponding to a maximum value of an adhesion coefficient corresponding to the recognition result of the road surface type; determining a target torque of a driving motor of the vehicle according to the target slip ratio corresponding to the recognition result of the road surface type; acquiring a current actual speed of the vehicle, and determining a target rotating speed of the driving motor according to the current actual speed of the vehicle; controlling the driving motor to drive the vehicle to escape from the trapped state at the target rotating speed and the target torque.

[0085] An electronic device 700, which can be a server or a client of the present application, will now be described, which is an example of a hardware device that can be applied to aspects of the present application. The electronic device 700 is intended to represent various forms of digital electronic computer devices such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device 700 can also represent various forms of mobile devices such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the applications described and / or claimed in this document.

[0086] The electronic device 700 includes a computing unit that can perform various appropriate actions and processes in accordance with a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The computing unit, the ROM, and the RAM are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus.

[0087] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer readable storage medium. When the program is executed, it can include the processes of the above-mentioned embodiments. The storage medium can be a magnetic disc, an optical disc, a read-only memory (ROM), or a random access memory (RAM). In this application, the units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e., they can be located in one place or distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments of the present application. In addition, the functional units in each embodiment of the present application can be integrated into one processing unit, or each unit can exist physically, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0088] Although the present application is disclosed as above, the protection scope of the present application is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, and these changes and modifications will fall within the protection scope of the present application.

Claims

1. A method for controlling vehicle traction, characterized in that, include: Determine whether the vehicle is trapped. If the vehicle is trapped, analyze the image information of the designated area around the vehicle to obtain the road surface type identification result. Based on the road surface type identification result, determine the target slip ratio corresponding to the road surface type identification result; The target slip ratio is the slip ratio corresponding to the maximum value of the adhesion coefficient corresponding to the road surface type identification result; Based on the target slip ratio corresponding to the road surface type identification result, the target torque of the vehicle's drive motor is determined; The current actual speed of the vehicle is obtained, and the target rotational speed of the drive motor is determined based on the current actual speed of the vehicle. The drive motor is controlled to drive the vehicle to get out of trouble at the target speed and target torque.

2. The vehicle traction control method according to claim 1, characterized in that, The step of analyzing the acquired image information of a designated area around the vehicle to obtain road surface type recognition results includes: Image information of a designated area around the vehicle is input into a pre-built road surface recognition model to obtain the road surface type recognition result output by the road surface recognition model; the road surface recognition model is constructed through a neural network model.

3. The vehicle traction control method according to claim 2, characterized in that, Also includes: The vehicle acquires image information of a designated area around the vehicle through its vision system; the vision system includes at least one of the vehicle's front-facing camera, the vehicle's 360° surround-view camera, and the vehicle's wide-angle camera.

4. The vehicle traction control method according to claim 1, characterized in that, The step of determining the target slip ratio corresponding to the road surface type identification result based on the road surface type identification result includes: Based on a preset relationship between road surface type and peak adhesion coefficient, the peak adhesion coefficient corresponding to the identification result of the road surface type is determined, where the peak adhesion coefficient is the maximum value of the adhesion coefficient; based on a preset relationship between peak adhesion coefficient and slip ratio, the target slip ratio corresponding to the peak adhesion coefficient is determined; or, Based on the preset relationship between road surface type and slip ratio, the target slip ratio corresponding to the identification result of the road surface type is determined.

5. The vehicle traction control method according to claim 1, characterized in that, Determining the target torque of the vehicle's drive motor based on the target slip ratio corresponding to the road surface type identification result includes: Determine the current slip ratio of the vehicle based on its current motion state; Determine the base torque of the vehicle's drive motor; Based on the comparison between the current slip ratio of the vehicle and the target slip ratio, the base torque of the drive motor is adjusted to obtain the target torque of the vehicle's drive motor.

6. The vehicle traction control method according to claim 5, characterized in that, The step of adjusting the base torque of the drive motor based on a comparison between the vehicle's current slip ratio and the target slip ratio includes: If the absolute value of the difference between the current slip ratio of the vehicle and the target slip ratio is greater than or equal to a preset threshold, the base torque of the drive motor is adjusted according to a predetermined adjustment amount. If the absolute value of the difference between the current slip ratio and the target slip ratio of the vehicle is less than a preset threshold, the base torque of the drive motor is adjusted by oscillation within a preset adjustment range.

7. The vehicle traction control method according to claim 6, characterized in that, The process of obtaining the current actual speed of the vehicle includes: The resolver signal output from the resolver transformer in the drive motor is acquired, and the wheel-end speed of the vehicle is determined based on the resolver signal. Obtain the speed of the vehicle from the speed measuring device; If the wheel-end speed of the vehicle is the same as the speed of the speed measuring device, then the wheel-end speed of the vehicle is taken as the current actual speed of the vehicle. If the wheel-end speed of the vehicle and the speed of the speed measuring device are inconsistent, the speed of the speed measuring device shall be taken as the current actual speed of the vehicle.

8. A vehicle traction control device, characterized in that, include: The road surface recognition module is used to determine whether the vehicle is trapped. If the vehicle is determined to be trapped, the module analyzes the image information of the set area around the vehicle to obtain the road surface type recognition result. The slip ratio determination module is used to determine the target slip ratio corresponding to the road surface type identification result based on the road surface type identification result. The target slip ratio is the slip ratio corresponding to the maximum value of the adhesion coefficient corresponding to the road surface type identification result. The target torque determination module is used to determine the target torque of the vehicle's drive motor based on the target slip ratio corresponding to the road surface type identification result. The target speed determination module is used to obtain the current actual speed of the vehicle and determine the target speed of the drive motor based on the current actual speed of the vehicle. The traction control module is used to control the drive motor to drive the vehicle to get out of trouble at a target speed and target torque.

9. An electronic device, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the vehicle traction control method as described in any one of claims 1 to 7 when executing the computer program.

10. A vehicle, characterized in that, Including the electronic device as described in claim 9.

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