Vehicle processing method and device, vehicle and medium

Abstract

The invention provides a vehicle processing method and device, a vehicle and a medium, and the method comprises the steps: determining whether the target longitudinal acceleration of the vehicle is smaller than the initial longitudinal acceleration or not when the wheels of the vehicle are in a flying state; and when the target longitudinal acceleration is smaller than the initial longitudinal acceleration, the vehicle wheels are pressurized. In this way, the technical problems that in the prior art, when the wheels are in the sky, strong pause feeling is likely to occur, and the vehicle moves forwards, and then driving comfort is reduced can be solved.

Description

Technical Field

[0001] This application relates to the field of automotive technology, specifically to a vehicle processing method, apparatus, vehicle, and medium. Background Technology

[0002] With the increasing prevalence of road conditions such as speed limits, road damage, or repairs, road surfaces like speed bumps, potholes, and road seams become more common. When driving on such surfaces, vehicles typically slow down in advance to ensure a smooth passage. However, at high speeds, if these road conditions are encountered ahead, the vehicle will brake to slow down. In practice, it has been observed that when a vehicle passes over such conditions, such as speed bumps or potholes, the wheels momentarily lift off the ground. The Electronic Stability Controller (ESC) will then actively activate the Anti-lock Braking System (ABS) to prevent traffic accidents.

[0003] However, during the time the wheels are off the ground, the vehicle's braking deceleration will decrease, which can easily lead to a strong sense of jerking and the vehicle lurching forward, thereby reducing driving comfort. Summary of the Invention

[0004] In view of this, the embodiments of this application aim to provide a vehicle handling method, device, equipment and medium that can solve the technical problems in the prior art such as strong jerking and vehicle lurching forward when the wheels are off the ground, thereby reducing driving comfort.

[0005] Firstly, this application provides a vehicle processing method, including: When the vehicle wheels are in the air, it is determined whether the target longitudinal acceleration of the vehicle is less than the initial longitudinal acceleration. The target longitudinal acceleration is the longitudinal acceleration detected after the wheel slip ratio of the vehicle exceeds a preset slip threshold. The initial longitudinal acceleration is the longitudinal acceleration detected before the wheel slip ratio of the vehicle exceeds the preset slip threshold. When the target longitudinal acceleration is less than the initial longitudinal acceleration, the vehicle wheels are pressurized.

[0006] In some embodiments, the pressurization process of the vehicle wheels includes: Increase the braking pressure and / or braking torque applied to the wheels of the vehicle.

[0007] In some embodiments, the pressurization process for the vehicle wheels further includes: Based on the target longitudinal acceleration and the initial longitudinal acceleration, the boost compensation amount corresponding to the boost treatment is determined, and the boost compensation amount includes the increase in braking pressure and / or the increase in braking torque; Based on the increase in braking pressure and / or braking torque in the pressure compensation amount, the braking pressure and / or braking torque applied to the vehicle wheels are correspondingly increased.

[0008] In some embodiments, the method further includes: After the driver presses the brake pedal of the vehicle, the vehicle status information of the vehicle within a preset time period is obtained, and the vehicle status information includes at least the wheel slip ratio. If the wheel slip ratio continues to increase within the preset time period, and there is a wheel slip ratio exceeding the preset slip threshold within the preset time period, it is determined that the vehicle wheel is in a state of being airborne.

[0009] In some embodiments, the method further includes: When the driver releases the brake pedal of the vehicle, and / or when the wheel slip ratio is less than or equal to the preset slip threshold, the vehicle wheels are depressurized.

[0010] In some embodiments, the depressurization process of the vehicle wheels includes: Reduce the braking pressure and / or braking torque applied to the wheels of the vehicle.

[0011] In some embodiments, the target longitudinal acceleration is the longitudinal acceleration detected when the wheel slip ratio of the vehicle exceeds a preset slip threshold in the target period, and the initial longitudinal acceleration is the longitudinal acceleration detected in the previous period of the target period, wherein the target period and the previous period have the same period duration.

[0012] Secondly, this application provides a vehicle processing device, comprising: The processing module is used to determine whether the target longitudinal acceleration of the vehicle is less than the initial longitudinal acceleration when the vehicle wheels are in the air. The target longitudinal acceleration is the longitudinal acceleration detected after the wheel slip ratio of the vehicle exceeds a preset slip threshold, and the initial longitudinal acceleration is the longitudinal acceleration detected before the wheel slip ratio of the vehicle exceeds the preset slip threshold. The processing module is also used to pressurize the vehicle wheels when the target longitudinal acceleration is less than the initial longitudinal acceleration.

[0013] For any content not introduced or described in the embodiments of this application, please refer to the relevant descriptions in the foregoing method embodiments; they will not be repeated here.

[0014] Thirdly, this application provides a vehicle, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the executable instructions to implement the steps of the above-described vehicle processing method.

[0015] Fourthly, this application provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the steps of the above-described vehicle processing method.

[0016] The technical solution provided in this application embodiment can include the following beneficial effects: When the vehicle wheels are in an air-to-air state, this application determines whether the target longitudinal acceleration of the vehicle is less than the initial longitudinal acceleration. The target longitudinal acceleration is the longitudinal acceleration detected after the vehicle's wheel slip ratio exceeds a preset slip threshold, and the initial longitudinal acceleration is the longitudinal acceleration detected before the vehicle's wheel slip ratio exceeds the preset slip threshold. When the target longitudinal acceleration is less than the initial longitudinal acceleration, the vehicle wheels are pressurized. Thus, when the vehicle wheels are in an air-to-air state, if the target longitudinal acceleration of the vehicle is less than the initial longitudinal acceleration, the vehicle wheels can be actively pressurized to ensure that the longitudinal acceleration after the vehicle wheels are in an air-to-air state is basically the same as or identical to the longitudinal acceleration before the vehicle wheels are in an air-to-air state. This ensures vehicle stability and prevents strong jerking or forward lurching when the vehicle passes over road conditions such as speed bumps or potholes, thereby improving vehicle driving safety and comfort. It also solves the technical problems in the prior art where strong jerking and forward lurching easily occur when the wheels are in an air-to-air state, thus reducing driving comfort.

[0017] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings.

[0019] Figure 1 This is a schematic flowchart of a vehicle processing method provided in an embodiment of this application.

[0020] Figure 2 This is a schematic diagram illustrating a process for determining an airborne state, as provided in an embodiment of this application.

[0021] Figure 3 This is a schematic diagram of a vehicle processing device provided in an embodiment of this application.

[0022] Figure 4 This is a schematic diagram of another vehicle processing device provided in an embodiment of this application.

[0023] Figure 5 This is a structural schematic diagram of a vehicle provided in an embodiment of this application. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] Unless otherwise defined, the technical or scientific terms used in the embodiments of this specification shall have the ordinary meaning understood by one of ordinary skill in the art to which this specification pertains. The terms "first," "second," and similar terms used in the embodiments of this specification do not indicate any order, quantity, or importance, but are merely used to avoid confusion of constituent elements.

[0026] Unless the context otherwise requires, throughout this specification, "a plurality of" means "at least two," and "including" is interpreted as open-ended or encompassing, that is, "including, but not limited to." In the description of this specification, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this specification. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example.

[0027] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0028] Please see Figure 1 This is a schematic flowchart of a vehicle processing method provided in an embodiment of this application. Figure 1 The method shown can be applied to vehicles and may include the following implementation steps: S101. When the vehicle wheels are in the air, determine whether the target longitudinal acceleration of the vehicle is less than the initial longitudinal acceleration. The target longitudinal acceleration is the longitudinal acceleration detected after the wheel slip ratio of the vehicle exceeds a preset slip threshold. The initial longitudinal acceleration is the longitudinal acceleration detected before the wheel slip ratio of the vehicle exceeds the preset slip threshold.

[0029] When this application detects / determines that the vehicle wheels are in an air-to-ground state, it can further determine / judge whether the target longitudinal acceleration of the vehicle is less than the pre-recorded initial longitudinal acceleration. If it is less, step S102 can be continued. Conversely, if the target longitudinal acceleration is greater than or equal to the initial longitudinal acceleration, it can be determined that the vehicle does not show a tendency to lurch forward or experience a jerking sensation, and this application will not perform active boosting processing, and the process can end.

[0030] The aforementioned target longitudinal acceleration can refer to the longitudinal acceleration of the vehicle detected after the wheel slip ratio exceeds a preset slip threshold. The aforementioned initial longitudinal acceleration can refer to the longitudinal acceleration of the vehicle detected before the wheel slip ratio exceeds the preset slip threshold. This application does not limit the implementation method for obtaining the aforementioned target longitudinal acceleration and / or the aforementioned initial longitudinal acceleration, for example, it can be monitored and collected by the yaw rate sensor in the vehicle. After acquiring the aforementioned initial longitudinal acceleration through the yaw rate sensor, this application can record it in advance for subsequent use, and this application does not limit or elaborate on this. The aforementioned preset slip threshold can be a slip ratio threshold pre-defined by the system according to the actual situation. It can be an empirical value set based on user experience, or a statistical value calculated based on a series of experimental data, and this application does not limit or elaborate on this.

[0031] S102. When the target longitudinal acceleration is less than the initial longitudinal acceleration, the vehicle wheels are pressurized.

[0032] By implementing the embodiments of this application, when the vehicle wheels are in a state of airborne motion, this application determines whether the target longitudinal acceleration of the vehicle is less than the initial longitudinal acceleration. The target longitudinal acceleration is the longitudinal acceleration detected after the vehicle's wheel slip ratio exceeds a preset slip threshold, and the initial longitudinal acceleration is the longitudinal acceleration detected before the vehicle's wheel slip ratio exceeds the preset slip threshold. When the target longitudinal acceleration is less than the initial longitudinal acceleration, the vehicle wheels are pressurized. Thus, when the vehicle wheels are in a state of airborne motion, if the target longitudinal acceleration is less than the initial longitudinal acceleration, the vehicle wheels can be actively pressurized to ensure that the longitudinal acceleration after the vehicle wheels are in airborne is essentially the same as or identical to the longitudinal acceleration before the vehicle wheels are in airborne. This ensures vehicle stability and prevents strong jerking or forward lurching when the vehicle passes over road conditions such as speed bumps or potholes, thereby improving vehicle safety and comfort. It also solves the technical problems in the prior art where strong jerking and forward lurching easily occur when the wheels are in airborne, thus reducing driving comfort.

[0033] The following describes some specific and optional embodiments related to this application.

[0034] Before step S101, this application also needs to determine whether the vehicle wheels are in a state of being airborne. Please refer to [link to relevant documentation]. Figure 2 This is a schematic diagram illustrating a process for determining an airborne state, provided in an embodiment of this application. For example... Figure 2 The process shown may include the following implementation steps: S201. After the driver depresses the brake pedal of the vehicle, the vehicle status information of the vehicle within a preset time period is obtained, and the vehicle status information includes at least the wheel slip ratio.

[0035] This application, upon detecting that the driver has pressed the brake pedal, can acquire vehicle status information within a preset time period, either in real-time or periodically. The preset time period is a time duration pre-defined by the system based on actual conditions. It can be an empirical value set based on user experience or a statistical value calculated from a series of experimental data; this application does not elaborate further on this. In specific implementation, during vehicle operation, if the system detects that the driver has pressed the brake pedal, it can collect and acquire vehicle status information in real-time or periodically. For example, it can periodically collect vehicle status information according to a preset period, which is a time period pre-defined by the system based on actual conditions, such as collecting vehicle status information every 3 seconds. The vehicle status information can refer to information reflecting the vehicle's state, including but not limited to, wheel slip ratio, vehicle speed, wheel rotation speed, brake pedal status (e.g., whether it is pressed), vehicle longitudinal acceleration, braking pressure, or other custom information. This application does not limit the specific implementation method for obtaining the above-mentioned vehicle status information. For example, wheel speed can be collected by wheel speed sensor, and vehicle longitudinal acceleration can be collected by yaw rate sensor. This application will not limit or elaborate on this.

[0036] S202. Determine whether the vehicle status information within the preset time period meets the preset clearance conditions. The preset clearance conditions include: whether the wheel slip ratio continuously increases within the preset time period, and whether there is a wheel slip ratio exceeding the preset slip threshold within the preset time period.

[0037] This application can compare the vehicle status information (specifically, wheel slip ratio) acquired within a preset time period in real time. For example, it can determine whether the wheel slip ratio within the preset time period meets the corresponding preset air-lift condition. The preset air-lift condition can be a condition that the system pre-sets according to the actual situation to determine whether the vehicle wheels are in an air-lift state. Specifically, it can include, for example, the wheel slip ratio continuously increasing (or gradually increasing) within the preset time period, and the existence of a wheel slip ratio exceeding a preset slip threshold, etc. This application will not limit or elaborate on this further.

[0038] S203. Determine that the vehicle wheels are in an airborne state.

[0039] S204. Determine that the vehicle wheels are not in a state of being airborne.

[0040] If the application determines that the vehicle status information within the preset time period meets the preset air-free condition, it can continue to execute step S203 to determine that the vehicle wheels are in an air-free state; otherwise, it can continue to execute step S204 to determine that the vehicle wheels are not in an air-free state.

[0041] In step S101, when it is determined that the vehicle wheels are in an airborne state, this application can further determine / judge whether the target longitudinal acceleration of the vehicle is less than the pre-recorded initial longitudinal acceleration. Both the target longitudinal acceleration and the initial longitudinal acceleration are one of the vehicle state information, which can be collected according to a preset period. Specifically, for example, the target longitudinal acceleration can be collected by, for example, the yaw rate sensor when the vehicle's wheel slip ratio exceeds a preset slip threshold in the target period. The target period can refer to the data sampling period in which the vehicle's wheel slip ratio exceeds the preset slip threshold; this application does not impose further limitations or details on this. The initial longitudinal acceleration can refer to the vehicle longitudinal acceleration collected in the period preceding the target period, that is, the vehicle longitudinal acceleration collected before the vehicle's wheel slip ratio exceeded the preset slip threshold in the period preceding the target period; this application does not impose further limitations or details on this.

[0042] In step S102, this application does not limit the specific implementation of the above-mentioned pressure boosting process. For example, this application can increase the braking pressure and / or braking torque applied to the vehicle wheels. The implementation of increasing the braking pressure and / or braking torque is also not limited. For example, in one implementation, this application can increase the braking pressure and / or braking torque applied to the vehicle wheels according to a corresponding preset increment. Specifically, the braking torque output by the motor can be gradually increased according to a corresponding preset increment, thereby increasing the braking torque applied to the vehicle wheels. This ensures that the longitudinal acceleration of the vehicle gradually becomes essentially consistent with or the same as the initial acceleration, avoiding strong jerking and forward lurching, preventing traffic accidents, and ensuring the safety and stability of vehicle driving. The preset increment can be a braking pressure increment or braking torque increment pre-defined by the system according to actual conditions. It can be an empirical value set based on user experience or a statistical value calculated based on a series of experimental data. This application does not impose further limitations or details on this.

[0043] In another embodiment, this application can determine the boost compensation amount corresponding to the boosting process based on the target longitudinal acceleration and the initial longitudinal acceleration. This boost compensation amount can include an increase in braking pressure and / or an increase in braking torque. Specifically, this application can calculate the difference between the target longitudinal acceleration and the initial longitudinal acceleration to obtain the corresponding difference acceleration; then, based on this difference acceleration, it can calculate the increase in braking pressure and / or the increase in braking torque (i.e., the boost compensation amount), ensuring that the vehicle's longitudinal acceleration is substantially consistent with or the same as the initial acceleration, avoiding strong jerking and vehicle lurching, thus preventing traffic accidents and ensuring vehicle stability and safety. The specific calculation process for the boost compensation amount is not limited; for example, it can be calculated using a preset formula, and this application will not elaborate further. After obtaining the boost compensation amount, the braking pressure and / or braking torque applied to the vehicle wheels can be increased accordingly based on the increase in braking pressure and / or braking torque in the boost compensation amount. For example, the braking torque output of the motor can be increased based on the aforementioned increase in braking torque, thereby increasing the braking torque applied to the wheels of the vehicle. This application will not make further limitations or details in this regard.

[0044] In some optional embodiments, when the present application detects that the driver has released the vehicle's brake pedal (also referred to as the brake pedal), and / or when the wheel slip ratio of the vehicle is less than or equal to the preset slip threshold, the present application can perform pressure relief treatment on the vehicle's wheels, thereby ensuring the normal and safe operation of the vehicle. That is, when the driver releases the brake pedal and / or the wheel slip ratio reaches the normal preset slip threshold, the vehicle's wheels can be actively pressure-relieved. The present application does not limit the specific implementation of the above pressure relief treatment; for example, the braking pressure and / or braking torque applied to the vehicle's wheels can be actively reduced. The implementation of the reduction of the braking pressure and / or braking torque is also not limited; for example, the braking pressure and / or braking torque applied to the vehicle's wheels can be reduced according to the corresponding preset reduction amount. The preset reduction amount can be a braking pressure reduction or braking torque reduction amount pre-defined by the system according to the actual situation. It can be an empirical value set based on user experience, or a statistical value calculated based on a series of experimental data. The present application does not limit or elaborate on this. For example, this application can gradually reduce the braking torque output by the motor according to a preset braking torque reduction, thereby reducing the braking torque applied to the wheels of the vehicle and ensuring safe driving of the vehicle.

[0045] As can be seen, this application utilizes existing hardware in the vehicle (such as existing sensors) and uses software control (such as adding vehicle handling strategies) to ensure that the vehicle avoids strong jerking and forward lurching when passing through road conditions such as speed bumps or potholes, thereby ensuring vehicle driving stability and safety. In specific implementation, when the vehicle wheels are in an airborne state, this application determines whether the target longitudinal acceleration of the vehicle is less than the initial longitudinal acceleration. The target longitudinal acceleration is the longitudinal acceleration detected after the vehicle's wheel slip ratio exceeds a preset slip threshold, and the initial longitudinal acceleration is the longitudinal acceleration detected before the vehicle's wheel slip ratio exceeds the preset slip threshold. When the target longitudinal acceleration is less than the initial longitudinal acceleration, the vehicle wheels are pressurized. Thus, when the vehicle wheels are in an airborne state, if the target longitudinal acceleration is less than the initial longitudinal acceleration, the vehicle wheels can be actively pressurized to ensure that the longitudinal acceleration after the vehicle wheels are in the airborne state is basically the same as the longitudinal acceleration before the vehicle wheels are in the airborne state, thereby ensuring vehicle stability and improving vehicle driving safety and comfort. It also solves the technical problems in existing technologies, such as strong jerking and vehicle lurching forward when the wheels are off the ground, which reduces driving comfort.

[0046] Based on the foregoing embodiments, please refer to Figure 3 This is a schematic diagram of the structure of a vehicle processing device provided in an embodiment of this application. Figure 3 The vehicle processing device shown can be applied to various types of vehicles, and the device may include a processing module 301; wherein: The processing module 301 is used to determine whether the target longitudinal acceleration of the vehicle is less than the initial longitudinal acceleration when the vehicle wheels are in the air. The target longitudinal acceleration is the longitudinal acceleration detected after the wheel slip ratio of the vehicle exceeds a preset slip threshold, and the initial longitudinal acceleration is the longitudinal acceleration detected before the wheel slip ratio of the vehicle exceeds the preset slip threshold. The processing module 301 is also used to pressurize the vehicle wheels when the target longitudinal acceleration is less than the initial longitudinal acceleration.

[0047] In some embodiments, the processing module 301 is specifically used for: Increase the braking pressure and / or braking torque applied to the wheels of the vehicle.

[0048] In some embodiments, the processing module 301 is specifically used for: Based on the target longitudinal acceleration and the initial longitudinal acceleration, the boost compensation amount corresponding to the boost treatment is determined, and the boost compensation amount includes the increase in braking pressure and / or the increase in braking torque; Based on the increase in braking pressure and / or braking torque in the pressure compensation amount, the braking pressure and / or braking torque applied to the vehicle wheels are correspondingly increased.

[0049] In some embodiments, the apparatus may further include an acquisition module 302, wherein: The acquisition module 302 is used to acquire vehicle status information of the vehicle within a preset time period after the driver presses the brake pedal of the vehicle. The vehicle status information includes at least the wheel slip rate. The processing module 301 is further configured to determine that the vehicle wheel is in a state of being airborne when the wheel slip ratio continues to increase within the preset time period and there is a wheel slip ratio exceeding the preset slip threshold within the preset time period.

[0050] In some embodiments, the processing module 301 is further configured to: When the driver releases the brake pedal of the vehicle, and / or when the wheel slip ratio is less than or equal to the preset slip threshold, the vehicle wheels are depressurized.

[0051] In some embodiments, the processing module 301 is specifically used for: Reduce the braking pressure and / or braking torque applied to the wheels of the vehicle.

[0052] In some embodiments, the target longitudinal acceleration is the longitudinal acceleration detected when the wheel slip ratio of the vehicle exceeds a preset slip threshold in the target period, and the initial longitudinal acceleration is the longitudinal acceleration detected in the previous period of the target period, wherein the target period and the previous period have the same period duration.

[0053] By implementing the embodiments of this application, the above-mentioned device can determine whether the target longitudinal acceleration of the vehicle is less than the initial longitudinal acceleration when the vehicle wheels are in a state of airborne operation. The target longitudinal acceleration is the longitudinal acceleration detected after the vehicle's wheel slip ratio exceeds a preset slip threshold, and the initial longitudinal acceleration is the longitudinal acceleration detected before the vehicle's wheel slip ratio exceeds the preset slip threshold. When the target longitudinal acceleration is less than the initial longitudinal acceleration, the vehicle wheels are pressurized. Thus, when the vehicle wheels are in a state of airborne operation, if the target longitudinal acceleration is less than the initial longitudinal acceleration, the vehicle wheels can be actively pressurized to ensure that the longitudinal acceleration after the vehicle wheels are in airborne is basically consistent with the longitudinal acceleration before the vehicle wheels are in airborne operation. This ensures vehicle stability and prevents strong jerking or forward lurching when the vehicle passes over road conditions such as speed bumps or potholes, thereby improving vehicle driving safety and comfort. It also solves the technical problems in the prior art where strong jerking and forward lurching easily occur when the wheels are in airborne, thus reducing driving comfort.

[0054] Please see Figure 4 This is a schematic diagram of another vehicle processing device provided in an embodiment of this application. Figure 4 The device shown can be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc. This device can be applied to various types of vehicles, etc.

[0055] Reference Figure 4 The device 400 may include one or more of the following components: processing component 402, memory 404, power supply component 406, multimedia component 408, audio component 410, input / output interface 412, sensor component 414, and communication component 416.

[0056] Processing component 402 typically controls the overall operation of device 400, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 402 may include one or more processors 420 to execute instructions to complete all or part of the steps of the vehicle processing method described above. Furthermore, processing component 402 may include one or more modules to facilitate interaction between processing component 402 and other components. For example, processing component 402 may include a multimedia module to facilitate interaction between multimedia component 408 and processing component 402.

[0057] Memory 404 is configured to store various types of data to support the operation of device 400. Examples of such data include instructions for any application or method operating on device 400, contact data, phonebook data, messages, pictures, videos, etc. Memory 404 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0058] Power supply component 406 provides power to various components of device 400. Power supply component 406 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to device 400.

[0059] Multimedia component 408 includes a screen that provides an output interface between the device 400 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 408 includes a front-facing camera and / or a rear-facing camera. When the device 400 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0060] Audio component 410 is configured to output and / or input audio signals. For example, audio component 410 includes a microphone (MIC) configured to receive external audio signals when device 400 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 404 or transmitted via communication component 416. In some embodiments, audio component 410 also includes a speaker for outputting audio signals.

[0061] Input / output interface 412 provides an interface between processing component 402 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, start buttons, and lock buttons.

[0062] Sensor assembly 414 includes one or more sensors for providing status assessments of various aspects of device 400. For example, sensor assembly 414 may detect the on / off state of device 400, the relative positioning of components such as the display and keypad of device 400, changes in the position of device 400 or a component of device 400, the presence or absence of user contact with device 400, the orientation or acceleration / deceleration of device 400, and temperature changes of device 400. Sensor assembly 414 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 414 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 414 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0063] Communication component 416 is configured to facilitate wired or wireless communication between device 400 and other devices. Device 400 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 416 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 416 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0064] In an exemplary embodiment, the apparatus 400 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the vehicle processing method described above.

[0065] Understandably, the processor 420 in this application embodiment can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method embodiment can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor described above can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0066] Understandably, the memory 404 in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0067] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 404 including instructions, which can be executed by the processor 420 of the device 400 to complete the above-described upper-level vehicle processing method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0068] The aforementioned device can be a standalone electronic device or a part of a standalone electronic device. For example, in one embodiment, the device can be an integrated circuit (IC) or a chip, wherein the integrated circuit can be a single IC or a collection of multiple ICs. The chip can include, but is not limited to, the following types: GPU (Graphics Processing Unit), CPU (Central Processing Unit), FPGA (Field Programmable Gate Array), DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), and SoC (System on Chip). The aforementioned integrated circuit or chip can be used to execute executable instructions (or code) to implement the aforementioned vehicle processing method. The executable instructions can be stored in the integrated circuit or chip or obtained from other devices or equipment. For example, the integrated circuit or chip includes a processor, memory, and an interface for communicating with other devices. The executable instructions can be stored in the memory, and when the executable instructions are executed by the processor, the above-mentioned vehicle processing method is implemented; or, the integrated circuit or chip can receive the executable instructions through the interface and transmit them to the processor for execution to implement the above-mentioned vehicle processing method.

[0069] Please see Figure 5 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. For example, as shown... Figure 5 As shown, the vehicle 500 includes a memory 501 and a processor 502. The memory 501 stores executable program code 5011, and the processor 502 is used to call and execute the executable program code 5011 to perform a vehicle processing method.

[0070] This application embodiment can divide the vehicle into functional modules according to the above method embodiment. For example, each function can be assigned to a separate module, or two or more functions can be integrated into a processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods. When dividing each functional module according to its corresponding function, the vehicle may include a processing module and a communication module, etc.

[0071] It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here. The vehicle provided in this embodiment is used to execute the above-described vehicle processing method, and therefore can achieve the same effect as the above-described implementation method.

[0072] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described vehicle processing method when executed by the programmable device.

[0073] It should be noted that the descriptions of the above embodiments of storage media, devices, and equipment are similar to the descriptions of the above method embodiments, and have similar beneficial effects. For technical details not disclosed in the embodiments of storage media, devices, and equipment of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0074] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of this application. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed in this application. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0075] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vehicle handling method, characterized in that, include: When the vehicle wheels are in the air, it is determined whether the target longitudinal acceleration of the vehicle is less than the initial longitudinal acceleration. The target longitudinal acceleration is the longitudinal acceleration detected after the wheel slip ratio of the vehicle exceeds a preset slip threshold. The initial longitudinal acceleration is the longitudinal acceleration detected before the wheel slip ratio of the vehicle exceeds the preset slip threshold. When the target longitudinal acceleration is less than the initial longitudinal acceleration, the vehicle wheels are pressurized.

2. The method according to claim 1, characterized in that, The process of pressurizing the vehicle wheels includes: Increase the braking pressure and / or braking torque applied to the wheels of the vehicle.

3. The method according to claim 2, characterized in that, The process of pressurizing the vehicle wheels also includes: Based on the target longitudinal acceleration and the initial longitudinal acceleration, the boost compensation amount corresponding to the boost treatment is determined, and the boost compensation amount includes the increase in braking pressure and / or the increase in braking torque; Based on the increase in braking pressure and / or braking torque in the pressure compensation amount, the braking pressure and / or braking torque applied to the vehicle wheels are correspondingly increased.

4. The method according to claim 1, characterized in that, The method further includes: After the driver presses the brake pedal of the vehicle, the vehicle status information of the vehicle within a preset time period is obtained, and the vehicle status information includes at least the wheel slip ratio. If the wheel slip ratio continues to increase within the preset time period, and there is a wheel slip ratio exceeding the preset slip threshold within the preset time period, it is determined that the vehicle wheel is in a state of being airborne.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: When the driver releases the brake pedal of the vehicle, and / or when the wheel slip ratio is less than or equal to the preset slip threshold, the vehicle wheels are depressurized.

6. The method according to claim 5, characterized in that, The depressurization process for the vehicle wheels includes: Reduce the braking pressure and / or braking torque applied to the wheels of the vehicle.

7. The method according to any one of claims 1-4, characterized in that, The target longitudinal acceleration is the longitudinal acceleration detected when the wheel slip ratio of the vehicle exceeds a preset slip threshold in the target cycle. The initial longitudinal acceleration is the longitudinal acceleration detected in the previous cycle of the target cycle. The target cycle and the previous cycle have the same cycle duration.

8. A vehicle handling device, characterized in that, include: The processing module is used to determine whether the target longitudinal acceleration of the vehicle is less than the initial longitudinal acceleration when the vehicle wheels are in the air. The target longitudinal acceleration is the longitudinal acceleration detected after the wheel slip ratio of the vehicle exceeds a preset slip threshold, and the initial longitudinal acceleration is the longitudinal acceleration detected before the wheel slip ratio of the vehicle exceeds the preset slip threshold. The processing module is also used to pressurize the vehicle wheels when the target longitudinal acceleration is less than the initial longitudinal acceleration.

9. A vehicle, characterized in that, include: processor; A memory for storing processor-executable instructions; wherein the processor is configured to execute the executable instructions to implement the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the computer program instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 7.

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