Vehicle control system and vehicle

Abstract

The invention discloses a vehicle control system and a vehicle, and belongs to the technical field of vehicle control. The system is used for the scene of tire burst of a vehicle, and comprises a main control module used for adjusting first control weights corresponding to a plurality of target control function modules according to tire burst working condition information to obtain second control weights; and the plurality of target control function modules are used for receiving the second control weights distributed by the main control module, and the plurality of target control function modules control the vehicle according to the respective corresponding second control weights. According to the technical scheme, the core requirement of multi-module cooperative control under the tire burst working condition can be deeply met, the response accuracy and execution stability of vehicle control under the tire burst working condition can be improved, and therefore the adaptability and reliability of a tire burst control system to different tire burst data scenes are enhanced, and the safety of the vehicle is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a vehicle control system and a vehicle. BACKGROUND

[0002] In the scene of tire burst during vehicle driving, due to the complexity of environmental factors and vehicle state, tire burst often leads to vehicle out of control, thereby seriously threatening the safety of the driver and passengers. The existing vehicle control system usually needs to have high-end hardware configurations such as electric control suspension / shock absorption, rear steering, tire pressure detection device, etc. when dealing with tire burst scene, which leads to limited application range and high cost. In addition, the response speed and control accuracy of the traditional system when tire burst occurs are also insufficient, which is difficult to meet the safety requirements in complex tire burst scene. Therefore, it is urgent to provide a vehicle control system that can integrate multiple module resources and quickly respond to tire burst conditions to improve the safety and stability of the vehicle in complex tire burst scene. SUMMARY

[0003] The present application provides a vehicle control system and a vehicle to at least partially solve the above technical problems.

[0004] In a first aspect, a vehicle control system is provided, comprising: a main control module configured to adjust a first control weight corresponding to each of a plurality of target control function modules according to tire burst condition information, to obtain a second control weight; a plurality of target control function modules configured to receive the second control weight distributed by the main control module, and control the vehicle according to the second control weight corresponding to each of the plurality of target control function modules.

[0005] In some embodiments of the present application, the main control module is further configured to determine the target control function module, wherein the determination of the target control function module comprises: determining a plurality of control function modules according to configuration information of the vehicle; determining the working state of the plurality of control function modules, so as to determine the control function module in normal working state as the target control function module.

[0006] In some embodiments of the present application, the main control module is further configured to adjust the second control weight corresponding to each of the plurality of target control function modules according to the target control expectation and the tire burst condition information, to obtain a third control weight; distribute the third control weight to the plurality of target control function modules, and control the vehicle according to the third control weight corresponding to each of the plurality of target control function modules.

[0007] In some embodiments of the present application, the main control module comprises: a collection submodule; the collection submodule is configured to collect tire burst condition information and driving condition information in real time through a plurality of target sensors; wherein the tire burst condition information comprises tire burst wheel information, wheel running data and dynamic state information.

[0008] In some embodiments of the present application, the main control module further comprises: a prediction submodule; the prediction submodule is configured to make a prediction according to the tire burst condition information and the driving condition information to obtain a target control expectation.

[0009] In some embodiments of the present application, the main control module further comprises: a processing submodule, configured to filter the second control weight and the third control weight, so that the plurality of target control function modules control the vehicle according to the respective second control weight or third control weight.

[0010] In some embodiments of the present application, the main control module further comprises: a balancing submodule, configured to generate a balancing coefficient according to the tire burst condition information, so as to keep the vehicle body in a balanced state through the balancing coefficient.

[0011] In some embodiments of the present application, the plurality of function modules comprise: a front wheel steering module; a rear wheel steering module; a braking module; a driving module; a suspension / damping module.

[0012] In some embodiments of the present application, the vehicle control system further comprises: a prompt module, configured to start when receiving the tire burst signal sent by the main control module, display a tire burst prompt in the display screen of the vehicle; and / or output a tire burst prompt voice through a voice prompt submodule of the vehicle; and / or control the tire burst fault light to turn on.

[0013] The second aspect further provides a vehicle, comprising the vehicle control system provided in the first aspect.

[0014] According to the technical solution of the present application, the core needs of multi-module cooperative control under tire burst condition can be deeply met, which helps to improve the response accuracy and execution stability of vehicle control under tire burst condition, thereby enhancing the adaptability and reliability of the tire burst control system to different tire burst data scenarios, and effectively improving the safety of the vehicle.

[0015] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the framework of a conventional vehicle control system provided by existing technology; Figure 2 This is a schematic diagram of the framework of a vehicle control system according to an exemplary embodiment of the present disclosure; Figure 3 This is a schematic diagram of the structure of a vehicle control system according to an exemplary embodiment of the present disclosure. Detailed Implementation

[0018] 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.

[0019] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features.

[0020] In the description of this application, "multiple" means two or more, unless otherwise expressly specified. "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0021] The use of "applies to" or "configured to" in this application implies open and inclusive language, which does not exclude the applicability to or configuration to devices performing additional tasks or steps. Additionally, the use of "based on" implies openness and inclusivity, because processes, steps, calculations, or other actions "based on" one or more of the stated conditions or values ​​may in practice be based on additional conditions or values ​​beyond those stated.

[0022] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0023] Figure 1 This is a schematic diagram of the framework of a traditional vehicle control system provided by existing technology, such as... Figure 1 As shown, after the tire pressure sensor detects a tire blowout and sends a blowout signal, it sends a wheel cylinder pressure transfer request to the brake controller, a torque transfer request to the power control unit, and a wheel load adjustment request to the suspension controller. In response to the wheel cylinder pressure transfer request, the brake controller transfers the brake cylinder pressure of the blown axle to the non-blowout axle. In response to the torque transfer request, the power control unit transfers the current torque of the blown axle to the non-blowout axle. In response to the wheel load adjustment request, the suspension controller adjusts the current wheel load of at least two non-blowout wheels to their respective target wheel loads, with the difference between the target wheel loads of any two non-blowout wheels within a preset range.

[0024] The disadvantages of the aforementioned prior art may include: (1) The braking status of the wheel after the tire blowout is controlled in a conventional manner; however, no specific treatment is given to the braking strengthening / weakening of the blowout wheel, resulting in insufficient braking stability; and there is a lack of braking adjustment logic that dynamically adapts to the blowout condition, causing vehicle braking deviation.

[0025] (2) The power system after a tire blowout is only subject to basic cut-off or maintenance control; however, the intervention and adjustment of motor energy recovery are not considered, resulting in poor coordination between energy recovery and braking; and there is a lack of dynamic optimization strategy for energy recovery under the condition of a tire blowout, which leads to energy waste or braking conflict.

[0026] (3) The control scheme is designed only for single-wheel tire blowout scenarios; however, the complex stress conditions of multi-wheel tire blowout scenarios are not considered, resulting in control failure during multi-wheel tire blowouts; moreover, the lack of priority control logic for multi-wheel tire blowout conditions increases the risk of vehicle attitude loss of control.

[0027] (4) The steering system after a tire blowout only maintains independent control of the front wheels; however, the steering of the rear wheels and the coordination between front and rear wheels are not considered, resulting in insufficient steering flexibility; and there is a lack of dynamic matching algorithm for front and rear steering under the condition of a tire blowout, which causes the vehicle steering response to lag.

[0028] (5) Independent control strategies are designed for the power, braking and suspension systems respectively; however, the separate control schemes do not form system coordination, resulting in control conflicts between the systems; and there is a lack of cross-system operating condition adaptive adjustment mechanism, resulting in low overall vehicle control efficiency.

[0029] (6) The sudden failure of a certain module is not considered, which leads to the interruption of the control strategy when the failure occurs; moreover, the lack of a redundant control scheme after the module failure increases the risk of vehicle loss of control.

[0030] (7) Only basic warning information is provided to users after a tire blowout; however, specific operational suggestions are not given to users according to the optimal control scheme, resulting in blind responses from users; and, there is a lack of personalized prompt logic that combines real-time vehicle conditions, causing deviations between user operations and optimal control.

[0031] To at least partially address one or more of the aforementioned problems and other potential issues, this disclosure proposes a vehicle control scheme for a tire blowout scenario. The scheme includes: a main control module, used to adjust the first control weights corresponding to multiple target control function modules based on tire blowout condition information to obtain second control weights; and multiple target control function modules, used to receive the second control weights assigned by the main control module and control the vehicle according to their respective second control weights. This deeply addresses the core requirements of multi-module collaborative control under tire blowout conditions, helps improve the response accuracy and execution stability of vehicle control under blowout conditions, thereby enhancing the adaptability and reliability of the tire blowout control system to different tire blowout data scenarios and effectively improving vehicle safety.

[0032] This application provides a vehicle control system, which will be described in detail below. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments of this application. Furthermore, the descriptions of each embodiment have their own emphasis; parts not described in detail in a certain embodiment can be referred to in the relevant descriptions of other embodiments.

[0033] Figure 2 A schematic diagram of the vehicle control system framework is shown, such as... Figure 2 As shown, the vehicle control system 200 includes: The main control module 10 is used to adjust the first control weights corresponding to each of the multiple target control function modules 20 according to the tire blowout condition information to obtain the second control weights. In some embodiments, when the vehicle's driving mode is manual, the main control module is a Flat Tire Stability Control (FTSC) algorithm; when the vehicle's driving mode is assisted driving or autonomous driving, FTSC sends tire blowout condition information and target control expectations to the vehicle's main controller, which then adjusts the first control weight or the second control weight based on the tire blowout condition information and target control expectations to control the vehicle. The main control module may include: a data acquisition submodule, a prediction submodule, a processing submodule, and a balancing submodule.

[0034] In some embodiments, the tire blowout condition information is obtained through multiple target sensors of the acquisition submodule. The tire blowout condition information may include: information about the blown tire wheel (e.g., the left front wheel and the right rear wheel), wheel running data, and dynamic state information (such as vehicle roll angle, yaw rate, and longitudinal acceleration).

[0035] In some embodiments, the first control weight is the control weight of the multiple target control function modules included in the vehicle at the moment of tire blowout or the control weight at the moment before the tire blowout. The second control weight is a new control weight obtained by the main control module after adjusting the first control weights of the multiple target control function modules according to the tire blowout condition information; the second control weight can reflect the importance ranking and priority allocation of each target control function module in the tire blowout scenario, thereby achieving reasonable allocation and efficient utilization of resources.

[0036] Multiple target control function modules 20 are used to receive the second control weights assigned by the main control module 10, and control the vehicle according to their respective second control weights.

[0037] In some embodiments, multiple target control function modules refer to control function modules configured in the vehicle that are in normal working condition after a tire blowout. The target control function modules may include: a front steering system (FS), a rear steering system (Rs), a braking system (Bs), a driving system (Ds), and a suspension / damping system. After receiving the second control weight assigned by the main control module, each target control function module will execute specific control commands according to its corresponding second control weight to achieve precise control of the vehicle's movement.

[0038] In some embodiments, multiple target control function modules work together through a collaborative mechanism to ensure the stability and safety of the vehicle under tire blowout conditions. For example, the front wheel steering module and the rear wheel steering module can dynamically adjust the steering angle according to the assigned first control weight, thereby optimizing the vehicle's driving trajectory; the braking module can reasonably adjust the braking force according to the assigned first control weight to avoid braking deviation caused by the failure of one wheel; the drive module can adjust the power output according to the assigned first control weight to ensure the smooth operation of the vehicle under complex conditions.

[0039] Figure 3 A schematic diagram of the vehicle control system is shown below. The following embodiments can be referenced. Figure 3 To understand the structure, use the structural diagram, but Figure 3 The schematic diagram of the vehicle control system shown should not be construed as a limitation on the following embodiments.

[0040] For example, if the vehicle's drive system is configured with a single / dual drive source, and the tire blowout condition information is a single wheel-drive axle (single drive source) or a single wheel-front axle (dual drive source with transfer case), and the tire blowout causes additional yaw, then the first control weight (e.g., 0.6) of the front wheel steering module is adjusted according to the tire blowout condition information to obtain a second control weight (e.g., 0.8), and the first control weight (e.g., 0.4) of the drive module is adjusted according to the tire blowout condition information to obtain a second control weight (e.g., 0.2). When the vehicle is equipped with a suspension / damping module, when driving straight, the suspension / damping module adjusts the wheel load and the vehicle body to shift towards the non-blowout side to increase grip. When turning, the vehicle body slightly deviates towards the center of the curve; here, the second control weight of the drive module can be adjusted according to the wheel load transfer increment; when the vehicle is equipped with a rear-wheel steering module, the second control weights of the front-wheel steering module and the rear-wheel steering module can be adjusted according to the steering expectation in the drive condition information (e.g., 0.6), resulting in a third control weight of front-wheel steering module (e.g., 0.2) and rear-wheel steering module (e.g., 0.4); here, the control direction of the rear-wheel steering module can be adjusted according to the target control expectation; among them, the weight of the braking module can be reduced to the minimum to be allocated to the diagonal wheel opposite the blown tire, assisting in stabilizing the slight yaw difference.

[0041] For example, if the vehicle's drive system is configured with a single / dual drive source, and the tire blowout condition information indicates a single wheel, a two-wheel diagonal blowout, or a three-wheel rear axle double-wheel blowout with minimal lateral yaw, then the first control weight (e.g., 0.5) of the steering module is adjusted based on the tire blowout condition information to obtain a second control weight (e.g., 0.3). When the vehicle is equipped with a rear-wheel steering module, the front-wheel steering module and the rear-wheel steering module can adjust their steering according to the target control expectation. Here, the control direction of the rear-wheel steering module can be adjusted according to the target control expectation. Based on the ground adhesion coefficient and wheel slip ratio included in the tire blowout condition, the steering assist of the front-wheel steering module is reduced, and the output of the drive module is limited to prevent sideslip and fishtailing caused by oversteering. When the vehicle is equipped with a suspension / damping module, the suspension / damping module adjusts the wheel load and controls the vehicle's attitude balance when driving straight, and the vehicle body slightly deviates towards the center of the curve when steering.

[0042] For example, if the vehicle's drive system is configured with a single / dual drive source, and the tire blowout condition information indicates a dual-wheel / single-side tire blowout with additional yaw, then the first control weight of the steering module is adjusted based on the tire blowout condition information to obtain a second control weight. When the vehicle is equipped with a rear-wheel steering module, the front-wheel steering module and the rear-wheel steering module can adjust their steering according to the target control expectation. Here, the control direction of the rear-wheel steering module can be adjusted according to the target control expectation, and the direction remains unchanged after control begins. Based on the tire blowout condition, including the ground adhesion coefficient and wheel slip ratio, the steering assist of the front-wheel steering module is reduced, and the output of the drive module is limited to prevent sideslip and fishtailing caused by oversteering. The second control weight of the braking module can be adjusted to a minimum (e.g., 0.1) and allocated to the wheel opposite the blowout to assist in stabilizing minor yaw differences. When the vehicle is equipped with a suspension / damping module, the suspension / damping module adjusts the wheel load and the vehicle body to shift towards the non-blowout side when driving straight to increase grip, and the vehicle body shifts slightly towards the apex of the curve when steering.

[0043] For example, if the vehicle's drive system is configured with a single / dual drive source, and the tire blowout condition information indicates a four-wheel blowout, a two-wheel co-axle blowout, or a three-wheel-front axle dual-wheel blowout, with minimal yaw during the blowout, then the first control weight (e.g., 0.5) of the steering module is adjusted based on the tire blowout condition information to obtain a second control weight (e.g., 0.9). When the vehicle is equipped with a rear-wheel steering module, the second control weight (e.g., 0.3) of the front-wheel steering module and the rear-wheel steering module can be adjusted based on the target control expectation to obtain a third control weight (e.g., 0.5). Here, the control direction of the rear-wheel steering module can be adjusted according to the target control expectation, and the direction remains unchanged after control begins. Based on the ground adhesion coefficient and wheel slip ratio included in the tire blowout condition information, the output of the drive module is limited to prevent sideslip and fishtailing caused by oversteering. When the vehicle is equipped with a suspension / damping module, the suspension / damping module adjusts the wheel load and controls the vehicle's attitude balance when driving straight, and the vehicle slightly deviates towards the center of the curve when steering.

[0044] For example, if the vehicle's drive system is configured with three drive sources (dual drive sources on one axle), and the tire blowout condition information indicates a single-wheel-front tire blowout or a dual-wheel-front axle-single drive source tire blowout, and the blowout causes additional yaw, then the first control weight (e.g., 0.4) of the steering module is adjusted according to the tire blowout condition information to obtain a second control weight (e.g., 0.6). Specifically, for a configuration with a single front drive source and dual rear drive sources: the second control weight of the drive module is adjusted to a moderate value (e.g., 0.3), and the driving force of the rear wheel on the same side as the blown tire is increased to balance the yaw based on the ground adhesion coefficient and wheel slip rate included in the tire blowout condition information; if the driving force cannot be increased due to wheel slippage, then the second control weight of the braking module on the non-blown wheel on the same axle as the blown tire is adjusted to control the braking force, and the corresponding power is compensated to the rear wheel. At this time, the second control weight of the steering module is adjusted to obtain a third control weight. For a configuration with dual front drive sources and a single rear drive source: the first control weight of the drive module is adjusted based on the tire blowout condition information to obtain a second control weight (e.g., 0.3). Based on the ground adhesion coefficient and wheel slip ratio in the tire blowout condition information, the driving force of the non-blowout wheel on the same axle as the blowout wheel is reduced to balance the yaw, and this incremental driving force is distributed to the rear axle. When the vehicle is equipped with a suspension / damping module, the suspension / damping module adjusts the wheel load and the vehicle body to the non-blowout side when driving straight to increase grip. When turning, the vehicle body slightly shifts towards the center of the curve. Here, the second control weight of the drive module can be adjusted based on the wheel load transfer increment to obtain a third control weight. When the vehicle is equipped with a rear-wheel steering module, the front-wheel steering module and the rear-wheel steering module can adjust the steering according to the target control expectation. Here, the control direction of the rear-wheel steering module can be adjusted according to the target control expectation, and the direction remains unchanged after the control starts.

[0045] For example, if the vehicle's drive system is configured with three drive sources (two drive sources on one axle), and the tire blowout condition information indicates a single-wheel / rear-wheel blowout with minimal yaw during the blowout, then the first control weight of the steering module (e.g., 0.4) is adjusted based on the tire blowout condition information to obtain a second control weight (e.g., 0.2). Specifically, for a configuration with two front drive sources and one rear drive source: the second control weight of the drive module is adjusted to a moderate value (e.g., 0.3), and based on the ground adhesion coefficient and wheel slip ratio included in the tire blowout condition information, the driving force of the front axle on the same side as the blown wheel is increased to balance the yaw and maintain drive output; if the driving force cannot be increased due to wheel slippage, then the second control weight of the braking module on the same axle as the non-blown wheel on the same axle as the blown wheel is adjusted to control braking force, and the corresponding braking force is compensated to the rear wheel; for a configuration with one front drive source and two rear drive sources: the second control weight of the drive module is adjusted to a moderate value (e.g., 0.3), and the second control weight of the steering module is adjusted based on the ground adhesion coefficient and wheel slip ratio included in the tire blowout condition information to increase the driving force of the front axle on the same side as the blown wheel to balance the yaw and maintain drive output; if the driving force cannot be increased due to wheel slippage, then the second control weight of the braking module on the non-blown wheel on the same axle as the blown wheel is adjusted to control braking force, and the corresponding braking force is compensated to the rear wheel; for a configuration with one front drive source and two rear drive sources: the second control weight of the steering module is adjusted based on the ground adhesion coefficient and wheel slip ratio included in the tire blowout condition information to increase the driving force of the front axle on the same side as the blown wheel to balance the yaw and maintain drive output. The second control weight is adjusted to a smaller value (e.g., 0.2). Based on the ground adhesion coefficient and wheel slip ratio included in the tire blowout condition information, the driving force of the blown tire wheel on the side wheel is reduced to balance the yaw. When it is a single tire blowout, the first control weight of the braking module is adjusted to obtain a second control weight (e.g., 0.1) and distributed to the diagonally opposite wheel of the blown tire. When the vehicle is equipped with a suspension / damping module, when driving straight, the suspension / damping module adjusts the wheel load and the body to shift towards the non-blowout side to increase grip. When turning, the body shifts slightly towards the center of the curve. Here, the second control weight of the drive module can be adjusted according to the wheel load transfer increment to obtain a third control weight. When the vehicle is equipped with a rear-wheel steering module, the front-wheel steering module and the rear-wheel steering module can be steering-distributed according to the target control expectation. Here, the control direction of the rear-wheel steering module can be adjusted according to the target control expectation, and the direction remains unchanged after control starts.

[0046] For example, if the vehicle's drive system is configured with three drive sources (two drive sources on one axle), and the tire blowout condition information indicates a dual-wheel diagonal tire blowout, a dual-wheel rear axle tire blowout, or a dual-wheel front axle dual-drive source tire blowout, with minimal tire yaw, then the first control weight of the steering module (e.g., 0.4) is adjusted based on the tire blowout condition information to obtain a second control weight (appropriate value, e.g., 0.5); the second control weight of the drive module is adjusted to an appropriate value (e.g., 0.3), based on the ground adhesion coefficient and wheel slippage included in the tire blowout condition information. The shift ratio reduces the steering assist of the front wheel steering module and limits the drive output of the axle with a blown tire to prevent sideslip and fishtailing caused by oversteering. When the vehicle is equipped with a suspension / damping module, the suspension / damping module adjusts the wheel load and controls the vehicle's attitude balance when driving straight, and the vehicle slightly shifts towards the center of the curve when turning. When the vehicle is equipped with a rear wheel steering module, the front wheel steering module and the rear wheel steering module can adjust the steering according to the target control expectation. Here, the control direction of the rear wheel steering module can be adjusted according to the target control expectation, and the direction remains unchanged after the control starts.

[0047] For example, if the vehicle's drive system is configured with three drive sources (two drive sources on one axle), and the tire blowout condition information indicates a dual-wheel / single-sided tire blowout with additional yaw, then the first control weight (e.g., 0.4) of the steering module is adjusted based on the tire blowout condition information to obtain a second control weight (e.g., 0.7). The second control weight of the drive module is then adjusted to a moderate value (e.g., 0.3). Based on the ground adhesion coefficient and wheel slip ratio included in the tire blowout condition information, the steering assist of the front wheel steering module is reduced, and the drive output of the wheel on the same axle as the blown tire is limited. To prevent skidding and fishtailing caused by oversteering; when the vehicle is equipped with a suspension / damping module, the suspension / damping module adjusts the wheel load and body to shift towards the non-blowout side when driving straight, increasing grip; when turning, the body slightly shifts towards the apex of the curve; here, the second control weight of the drive module can be adjusted according to the wheel load transfer increment to obtain the third control weight; when the vehicle is equipped with a rear-wheel steering module, the front-wheel steering module and the rear-wheel steering module can adjust the steering according to the target control expectation; here, the control direction of the rear-wheel steering module can be adjusted according to the target control expectation, and the direction remains unchanged after control begins.

[0048] For example, if the vehicle's drive system is configured with three drive sources (two drive sources on one axle), and the tire blowout condition information indicates a three-wheel blowout (one tire on one of the two drive axles), resulting in additional yaw, then the first control weight (e.g., 0.4) of the steering module is adjusted based on the tire blowout condition information to obtain a second control weight (e.g., 0.7). Based on the ground adhesion coefficient and wheel slip ratio included in the tire blowout condition information, the output of the drive module is limited, while simultaneously reducing the driving force of the non-blowout wheels on the two drive axles to balance the yaw and prevent skidding due to oversteering. When the vehicle is equipped with a suspension / damping module, the suspension / damping module adjusts the wheel load and controls the vehicle's attitude balance when driving straight, and the vehicle slightly shifts towards the center of the curve when steering. When the vehicle is equipped with a rear-wheel steering module, the front-wheel steering module and the rear-wheel steering module can adjust their steering according to the target control expectation. Here, the second control weight of the rear-wheel steering module can be adjusted within a preset range (e.g., 0.5), and the control direction of the rear-wheel steering module can be adjusted according to the target control expectation, and the direction remains unchanged after control begins.

[0049] For example, if the vehicle's drive system is configured with three drive sources (two drive sources on one axle), and the tire blowout condition information indicates a four-wheel tire blowout or a single-wheel blowout on one of the three-wheeled single-drive axle with minimal tire yaw, then the first control weight (e.g., 0.4) of the steering module is adjusted based on the tire blowout condition information to obtain a second control weight (e.g., 0.6). Based on the ground adhesion coefficient and wheel slip ratio included in the tire blowout condition information, the output of the drive module is limited to prevent skidding and tail-swing due to oversteering. When the vehicle is equipped with a suspension / damping module, the suspension / damping module adjusts the wheel load and controls the vehicle's attitude balance when driving straight, and the vehicle slightly shifts towards the bend center when steering. When the vehicle is equipped with a rear-wheel steering module, the front-wheel steering module and the rear-wheel steering module can adjust their steering according to the target control expectation. Here, the second control weight of the rear-wheel steering module can be adjusted within a preset range (e.g., 0.5), and the control direction of the rear-wheel steering module can be adjusted according to the target control expectation, and the direction remains unchanged after control begins.

[0050] For example, if the vehicle's drive system is configured with a four-wheel drive source, and the tire blowout condition information indicates a single-wheel (front wheel) blowout causing additional yaw, then the first control weight (e.g., 0.3) of the steering module is adjusted based on the tire blowout condition information to obtain a second control weight (e.g., 0.5); the second control weight of the drive module is adjusted to a moderate value (e.g., 0.4), and based on the ground adhesion coefficient and wheel slip ratio included in the tire blowout condition information, the driving force of the non-blowout wheel on the same side as the blowout wheel is increased, while the driving force of the non-blowout wheel on the same axle as the blowout wheel is decreased to balance the yaw, and this incremental driving force is distributed to the rear axle; if the driving force cannot be increased due to wheel slippage, then the first control weight of the braking module of the non-blowout wheel on the same axle as the blowout wheel is adjusted. The second control weight is used to control the braking force, and the corresponding braking force is compensated to the rear wheels. At this time, the second control weight of the steering module is adjusted to obtain the third control weight. When the vehicle is equipped with a suspension / damping module, when driving straight, the suspension / damping module adjusts the wheel load and the body to shift towards the non-blowout tire side to increase grip. When turning, the body shifts slightly towards the apex of the curve. Here, the second control weight of the drive module can be adjusted according to the wheel load transfer increment to obtain the third control weight. When the vehicle is equipped with a rear-wheel steering module, the front-wheel steering module and the rear-wheel steering module can adjust the steering according to the target control expectation. Here, the control direction of the rear-wheel steering module can be adjusted according to the target control expectation, and the direction remains unchanged after the control starts.

[0051] For example, if the vehicle's drive system is configured with four drive sources, and the tire blowout condition information is a single wheel-rear wheel or two wheels-non-same side, and the yaw caused by the blowout is small, then the first control weight of the drive module (e.g., 0.3) is adjusted to a moderate value (e.g., 0.5) to balance the yaw and maintain drive performance by increasing the drive force on the front axle on the same side as the blown tire. If the drive force cannot be increased due to wheel slippage, then the drive force on the non-blown tire wheels on the same axle as the blown tire is reduced. Simultaneously, the first control weight of the drive module can be adjusted according to the wheel load transfer increment. The second control weight is obtained; when the vehicle is equipped with a suspension / damping module, the front wheel steering system adjusts the wheel load and the vehicle body to the non-burst tire side when driving straight to increase grip, and the vehicle body slightly shifts towards the center of the curve when turning; the first control weight of the steering module is adjusted (e.g., 0.2); if the vehicle is equipped with a rear wheel steering module, the front wheel steering module and the rear wheel steering module can adjust the steering according to the target control expectation; here, the control direction of the rear wheel steering module can be adjusted according to the target control expectation, and the direction remains unchanged after the control starts.

[0052] For example, if the vehicle's drive system is configured with a four-wheel drive source, and the tire blowout condition information indicates that three wheels or two wheels on the same side have blowouts, resulting in additional yaw, then the first control weight of the front wheel steering module is adjusted according to the tire blowout condition information to obtain a second control weight (e.g., 0.6), thereby increasing the steering control weight. If the vehicle is equipped with a rear wheel steering module, the front wheel steering module and the rear wheel steering module can adjust the second control weight according to the target control expectation to obtain a third control weight. Here, the control direction of the rear wheel steering module can be adjusted according to the target control expectation, and the direction remains unchanged after control begins. Based on the ground adhesion coefficient and wheel slip ratio included in the tire blowout condition information, the total driving force is limited and the driving force of the non-blowout tires is reduced to balance the yaw and prevent sideslip and fishtailing caused by oversteering. When the vehicle is equipped with a suspension / damping module, the suspension / damping module adjusts the wheel load and controls the vehicle body posture to maintain balance when driving straight, and the vehicle body slightly shifts towards the center of the curve when steering.

[0053] For example, if the vehicle's drive system is configured with a four-wheel drive source, and the tire blowout condition information indicates a four-wheel tire blowout with minimal yaw, then the first control weight of the front wheel steering module is adjusted based on the tire blowout condition information to obtain a second control weight (e.g., 0.7), thereby increasing the steering control weight. When the vehicle is equipped with a rear wheel steering module, the front and rear wheel steering modules can adjust the second control weight according to the target control expectation to obtain a third control weight. Based on the ground adhesion coefficient and wheel slip ratio included in the tire blowout condition information, the total driving force is limited to prevent sideslip and fishtailing caused by oversteering. When the vehicle is equipped with a suspension / damping module, the suspension / damping module adjusts the wheel load and controls the vehicle body posture to maintain balance when driving straight, and the vehicle body slightly shifts towards the center of the curve when steering. Here, the control direction of the rear wheel steering module can be adjusted according to the target control expectation, and the direction remains unchanged after control begins.

[0054] The solution of this disclosure embodiment can deeply meet the core requirements of multi-module collaborative control under tire blowout conditions, which helps to improve the response accuracy and execution stability of vehicle control under tire blowout conditions, thereby strengthening the adaptability and reliability of the tire blowout control system to different tire blowout data scenarios and effectively improving vehicle safety.

[0055] In this embodiment of the disclosure, the main control module is further configured to determine a target control function module; wherein, determining the target control function module includes: determining multiple control function modules based on the vehicle's configuration information; determining the working state of the multiple control function modules, so as to determine the control function module in the normal working state as the target control function module.

[0056] In some embodiments, the configuration information is used to identify the control function modules configured in the vehicle. Specifically, the main control module analyzes the configuration information to determine multiple control function modules. For example, the main control module analyzes the configuration information to confirm that the vehicle is equipped with a front-wheel steering module, a rear-wheel steering module, and a braking module; it then determines the operating status of the front-wheel steering module, the rear-wheel steering module, and the braking module. If the rear-wheel steering module and the braking module are in normal operating condition, then the rear-wheel steering module and the braking module are identified as target control function modules.

[0057] In some embodiments, determining the operating status of multiple control function modules may include: hardware detection, communication interaction, and confirmation of software parameter rationality. Specifically, the main control module monitors the physical status of multiple control function modules in real time; for example, it checks whether sensor signals and actuator feedback are normal. If the sensor signals and actuator feedback are normal, the control function module with normal sensor signals and actuator feedback is identified as the target control function module. The main control module establishes data connections with multiple control function modules, receives the operating status information returned by multiple control function modules, and determines the operating status of multiple control function modules based on the operating status information, identifying the control function module in normal operating status as the target control function module. By analyzing whether the parameter values ​​uploaded by multiple control function modules are within a reasonable range, if the parameters are found not to deviate from a preset threshold, the operating status of the control function module is determined to be in normal operating status, and the control function module is identified as the target control function module. In this way, the main control module can accurately evaluate the operating status of multiple control function modules, thereby identifying multiple target control function modules for collaborative control to ensure the accuracy of vehicle control under tire blowout conditions.

[0058] In this embodiment of the disclosure, the main control module is further configured to adjust the second control weights corresponding to each of the multiple target control function modules according to the target control expectation and the tire blowout condition information to obtain a third control weight; distribute the third control weights to the multiple target control function modules, and have the multiple target control function modules control the vehicle according to their respective third control weights.

[0059] In some embodiments, the target control expectation ω0 is predicted based on tire blowout condition information and driving condition information. Here, tire blowout condition information refers to the real-time status data of the vehicle when a tire blowout occurs; driving condition information refers to data combining the vehicle's real-time operating status and the driver's operational intentions.

[0060] In some embodiments, the third control weight is a new control weight obtained by the main control module after adjusting the second control weights of multiple target control function modules according to the target control expectation and tire blowout condition information; the third control weight can combine the dynamic needs of the driver under tire blowout condition to optimize the coordinated control effect of each module.

[0061] For example, if the vehicle's drive system is configured with a single / dual drive source or a triple drive source, and a tire blowout occurs on a single drive source axle, and the drive condition information at the time of the blowout is emergency braking, then the first control weight of the front wheel steering module is adjusted based on the blowout condition information and the drive condition information to obtain a second control weight (e.g., 1); simultaneously, based on the ground adhesion coefficient and wheel slip ratio included in the blowout condition information, the steering assist is reduced to prevent sideslip caused by oversteering; the first control weight of the drive module is increased based on the wheel load transfer increment to obtain a second control weight; if it is an electric drive system, the second control weight of the drive module is further increased to obtain a third control weight; based on the ground adhesion coefficient and wheel slip ratio in the blowout condition information, in Under the premise of preventing wheel lock-up, the braking force is distributed as axle electric feedback. In the case of a non-electric drive system, the second control weight of the steering module is increased to obtain the third control weight; the first control weight of the braking module is decreased to obtain the second control weight. By intervening in the braking force of the steerable wheel, the directional adjustment amount is reduced to balance braking yaw. When the vehicle is equipped with a suspension / damping module, when driving straight, the suspension / damping module adjusts the wheel load and the body to shift towards the non-blowout tire side to increase grip. When turning, the body shifts slightly towards the apex of the curve. If the vehicle is equipped with a rear-wheel steering module, the front-wheel steering module and the rear-wheel steering module can adjust the steering according to the target control expectation. Here, the control direction of the rear-wheel steering module can be adjusted according to the target control expectation, and the direction remains unchanged after the control starts.

[0062] For example, if the vehicle's drive system is configured with three drive sources (dual drive sources on one axle) or four drive sources, and the drive condition information at the time of the tire blowout is emergency braking, then the first control weight of the front wheel steering module is adjusted according to the tire blowout condition information to obtain a second control weight (e.g., 1); simultaneously, based on the ground adhesion coefficient and wheel slip ratio included in the tire blowout condition information, the steering assist is reduced to prevent sideslip caused by oversteering; the first control weight of the drive module is increased according to the wheel load transfer increment to obtain a second control weight; if it is an electric drive system, then the second control weight of the drive module is increased according to the tire blowout condition information and the drive condition information to obtain a third control weight; based on the ground adhesion coefficient and wheel slip ratio in the tire blowout condition information, the braking force is distributed to single drive while preventing wheel lock-up. The system provides electric feedback to the drive shaft and simultaneously increases the electric feedback force of the non-exploded tire wheels on both drive shafts. In a non-electric drive system, the second control weight of the steering module is increased based on tire blowout and drive condition information to obtain the third control weight. The first control weight of the braking module is reduced to its minimum value to obtain the second control weight. The braking force of the steerable wheel is intervened to reduce the directional adjustment, thus balancing braking yaw. When the vehicle is equipped with a suspension / damping module, it adjusts the wheel load and shifts the vehicle body towards the non-exploded tire side during straight-line driving to increase grip. During steering, the vehicle body slightly shifts towards the apex of the curve. If the vehicle is equipped with a rear-wheel steering module, the front and rear steering modules can adjust their steering according to the target control expectation. Here, the control direction of the rear-wheel steering module can be adjusted according to the target control expectation, and the direction remains unchanged after control begins.

[0063] In this way, it can deeply meet the dynamic weight adaptation requirements of multi-module collaborative control under tire blowout conditions, which helps to improve the accuracy of control weight adjustment and the collaborative response adaptability of each functional module. This strengthens the adaptability of the vehicle control system to the driver's expectations and complex working conditions, the flexible adjustment capability of control strategies, and effectively improves the stability of the vehicle under tire blowout conditions.

[0064] In this embodiment of the disclosure, the main control module includes: a data acquisition submodule; the data acquisition submodule is used to acquire tire blowout condition information and drive condition information in real time through multiple target sensors; wherein, the tire blowout condition information includes: tire blowout wheel information, wheel running data and dynamic state information.

[0065] In some embodiments, the acquisition submodule is used to acquire tire blowout condition information and drive condition information in real time through multiple target sensors, providing data support for subsequent adjustment of the first control weight or the second control weight of multiple target control function modules.

[0066] In some embodiments, the target sensors may include: four-wheel wheel speed sensors, four-wheel tire pressure sensors, four-wheel acceleration sensors, a height sensor, a vehicle posture sensor, and a steering wheel angle sensor. These target sensors can accurately collect real-time dynamic information of the vehicle under tire blowout conditions, providing a comprehensive data foundation for the main control module. For example, the four-wheel wheel speed sensors can monitor the rotational speed changes of each wheel to determine if abnormal slippage occurs; the four-wheel tire pressure sensors can quickly identify the blown-out tire and provide feedback on the tire pressure status; the four-wheel acceleration sensors, working in conjunction with the height sensor, can be used to analyze the vibration amplitude and tilt angle of the vehicle body, thereby assessing the vehicle's stability. Furthermore, the vehicle posture sensor and steering wheel angle sensor can acquire the driver's operating intentions and the vehicle's steering trend, providing a more accurate basis for subsequent adjustments to control weights.

[0067] In some embodiments, tire blowout condition information includes: blowout wheel information (such as the location of the blowout wheel in a single-wheel-front-wheel or three-wheel configuration), wheel running data (such as wheel speed, tire pressure, slip ratio, etc.), and dynamic state information (such as yaw rate, vehicle attitude, etc.).

[0068] In some embodiments, the driving condition information may include: vehicle operating data (such as speed, acceleration, etc.) and driver operating intentions (such as steering angle, etc.).

[0069] This helps improve the accuracy of collecting information on tire blowout conditions and drive conditions, thereby enhancing the main control module's adaptability to complex tire blowout scenarios and the reliability of data support for subsequent control weight adjustments.

[0070] In this embodiment of the disclosure, the main control module further includes a prediction submodule; the prediction submodule is used to make predictions based on tire blowout condition information and drive condition information to obtain the target control expectation.

[0071] In some embodiments, the driving condition information may further include: steering expectation and actual steering status.

[0072] In some embodiments, the prediction submodule is used to predict based on tire blowout condition information and driving condition information to obtain a target control expectation. Specifically, the steering expectation ω is acquired in real time, wherein the steering expectation ω is obtained through a steering wheel angle sensor and a steering torque sensor. At the same time, the target steering difference ω_err between the steering expectation ω and the actual steering state is calculated, wherein the actual steering state is obtained through a yaw rate sensor and a wheel angle sensor. The target steering difference is used to indicate the steering control deviation. When a tire blowout occurs, the target steering difference ω_err and the tire blowout condition information are used as inputs, and a proportional-integral-derivative control algorithm (PID) is used to obtain a target control expectation ω0 for suppressing yaw (i.e., the ideal control value of the vehicle body yaw rate, which can counteract the additional yaw force generated by the tire blowout).

[0073] In this way, the tire blowout condition information and the driving condition information indicating the driver's steering intention can be effectively combined to generate the target control expectation that conforms to the current vehicle state. This provides a precise basis for adjusting the second control weights of multiple target control function modules to obtain the third control weights.

[0074] In this embodiment of the disclosure, the main control module further includes a processing submodule, used to filter the second control weight and the third control weight, so that multiple target control function modules control the vehicle according to their respective corresponding second control weight or third control weight.

[0075] In some embodiments, filtering the second and third control weights includes filtering the second and third control weights to avoid vehicle control instability caused by sudden weight changes. Specifically, the processing submodule optimizes the second and third control weights using a low-pass filtering algorithm to ensure continuity and stability during weight adjustment. For example, in a tire blowout scenario, when the second control weight needs to be rapidly increased, the processing submodule gradually increases the weight value according to a preset time constant, rather than directly applying a sudden value, thereby reducing the impact on the vehicle's dynamic response. Furthermore, the processing submodule can dynamically correct the weight values ​​based on the vehicle's real-time status to further improve control accuracy. For example, when an abnormal tilt of the vehicle body is detected, the processing submodule can temporarily reduce the weight value of the suspension / damping module to prioritize the restoration of vehicle stability.

[0076] Thus, by filtering the second and third control weights, the smoothness of the second and third control weights can be improved, ensuring the stable operation of the vehicle under complex tire blowout conditions.

[0077] In this embodiment of the disclosure, the main control module further includes a balance submodule, which is used to generate a balance coefficient based on the tire blowout condition information, so as to keep the vehicle body in a balanced state through the balance coefficient.

[0078] In some embodiments, the balance submodule generates balance coefficients for adjusting vehicle balance by analyzing key parameters in tire blowout condition information, such as vehicle attitude, wheel load distribution, and yaw rate.

[0079] In some embodiments, if the vehicle's drive system is configured with a single / dual drive source, and the tire blowout condition information indicates a single wheel-non-drive axle (single drive source) or a single wheel-rear axle (dual drive source with transfer case), with a small tire blowout yaw and a heavy drag, then the first control weight of the braking module is adjusted according to the tire blowout condition information to obtain a second control weight (e.g., max{Brk_Max, 0.4*ω0}), and a balancing braking force is applied to the coaxial non-blowout tire wheel; drag compensation is performed by the single drive source drive axle or the dual drive source front axle according to the tire blowout condition information; when the vehicle is equipped with a suspension / damping module, it travels straight. The suspension / damping module adjusts wheel load based on the balance coefficient and controls vehicle body posture balance, causing a slight shift of the vehicle towards the bend center during steering. Based on the ground adhesion coefficient and wheel slip ratio from tire blowout condition information, the steering assist of the front wheel steering module is reduced to prevent sideslip caused by oversteering. When the vehicle is equipped with a rear wheel steering module, the second control weight of the braking module is lowered (e.g., -0.2), and the second control weight of the rear wheel steering module is increased (e.g., 0.1). Here, the control direction of the rear wheel steering module can be adjusted according to the target control expectation, and the direction remains unchanged after control begins. Here, ω0 represents the target control expectation.

[0080] In this way, by generating a balance coefficient based on tire blowout condition information, the risk of loss of vehicle posture caused by tire blowout can be reduced, thereby improving the stability and safety of vehicle operation.

[0081] In this embodiment of the disclosure, a plurality of control function modules include at least one of the following: a front wheel steering module, a rear wheel steering module, a braking module, a drive module, and a suspension / damping module.

[0082] In some embodiments, the front wheel steering module can be either decoupled steer-by-wire or non-decoupled steer-by-wire. In the event of a tire blowout, the main control module adjusts the first control weights of multiple target control function modules based on blowout information (e.g., increasing steering weight for a front wheel blowout) to obtain a second control weight. If the front wheel steering module is a non-electric drive module or other modules are downgraded, the weights are further increased to a third control weight to enhance steering control accuracy. Simultaneously, to mitigate the risk of sudden steering inputs, the front wheel steering module linearly reduces steering resistance based on vehicle speed and steering urgency; when the vehicle speed drops below 20 kph, the steering resistance returns to normal.

[0083] In some embodiments, the rear-wheel steering module can be either decoupled steer-by-wire or non-decoupled steer-by-wire. The rear-wheel steering module is an optional configuration module; its availability is determined by analyzing the vehicle's configuration information. When the vehicle is equipped with a rear-wheel steering module, the main control module distributes steering between the front-wheel and rear-wheel steering modules according to the target control expectation (such as yaw suppression), and the two modules work together to adjust the wheel angles. The control direction of the rear-wheel steering module can be dynamically adjusted according to the target control expectation, but it remains unchanged after control begins.

[0084] In some embodiments, the braking module can be either an electric brake or a hydraulic brake. In the event of a tire blowout, the main control module assigns a relatively small second control weight to the braking module (e.g., 0.1), reducing directional adjustment by intervening in the brake force of the drive-by-wire wheels to balance braking yaw. If it is an electric drive system, the braking module will distribute the braking force as axle-electric regenerative braking, achieving energy recovery while ensuring braking effectiveness. It should be noted that the braking control weight should not be too high, otherwise it may easily lead to vehicle vibration and instability.

[0085] In some embodiments, the drive module can be either motor-driven or engine-driven; the drive components included in the drive module can be determined according to the vehicle's configuration information (such as left front drive components, right front drive components, etc.). In the event of a tire blowout, the main control module increases its first control weight proportionally to the wheel load transfer increment, obtaining a second control weight; if it is an electric drive system, the second control weight is increased to a third control weight; in terms of control logic, yaw is balanced by increasing the driving force of the non-blowout wheels on the same side as the blowout wheel, reducing the driving force of the non-blowout wheels on the same axle as the blowout wheel, or distributing the power increment to the rear axle; simultaneously, the maximum longitudinal driving capacity of each wheel is evaluated in real time to maximize the fit with the driver's target control expectations within the stability boundary, without forcing the driver to stop.

[0086] In some embodiments, the suspension / damping module can be an active suspension or a magnetorheological suspension. The arrangement and number of the suspension / damping modules are determined according to the vehicle's configuration information (such as the left front suspension / damping assembly, the left rear suspension / damping assembly, etc.). Regardless of whether the vehicle is in assisted driving or autonomous driving mode, the suspension / damping module is directly controlled by the FTSC algorithm. When driving straight, it increases grip by adjusting wheel load and shifting the vehicle body towards the non-burst tire side. When turning, it controls the vehicle body to shift slightly towards the center of the curve, and works with the balance coefficient of the balance submodule to achieve vehicle attitude stability.

[0087] In this embodiment of the disclosure, the vehicle control system includes: a notification module, which is activated when a tire blowout signal is received from the main control module, and displays a tire blowout notification on the vehicle's display screen; and / or outputs a tire blowout notification voice through the vehicle's voice notification submodule; and / or controls the tire blowout warning light to illuminate.

[0088] In some embodiments, a tire blowout warning is displayed on the vehicle's screen, including the specific location of the blown tire and suggested emergency procedures, so that the driver can quickly understand the current situation and take appropriate measures. Simultaneously, a voice prompt submodule generates clear and concise voice commands based on the tire blowout information, such as reminding the driver to keep the steering wheel steady, gradually reduce speed, and pull the vehicle to a safe area. Furthermore, the illumination of the tire blowout warning light visually attracts the driver's attention, preventing further risks due to ignoring the abnormal situation.

[0089] In this way, by combining multiple forms of prompts, the prompt module not only improves the driver's speed of perception of tire blowout events, but also enhances the ability to deal with emergencies, thereby improving the vehicle's safety under complex tire blowout conditions.

[0090] Embodiments of this disclosure also provide a vehicle including the vehicle control system described above. The vehicle can be a conventional vehicle or an unmanned / autonomous driving vehicle.

[0091] The acquisition, storage, and application of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0092] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0093] The vehicle control system and vehicle provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A vehicle control system for use in scenarios where a vehicle experiences a tire blowout, characterized in that, The system includes: The main control module is used to adjust the first control weights corresponding to each of the multiple target control function modules according to the tire blowout condition information to obtain the second control weights; The plurality of target control function modules are used to receive the second control weight assigned by the main control module, and to control the vehicle according to their respective corresponding second control weights.

2. The system according to claim 1, characterized in that, The main control module is further configured to determine the target control function module; wherein, determining the target control function module includes: Multiple control function modules are determined based on the vehicle's configuration information; The operating status of multiple control function modules is determined, and the control function module that is in normal operating status is identified as the target control function module.

3. The system according to claim 2, characterized in that, The main control module is further configured to adjust the second control weights corresponding to each of the multiple target control function modules according to the target control expectation and the tire blowout condition information to obtain a third control weight; allocate the third control weights to the multiple target control function modules, and have the multiple target control function modules control the vehicle according to their respective third control weights.

4. The system according to claim 3, characterized in that, The main control module includes: a data acquisition submodule; The acquisition submodule is used to acquire the tire blowout condition information and drive condition information in real time through multiple target sensors; wherein, the tire blowout condition information includes: tire blowout wheel information, wheel running data and dynamic state information.

5. The system according to claim 4, characterized in that, The main control module further includes a prediction submodule; the prediction submodule is used to make predictions based on the tire blowout condition information and the drive condition information to obtain the target control expectation.

6. The system according to claim 3, characterized in that, The main control module further includes a processing submodule, used to filter the second control weight and the third control weight, so that the multiple target control function modules control the vehicle according to their respective corresponding second control weight or third control weight.

7. The system according to claim 1, characterized in that, The main control module also includes a balance submodule, which generates a balance coefficient based on the tire blowout condition information in order to maintain the vehicle body in a balanced state through the balance coefficient.

8. The system according to claim 1, characterized in that, The plurality of control function modules include at least one of the following: Front wheel steering module; Rear wheel steering module; Braking module; Driver module; Suspension / damping module.

9. The system according to claim 1, characterized in that, Also includes: The alert module is activated when a tire blowout signal is received from the main control module, and displays a tire blowout alert on the vehicle's display screen. and / or The vehicle's voice prompt submodule outputs a tire blowout warning voice message; and / or Controls the tire blowout warning light to illuminate.

10. A vehicle, characterized in that, The vehicle includes a vehicle control system as described in any one of claims 1-9.

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