Vehicle safety driving control method and device

Abstract

The invention discloses a vehicle safety driving control method and device, and relates to the technical field of vehicles. The method comprises the steps that the wheel speed and the transverse sliding distance of each wheel in a vehicle and the roll angle of the vehicle are obtained; in response to the condition that at least one of the difference value of the wheel speed of any wheel and the wheel speed average value, the transverse slippage distance of any wheel and the roll angle of the vehicle meets the preset slippage triggering condition, the output torque of an engine of the vehicle and / or the braking force of the wheels are / is regulated and controlled, the slip triggering condition comprises that a difference value between the wheel speed of any wheel and a wheel speed average value is greater than a product of the wheel speed average value and a first preset multiple; the transverse sliding distance of any wheel is larger than a preset distance, and the side inclination angle is larger than a preset angle. According to the embodiment, the driving state of the vehicle can be controlled in time when slipping occurs, further aggravation of slipping is avoided, the probability of traffic accidents is reduced, and safe driving of the vehicle is guaranteed.

Description

TECHNICAL FIELD

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

[0002] With the development of automobile technology, higher requirements are put forward for the safety of vehicle driving. During the driving of the vehicle, the phenomenon of wheel slip may occur, and if timely intervention control cannot be made, traffic accidents may occur. Especially when the vehicle drives on a water road or drives in rainy and snowy weather, the phenomenon of wheel slip is more likely to occur. How to quickly identify whether the vehicle has slipped and timely control the vehicle after the vehicle has slipped so that the vehicle quickly returns to the normal driving state has become a problem to be solved at present. SUMMARY

[0003] Therefore, the embodiments of the present application provide a vehicle safe driving control method and device, which can timely control the driving state of the vehicle when the slip occurs, avoid the further aggravation of the slip, reduce the probability of traffic accidents, and ensure the safe driving of the vehicle.

[0004] To achieve the above-mentioned purpose, according to an aspect of an embodiment of the present application, a vehicle safe driving control method is provided, comprising:

[0005] obtaining the wheel speed, the lateral slip distance of each wheel in the vehicle, and the roll angle of the vehicle;

[0006] in response to at least one of the difference between the wheel speed of any wheel and the average wheel speed, the lateral slip distance of any wheel, and the roll angle of the vehicle satisfying a preset slip triggering condition, the output torque of the engine of the vehicle and / or the braking force applied to the wheel are regulated, and the slip triggering condition comprises: the difference between the wheel speed of any wheel and the average wheel speed is greater than the first preset multiple of the average wheel speed; the lateral slip distance of any wheel is greater than a preset distance and the roll angle is greater than a preset angle.

[0007] Optionally, regulating the braking force applied to the wheel comprises:

[0008] determining a target wheel that has slipped;

[0009] applying a braking force to the target wheel until the difference between the wheel speed of the target wheel and the average wheel speed is less than or equal to the product of the average wheel speed and the first preset multiple, the lateral slip distance of the target wheel is less than or equal to the preset distance, and the roll angle is less than or equal to the preset angle.

[0010] Optionally, the determination of the target wheel that has slipped comprises:

[0011] determining a wheel as a target wheel that has slipped when a difference between the wheel speed and the wheel speed average is greater than a product of the wheel speed average and the first preset multiple;

[0012] or,

[0013] calculating an absolute value of a wheel slip ratio of each wheel; and determining a wheel as a target wheel that has slipped when the absolute value of the wheel slip ratio is greater than a preset wheel slip ratio threshold.

[0014] Optionally, the method further comprises:

[0015] obtaining a first wheel speed of a drive wheel of the vehicle and a second wheel speed of a non-drive wheel of the vehicle;

[0016] calculating a current vehicle slip ratio according to the first wheel speed and the second wheel speed;

[0017] in response to the current vehicle slip ratio being greater than a preset vehicle slip ratio threshold, performing a step of regulating an output torque of an engine of the vehicle.

[0018] Optionally, the method further comprises:

[0019] searching for a preset vehicle slip ratio threshold corresponding to a current vehicle speed based on an association between vehicle speed and preset vehicle slip ratio range;

[0020] comparing the current vehicle slip ratio with the preset vehicle slip ratio threshold corresponding to the current vehicle speed.

[0021] Optionally, regulating the output torque of the engine of the vehicle comprises:

[0022] searching for a target torque reduction percentage corresponding to the current vehicle slip ratio from a preset association between vehicle slip ratio and torque reduction percentage;

[0023] determining a target demand torque at the current vehicle speed and a current accelerator pedal opening degree according to an accelerator pedal-demand torque mapping table;

[0024] calculating an expected torque according to the target torque reduction percentage and the target demand torque to adjust the output torque of the engine to the expected torque.

[0025] Optionally, the method further comprises:

[0026] in response to at least one of a difference between a wheel speed of any wheel and a wheel speed average, a lateral slip distance of any wheel, and a roll angle of the vehicle satisfying a preset slip triggering condition, generating a prompt information that the vehicle has slipped and steering is prohibited.

[0027] Optionally, the method further comprises:

[0028] In response to the difference between the wheel speed of any wheel and the average wheel speed, the lateral slip distance of any wheel, and the roll angle of the vehicle all not satisfying the preset slip triggering condition and the difference between the wheel speed of any wheel and the average wheel speed being greater than the product of the average wheel speed and the second preset multiple, the product of the average wheel speed and the second preset multiple being less than the product of the average wheel speed and the first preset multiple, the vehicle is determined to be at risk of slipping, and prompt information is generated.

[0029] Optionally, the method further includes:

[0030] In the case where the prompt information is generated, the driver is prompted by text, sound and light, haptics, or vehicle body movement.

[0031] To achieve the above object, according to another aspect of the embodiments of the present application, a vehicle safety driving control device is provided, which includes:

[0032] The acquisition module is configured to acquire the wheel speed, the lateral slip distance, and the roll angle of each wheel of the vehicle.

[0033] The control module is configured to, in response to at least one of the difference between the wheel speed of any wheel and the average wheel speed, the lateral slip distance of any wheel, and the roll angle of the vehicle satisfying a preset slip triggering condition, control the output torque of the engine of the vehicle and / or the braking force applied to the wheels, the slip triggering condition including: the difference between the wheel speed of any wheel and the average wheel speed being greater than the product of the average wheel speed and the first preset multiple; the lateral slip distance of any wheel being greater than a preset distance and the roll angle being greater than a preset angle.

[0034] To achieve the above object, according to another aspect of the embodiments of the present application, an electronic device for vehicle safety driving control is provided.

[0035] The electronic device for vehicle safety driving control includes one or more processors and a storage device configured to store one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle safety driving control method.

[0036] To achieve the above object, according to another aspect of the embodiments of the present application, a computer readable storage medium is provided.

[0037] The computer readable storage medium stores a computer program, when the program is executed by a processor, the vehicle safety driving control method is implemented.

[0038] To achieve the above object, according to another aspect of the embodiments of the present application, a computer program product is provided.

[0039] The computer program product of an embodiment of the present application comprises a computer program which, when executed by a processor, implements the vehicle safe driving control method of an embodiment of the present application.

[0040] An embodiment of the above application has the following advantages or beneficial effects: by acquiring the wheel speed, lateral slip distance and roll angle of each wheel of the vehicle, and judging whether the above data satisfies the preset slip triggering condition, in the case of satisfaction, the output torque of the engine of the vehicle and / or the braking force applied to the wheel are regulated, so that the vehicle quickly recovers to normal and stable driving state, the driving state of the vehicle can be timely controlled when the slip occurs, the further aggravation of the slip is avoided, the probability of traffic accidents is reduced, and the safe driving of the vehicle can be further ensured.

[0041] Exemplarily, for the scene that the vehicle slips due to changing lanes in rainy and snowy weather, the embodiment of the present application effectively reminds the vehicle driver whether the current state is suitable for changing lanes according to the acquired vehicle state, and improves the safety of the vehicle and the members.

[0042] The further effects of the above non-conventional optional mode will be described in the following combined with the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0043] The accompanying drawings are used to better understand the present application, and do not constitute undue limitations on the present application. Among them:

[0044] Figure 1 is a flowchart of the vehicle safe driving control method according to an embodiment of the present application;

[0045] Figure 2 is a flowchart of regulating the output torque of the engine according to an embodiment of the present application;

[0046] Figure 3 is a flowchart of the vehicle safe driving scheme according to another embodiment of the present application;

[0047] Figure 4 is a schematic diagram of the main modules of the vehicle safe driving control device according to an embodiment of the present application;

[0048] Figure 5 is an exemplary system architecture diagram to which the embodiment of the present application can be applied;

[0049] Figure 6 is a structural schematic diagram of a computer system suitable for implementing the vehicle safe driving control method and device of an embodiment of the present application. DETAILED DESCRIPTION

[0050] Exemplary embodiments of the present application are described herein below with reference to the accompanying drawings, in which various details are set forth to provide an understanding of the present application. It will be apparent to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the spirit and scope of the present application. Thus, the present application is not intended to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and features disclosed herein. Further, descriptions of well-known functions and constructions are omitted for clarity and conciseness.

[0051] It should be noted that the embodiments of the present application and the technical features in the embodiments can be combined with each other without conflict.

[0052] As shown in FIG. 1, the vehicle safe driving control method of the embodiment of the present application mainly includes the following steps S101-S102: Figure 1

[0053] In step S101, the wheel speed, lateral slip distance and roll angle of each wheel of the vehicle are obtained.

[0054] The wheel speed of each wheel can be obtained by a wheel speed sensor pre-configured in each wheel; the lateral acceleration of the vehicle can be obtained by a lateral acceleration sensor pre-configured on the vehicle body, and the lateral slip distance of the vehicle can be obtained by twice integration; and the roll angle of the vehicle can be determined by an inertial measurement unit pre-configured on the vehicle body.

[0055] The change of the wheel friction force is indirectly reflected by monitoring the tire motion state by the vehicle sensor.

[0056] In step S102, the output torque of the engine and / or the brake force applied to the wheel are regulated in response to at least one of the difference between the wheel speed of any wheel and the average wheel speed, the lateral slip distance of any wheel and the roll angle of the vehicle satisfying a preset slip triggering condition, wherein the slip triggering condition includes that the difference between the wheel speed of any wheel and the average wheel speed is greater than the product of the average wheel speed and a first preset multiple; the lateral slip distance of any wheel is greater than a preset distance and the roll angle is greater than a preset angle.

[0057] By regulating the output torque of the engine and / or the brake force applied to the wheel, the slip of the vehicle can be effectively inhibited, and the vehicle can quickly recover to the normal driving state.

[0058] It should be noted that during the execution of the above vehicle safe driving control method, the ABS anti-lock system is needed to prevent the wheel from locking. For example, during the regulation of the brake force applied to the wheel, if the brake force is continuously applied to the wheel, the absolute value of the wheel slip rate is too large, which may result in the tendency of the wheel locking, and then the ABS anti-lock system is involved to reduce the brake force so that the wheel slip rate returns to the normal range. ​

[0059] In an alternative embodiment, the brake force applied to the wheels is regulated, including: determining a target wheel that is slipping; applying a brake force to the target wheel until the difference between the wheel speed of the target wheel and the average wheel speed is less than or equal to the product of the average wheel speed and a first preset multiple, the lateral slip distance of the target wheel is less than or equal to a preset distance, and the roll angle is less than or equal to a preset angle.

[0060] Wherein the target wheel can be one or more. Further, the determination of the target wheel that is slipping can include: determining the wheel whose difference between the wheel speed and the average wheel speed is greater than the product of the average wheel speed and a first preset multiple as the target wheel that is slipping.

[0061] The first preset multiple can be set according to actual conditions. By setting the first preset multiple within a suitable range, the normal wheel speed difference between the drive wheels and the non-drive wheels can be avoided from being mistakenly identified as the presence of wheel slip.

[0062] As an example, the first preset multiple can be set to 0.1, and when the wheel speeds of the four wheels of the vehicle are 40 km / h, 40 km / h, 25 km / h and 25 km / h respectively, the average wheel speed can be calculated to be 32.5 km / h. Among them, for the wheels with a wheel speed of 40 km / h, the difference between the wheel speed and the average wheel speed can be calculated to be 7.5, which is greater than 0.1 times the average wheel speed, i.e. 3.25, so the two wheels with a wheel speed of 40 km / h can be determined as the target wheels.

[0063] In addition, the determination of the target wheel that is slipping can include: calculating the absolute value of the wheel slip rate of each wheel; determining the wheel whose absolute value of the wheel slip rate is greater than a preset wheel slip rate threshold as the target wheel that is slipping.

[0064] Wherein the wheel slip rate can be calculated from the wheel theoretical rolling speed and the current speed.

[0065] Specifically, first, the effective rolling radius of the wheel is determined by the tire calibration radius, which is generally 95%~98% of the tire calibration radius; then the wheel angular velocity can be obtained according to the wheel speed sensor; then the wheel theoretical rolling speed can be calculated according to the effective rolling radius and the wheel angular velocity, please refer to the following formula (1),

[0066] (1)

[0067] Wherein, represents the wheel theoretical rolling speed; represents the wheel angular velocity; r represents the effective rolling radius.

[0068] The wheel slip ratio can be calculated using the following formula (2):

[0069] (2)

[0070] in, This indicates the wheel slip ratio.

[0071] The preset wheel slip ratio threshold can be set according to actual conditions. As an example, the preset wheel slip ratio can be set to 32%.

[0072] Optionally, the steering wheel angle sensor can be used to detect the vehicle's steering or lane-changing intentions, and lateral acceleration sensors can be used to further detect the vehicle's roll and lateral slip when turning, so as to determine whether the tires of the wheels are slipping due to insufficient friction.

[0073] It is understandable that the method for determining the target wheel in case of slippage is not limited to the two implementation methods mentioned above. In practice, the target wheel can also be determined based on the vehicle's dynamics model, sensor data, wheel position, lateral acceleration, etc., without specific limitations here. As an example, based on the vehicle's dynamics model and sensor data, it can be determined that during oversteer, the outer rear wheel has the greatest impact on the lateral slip distance and roll angle due to load transfer. Therefore, the target wheel is determined to be the outer rear wheel of the vehicle's steering. Similarly, based on the vehicle's dynamics model and sensor data, it can be determined that during understeer, the inner front wheel of the vehicle's steering has the greatest impact on the lateral slip distance and roll angle. Therefore, the target wheel is determined to be the inner front wheel of the vehicle's steering.

[0074] Once the target wheel that is slipping is identified, braking force can be applied to the target wheel to quickly suppress the slippage until the difference between the wheel speed and the average wheel speed, the lateral slip distance of the wheel, and the vehicle's tilt angle all fail to meet the preset slippage trigger conditions, thereby controlling the vehicle to drive safely.

[0075] In an optional embodiment, the method further includes: obtaining a first wheel speed of the driving wheels and a second wheel speed of the non-driving wheels of the vehicle; calculating a current vehicle slip ratio based on the first wheel speed and the second wheel speed; and, in response to the current vehicle slip ratio being greater than a preset vehicle slip ratio threshold, performing a step of regulating the output torque of the vehicle's engine.

[0076] The drive wheels and non-drive wheels of a vehicle have different wheel speeds, and this difference increases, especially when the vehicle slips. To calculate the overall slip ratio, it is necessary to consider both the first wheel speed of the drive wheels and the second wheel speed of the non-drive wheels. Both the first and second wheel speeds can be obtained using wheel speed sensors pre-installed on the vehicle body.

[0077] The current vehicle slip ratio can be calculated according to the first wheel speed and the second wheel speed, which can refer to the following formula (3),

[0078] (3)

[0079] wherein, represents the current vehicle slip ratio; represents the first wheel speed; represents the second wheel speed.

[0080] The current vehicle slip ratio is compared with the preset vehicle slip ratio threshold. If the current vehicle slip ratio is less than or equal to the preset vehicle slip ratio threshold, it indicates that the relative sliding degree of the wheels of the current vehicle with the ground is in a safe grip range, and the torque regulation can not be triggered. If the current vehicle slip ratio is greater than the preset vehicle slip ratio threshold, it indicates that the wheels of the current vehicle have slipped, and the vehicle slip can be controlled by triggering the torque regulation to make the vehicle return to a normal safe driving state.

[0081] Further, the above method further comprises: searching a preset vehicle slip ratio threshold corresponding to the current vehicle speed based on the association between the vehicle speed and the preset vehicle slip ratio range; and comparing the current vehicle slip ratio with the preset vehicle slip ratio threshold corresponding to the current vehicle speed.

[0082] The association between the vehicle speed and the preset vehicle slip ratio range refers to a mapping table of the corresponding relationship between the vehicle speed and the corresponding preset vehicle slip ratio, which is calibrated in advance. Here, the preset vehicle slip ratio range refers to an ideal slip ratio range set at different vehicle speeds to ensure the safety of vehicle driving.

[0083] After determining the preset vehicle slip ratio range corresponding to the current vehicle speed based on the association between the vehicle speed and the preset vehicle slip ratio range, the upper limit value of the preset vehicle slip ratio range can be taken as the preset vehicle slip ratio threshold corresponding to the current vehicle speed, and then the current vehicle slip ratio is compared with the preset vehicle slip ratio threshold.

[0084] In an optional embodiment, as shown in FIG. 2, Figure 2 the output torque of the engine of the vehicle is regulated, which includes the following steps S201-S203:

[0085] Step S201: searching a target torque reduction percentage corresponding to the current vehicle slip ratio from the pre-constructed association between the vehicle slip ratio and the torque reduction percentage;

[0086] The torque reduction percentage refers to the proportion of the torque that needs to be reduced from the demand torque of the current vehicle in order to suppress the vehicle slip.

[0087] The pre-constructed vehicle slip rate and reduction torque percentage correlation refers to a vehicle slip rate-reduction torque percentage mapping table obtained through real vehicle testing and calibration before the vehicle is produced off-line. In the vehicle, the above-mentioned vehicle slip rate and reduction torque percentage correlation can be pre-stored in the memory of the control system of the vehicle for easy calling. After the current vehicle slip rate is determined, the above-mentioned vehicle slip rate and reduction torque percentage correlation can be directly called, and the target reduction torque percentage corresponding to the current vehicle slip rate is searched to regulate the output torque of the transmitter based on this.

[0088] Step S202, determining the target demand torque at the current vehicle speed and the current accelerator pedal opening according to the accelerator pedal-demand torque mapping table;

[0089] The accelerator pedal-demand torque mapping table refers to a mapping table of the corresponding relationship between the vehicle accelerator pedal opening and the engine demand torque, and there are different accelerator pedal-demand torque mapping tables at different vehicle speeds.

[0090] According to the current vehicle speed, the accelerator pedal-demand torque mapping table corresponding to the current vehicle speed can be called, and then the corresponding target demand torque is determined according to the current accelerator pedal opening.

[0091] Step S203, calculating the expected torque according to the above-mentioned target reduction torque percentage and the above-mentioned target demand torque, so as to adjust the output torque of the engine to the above-mentioned expected torque.

[0092] The calculation method of the expected torque is shown in the following formula (4),

[0093] (4)

[0094] Wherein, represents the expected torque; represents the target demand torque; represents the target reduction torque percentage.

[0095] Specifically, the way to adjust the output torque of the engine to the expected torque can include but is not limited to adjusting the throttle opening or adjusting the fuel injection amount, etc., but is not limited thereto.

[0096] By adjusting the output torque of the transmitter to the expected torque, the difference between the wheel speed of the vehicle and the average value of the wheel speed, the lateral slip distance of the vehicle and the roll angle of the vehicle all do not meet the preset slip triggering condition, so as to control the vehicle to run safely.

[0097] In the embodiment of the present application, the vehicle safe driving control method contained in the embodiment of the present application can be executed by a vehicle ESP (Electronic Stability Program) system, that is, the ESP system automatically applies a braking force to a wheel of the vehicle to reduce the rotation speed of the wheel to restore the grip force when the wheel is determined to slip (for example, the outside wheel slips due to insufficient friction when turning in a rainy or snowy day), and avoids the wheel from locking by means of ABS (Anti-lock Braking System). Further, if the driving wheel is determined to slip due to insufficient friction (for example, the ground is wet when starting), the ESP limits the engine torque output to prevent the power from exceeding the grip limit of the tire.

[0098] In an optional embodiment, the method further comprises: in response to at least one of the difference between the wheel speed of any wheel and the average wheel speed, the lateral slip distance of any wheel, and the roll angle of the vehicle satisfying a preset slip triggering condition, generating prompt information that the vehicle has slipped and steering is prohibited.

[0099] When the preset slip triggering condition is satisfied, it indicates that the vehicle has slipped, and at this time, in order to ensure the safe driving of the vehicle and avoid the problem that the slip of the vehicle is further aggravated when steering, prompt information that the vehicle has slipped and steering is prohibited can be generated to prompt the driver, thereby reducing the probability of traffic accidents.

[0100] In an optional embodiment, the method further comprises: in response to none of the difference between the wheel speed of any wheel and the average wheel speed, the lateral slip distance of any wheel, and the roll angle of the vehicle satisfying a preset slip triggering condition and the difference between the wheel speed of any wheel and the average wheel speed being greater than the product of the average wheel speed and a second preset multiple, generating prompt information that the vehicle has a slip risk, the product of the average wheel speed and the second preset multiple being less than the product of the average wheel speed and a first preset multiple.

[0101] When the preset slip triggering condition is not satisfied, if the difference between the wheel speed of any wheel and the average wheel speed is greater than the product of the average wheel speed and a second preset multiple, it indicates that although the vehicle has not slipped temporarily, there is a risk of slip, and prompt information that the vehicle has a slip risk can be generated to prompt the driver to take corresponding measures in time.

[0102] As an example, the first preset multiple can be set as 0.1, and the second preset multiple can be set as 0.05. When the wheel speed of the first wheel in the vehicle is 21.9 km / h, the wheel speed of the second wheel is 21.2 km / h, the wheel speed of the third wheel is 18.1 km / h, the wheel speed of the fourth wheel is 18.8 km / h, and the average wheel speed is 20 km / h, it can be determined that the difference between the wheel speed of the first wheel and the average wheel speed and the difference between the wheel speed of the second wheel and the average wheel speed are both less than the product of the average wheel speed and the first preset multiple and greater than the product of the average wheel speed and the second preset multiple, and the difference between the wheel speed of the third wheel and the average wheel speed and the difference between the wheel speed of the fourth wheel and the average wheel speed are both less than the product of the average wheel speed and the second preset multiple. Therefore, the prompt information that the vehicle has a risk of slipping can be generated.

[0103] As another example, the first preset multiple can be set as 0.1, and the second preset multiple can be set as 0.05. When the wheel speed of the first wheel in the vehicle is 22.5 km / h, the wheel speed of the second wheel is 21.2 km / h, the wheel speed of the third wheel is 17.5 km / h, the wheel speed of the fourth wheel is 18.8 km / h, and the average wheel speed is 20 km / h, it can be determined that the difference between the wheel speed of the first wheel and the average wheel speed is greater than the product of the average wheel speed and the first preset multiple, the difference between the wheel speed of the second wheel and the average wheel speed is less than the product of the average wheel speed and the first preset multiple and greater than the product of the average wheel speed and the second preset multiple, and the difference between the wheel speed of the third wheel and the average wheel speed and the difference between the wheel speed of the fourth wheel and the average wheel speed are both less than the product of the average wheel speed and the second preset multiple. Therefore, the prompt information that the vehicle has already slipped and the steering is prohibited can be generated.

[0104] In an optional embodiment, the above method further comprises: in the case that the prompt information is generated, prompting the driver through text, sound and light, touch, or vehicle body action, etc.

[0105] The text prompt can include displaying the above prompt information in the form of text through the vehicle-mounted display screen or the user terminal bound to the vehicle. The sound and light prompt can include outputting the above prompt information in the form of voice through the speaker in the vehicle or the speaker of the user terminal bound to the vehicle, or prompting the driver through the on-off, color, brightness, and flicker frequency of the light of the ambient light, the vehicle-mounted display screen, the instrument panel, or the indicator light of the vehicle center console. The touch prompt can include prompting the driver through the vibration of the steering wheel or the driver's seat cushion. The vehicle body action can include prompting the driver by adjusting the braking power to produce a jerk feeling, etc.

[0106] The prompt method of the above prompt information is not limited to the above-mentioned several methods, which are not limited herein.

[0107] Furthermore, different notification methods can be used for warning messages indicating a risk of vehicle skidding and warning messages indicating that skidding has already occurred and steering is prohibited. For example, when a warning message indicating a risk of vehicle skidding is generated, the driver can be alerted via a voice output through the in-vehicle speaker; when a warning message indicating that skidding has already occurred and steering is prohibited is generated, the driver can be alerted by displaying the text "Vehicle has skidded; steering is prohibited" on the in-vehicle display screen. As another example, when a warning message indicating a risk of vehicle skidding is generated, the driver can be alerted by a yellow indicator light on the instrument panel; when a warning message indicating that skidding has already occurred and steering is prohibited is generated, the driver can be alerted by a red indicator light on the instrument panel.

[0108] According to the vehicle safe driving control method of the present invention, by acquiring the wheel speed, lateral slip distance and tilt angle of each wheel of the vehicle, and determining whether the above data meets the preset slip trigger conditions, if the conditions are met, the output torque of the vehicle's engine and / or the braking force applied to the wheels are adjusted to enable the vehicle to quickly return to a normal and stable driving state. This method can control the vehicle's driving state in a timely manner when slippage occurs, prevent further aggravation of slippage, reduce the probability of traffic accidents, and further ensure the safe driving of the vehicle.

[0109] In this embodiment of the invention, sensor data can be transmitted to the ESP control unit (ECU) via the information transmission path vehicle network (CAN bus). After analysis by the method of this embodiment, the ECU obtains data including braking force or torque, and then sends data commands including braking force or torque to the braking system, engine management system, etc.

[0110] The following specific embodiment further illustrates the vehicle safe driving control method.

[0111] like Figure 3 As shown, the vehicle safe driving control method of this embodiment includes the following steps S301 to S310:

[0112] Step S301: Obtain the wheel speed, lateral slip distance, and roll angle of each wheel in the vehicle;

[0113] Step S302: Determine whether the wheel speed, lateral slip distance, or vehicle tilt angle of the wheel meet the preset slip trigger conditions. If not, proceed to step S303; if so, execute steps S305, S306, and S307 respectively.

[0114] The slip triggering condition comprises that the difference between the wheel speed of any wheel and the average wheel speed is greater than the product of the average wheel speed and a first preset multiple; the lateral slip distance of any wheel is greater than a preset distance and the roll angle is greater than a preset angle.

[0115] In step S303, if none of the preset slip triggering conditions is met, it is determined whether the difference between the wheel speed of any wheel and the average wheel speed is greater than the product of the average wheel speed and a second preset multiple, and if yes, the process proceeds to step S304; if no, the process returns to step S301.

[0116] In step S304, a prompt message that the vehicle has a slip risk is generated, and the driver is prompted.

[0117] In step S305, a prompt message that the vehicle has slipped and the steering is prohibited is generated, the driver is prompted, and the current process is ended.

[0118] In step S306, a target wheel that has slipped is determined, a braking force is applied to the target wheel until the difference between the wheel speed of the target wheel and the average wheel speed, the lateral slip distance of the wheel, and the roll angle of the vehicle all do not meet the preset slip triggering condition, and the current process is ended.

[0119] The determination of the target wheel comprises that the wheel whose difference between the wheel speed and the average wheel speed is greater than the product of the average wheel speed and a first preset multiple is determined as the target wheel that has slipped, or the absolute value of the wheel slip rate of each wheel is calculated, and the wheel whose absolute value of the wheel slip rate is greater than a preset wheel slip rate threshold is determined as the target wheel that has slipped.

[0120] In step S307, a first wheel speed of a driving wheel and a second wheel speed of a non-driving wheel of the vehicle are obtained, a current vehicle slip rate is calculated according to the first wheel speed and the second wheel speed, and if the current vehicle slip rate is greater than a preset vehicle slip rate threshold, the process proceeds to step S308; if the current vehicle slip rate is less than or equal to the preset vehicle slip rate threshold, the process returns to step S301.

[0121] The preset vehicle slip rate threshold can be determined based on the current vehicle speed in the association between the vehicle speed and the preset vehicle slip rate range.

[0122] In step S308, a target torque reduction percentage corresponding to the current vehicle slip rate is searched from a preset association between the vehicle slip rate and the torque reduction percentage.

[0123] In step S309, a target demand torque at the current vehicle speed and the current accelerator pedal opening is determined according to an accelerator pedal-demand torque mapping table.

[0124] Step S310; calculating the expected torque according to the target percentage of torque reduction and the target required torque, so as to adjust the output torque of the engine to the expected torque.

[0125] According to the vehicle safe driving control method, the wheel speed, the lateral slip distance and the roll angle of each wheel of the vehicle are obtained, and it is judged whether the data meets the preset slip triggering condition, and in the case of meeting, the output torque of the engine of the vehicle and / or the braking force applied to the wheel are regulated, so that the vehicle quickly returns to the normal and stable driving state, the driving state of the vehicle can be controlled in time when the slip occurs, the further aggravation of the slip is avoided, the probability of traffic accidents is reduced, and the safe driving of the vehicle can be further ensured.

[0126] Meanwhile, in the case that it is identified that the vehicle has a slip risk or the vehicle has already slipped, a prompt is sent to the driver in time, so that the driver can handle in time, the probability of traffic accidents is further reduced, and the safety of life and property of the driver is ensured.

[0127] As shown in Figure 4 The vehicle safe driving control device 400 of the embodiment of the present application comprises: an obtaining module 401, configured to obtain the wheel speed, the lateral slip distance and the roll angle of each wheel of the vehicle; and a regulating module 402, configured to regulate the output torque of the engine of the vehicle and / or the braking force applied to the wheel in response to at least one of the difference between the wheel speed of any wheel and the average wheel speed, the lateral slip distance of any wheel and the roll angle of the vehicle meeting a preset slip triggering condition, the slip triggering condition comprising: the difference between the wheel speed of any wheel and the average wheel speed being greater than the product of the average wheel speed and a first preset multiple; the lateral slip distance of any wheel being greater than a preset distance and the roll angle being greater than a preset angle.

[0128] In an optional embodiment of the present application, the regulating module 402 is further configured to: determine a target wheel that has slipped; and apply a braking force to the target wheel until the difference between the wheel speed of the target wheel and the average wheel speed is less than or equal to the product of the average wheel speed and the first preset multiple, the lateral slip distance of the target wheel is less than or equal to the preset distance, and the roll angle is less than or equal to the preset angle.

[0129] In an optional embodiment of the present application, the regulating module 402 is further configured to: determine a wheel whose difference between the wheel speed and the average wheel speed is greater than the product of the average wheel speed and the first preset multiple as a target wheel that has slipped; or, calculate the absolute value of the wheel slip rate of each wheel; and determine a wheel whose absolute value of the wheel slip rate is greater than a preset wheel slip rate threshold as a target wheel that has slipped.

[0130] In an optional embodiment of the present application, the regulating module 402 is further configured to: acquire a first wheel speed of a driving wheel and a second wheel speed of a non-driving wheel of the vehicle; calculate a current vehicle slip ratio according to the first wheel speed and the second wheel speed; and perform the step of regulating the output torque of the engine of the vehicle in response to the current vehicle slip ratio being greater than a preset vehicle slip ratio threshold.

[0131] In an optional embodiment of the present application, the regulating module 402 is further configured to: search for a preset vehicle slip ratio threshold corresponding to a current vehicle speed based on an association between vehicle speeds and preset vehicle slip ratio ranges; and compare the current vehicle slip ratio with the preset vehicle slip ratio threshold corresponding to the current vehicle speed.

[0132] In an optional embodiment of the present application, the regulating module 402 is further configured to: search for a target torque reduction percentage corresponding to the current vehicle slip ratio from a pre-constructed association between vehicle slip ratios and torque reduction percentages; determine a target demand torque at the current vehicle speed and a current accelerator pedal opening degree according to an accelerator pedal-demand torque mapping table; and calculate an expected torque according to the target torque reduction percentage and the target demand torque, so as to adjust the output torque of the engine to the expected torque.

[0133] In an optional embodiment of the present application, the vehicle safe driving control device 400 further comprises a prompting module configured to: generate a prompt information that the vehicle has slipped and steering is prohibited in response to at least one of a difference between a wheel speed of any wheel and a wheel speed average value, a lateral slip distance of any wheel, and a roll angle of the vehicle satisfying a preset slip triggering condition.

[0134] In an optional embodiment of the present application, the prompting module is further configured to: generate a prompt information that the vehicle has a slip risk in response to none of the difference between the wheel speed of any wheel and the wheel speed average value, the lateral slip distance of any wheel, and the roll angle of the vehicle satisfying the preset slip triggering condition and the difference between the wheel speed of any wheel and the wheel speed average value being greater than a product of the wheel speed average value and a second preset multiple, the product of the wheel speed average value and the second preset multiple being less than a product of the wheel speed average value and a first preset multiple.

[0135] In an optional embodiment of the present application, the prompting module is further configured to: prompt the driver through words, sound and light, haptics, or vehicle body actions, etc. in the case that the prompt information is generated.

[0136] According to the vehicle safe driving control device provided by the embodiment of the present application, the wheel speed, the lateral slip distance and the roll angle of each wheel of the vehicle are obtained, and it is determined whether the above data satisfies the preset slip triggering condition, and in the case of satisfying, the output torque of the engine of the vehicle and / or the brake force applied to the wheel are regulated, so that the vehicle quickly returns to the normal and stable driving state, the driving state of the vehicle can be controlled in time when the slip occurs, the further aggravation of the slip is avoided, the probability of traffic accidents is reduced, and the safe driving of the vehicle can be further ensured.

[0137] The following describes a possible system architecture on which the vehicle safe driving control method provided by the embodiment of the present application depends, and the technical scenario to which the vehicle safe driving control method provided by the embodiment of the present application is applied when the vehicle safe driving control device is applied to a vehicle, or the technical scenario to which the vehicle safe driving control device is applied when the vehicle safe driving control device is configured in a vehicle.

[0138] Figure 5 An exemplary system architecture on which the vehicle safe driving control method or the vehicle safe driving control device provided by the embodiment of the present application depends is shown. As shown in Figure 5 The vehicle system architecture 500 can include various systems, such as a driving control system 501, a power system 502, a sensor system 503, a control system 504, one or more peripheral devices 505, a power supply 506, a computer system 507 and a user interface 508. The vehicle safe driving control method provided by the embodiment of the present application can be implemented by interacting with each of the above systems, or can be implemented by an external device controlling the above systems or a robot driving the vehicle operating the above systems. Alternatively, the vehicle system architecture 500 can include more or fewer systems, and each system can include multiple elements. In addition, each system and element of the vehicle system architecture 500 can be interconnected by wire or wirelessly.

[0139] The vehicle system architecture 500 includes the driving control system 501, which can be a full or partial automatic driving mode, an emergency automatic driving mode or controlled according to the driver's operation of the steering wheel, clutch, throttle, etc. For example, the driving control system 501 can automatically control the vehicle driving according to the control signal or control instruction without human interaction or by interacting with an external device or by a robot driving the vehicle.

[0140] The power system 502 can include components that provide power motion for the vehicle. For example, the power system 502 can include an engine, an energy source, a transmission, wheels, tires, etc. The engine can be a combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine composed of a gasoline engine and an electric motor, a hybrid engine composed of a combustion engine and an air compression engine. The engine converts the energy source into mechanical energy to provide to the transmission. Examples of the energy source can include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source can also provide energy to other systems of the vehicle. In addition, the transmission can include a gearbox, a differential, a drive shaft, a clutch, etc.

[0141] The sensor system 503 can include sensors that sense the surrounding environment of the vehicle, such as sensors that sense whether there are obstacles around, etc. For example, a positioning system (which can be a global positioning system (GPS) system, a Beidou system, or other positioning systems), a radar sensor, an ultrasonic sensor, a laser range finder, an inertial measurement unit (IMU), an image sensor, etc. The positioning system can be used to locate the geographical position of the vehicle. The IMU is used to sense the position and orientation changes of the vehicle based on inertial acceleration. In one embodiment, the IMU can be a combination of an accelerometer and a gyroscope. The radar sensor can use millimeter wave signals to sense objects within the surrounding environment of the vehicle. In some embodiments, in addition to sensing objects, the radar sensor can also be used to sense the speed and / or direction of advance of the objects, etc. The image sensor can be used to detect information, objects, personnel, or personnel actions, etc. inside or outside the vehicle.

[0142] The control system 504 can include software systems that enable the vehicle to travel, such as systems that analyze the surrounding environment of the vehicle, systems that pre-tighten seat belts, systems that plan routes, systems that avoid obstacles, vision systems that perform image analysis, driver fatigue detection systems, etc. The control system 504 can also include hardware systems such as throttle systems, steering wheel systems, seat belt systems, airbag systems, peripheral devices (such as projection devices, displays, etc.). In addition, the control system 504 can additionally or alternatively include components other than those shown and described. Or a portion of the above-described components can be reduced.

[0143] Further, the control system 504 can further include a vehicle safety driving control device, which can be configured to acquire wheel speeds of each wheel in the vehicle, lateral slip distances of each wheel, and a roll angle of the vehicle; and in response to at least one of a difference between the wheel speed of any wheel and an average value of the wheel speeds, a lateral slip distance of any wheel, and the roll angle of the vehicle satisfying a preset slip triggering condition, the slip triggering condition including that the difference between the wheel speed of any wheel and the average value of the wheel speeds is greater than a product of the average value of the wheel speeds and a first preset multiple, the lateral slip distance of any wheel is greater than a preset distance, and the roll angle is greater than a preset angle, the output torque of the engine of the vehicle and / or the braking force applied to the wheels are regulated.

[0144] In addition, the control system 504 can interact with external sensors, other autonomous driving devices, other computer systems, or users via peripherals 505. The peripherals 505 can include a wireless communication system, an on-board computer, a microphone and / or a speaker, a camera, and a projector, among others.

[0145] In some embodiments, the peripherals 505 provide a means for a user of the control system 504 to interact with a user interface. For example, the on-board computer can provide information to a user of the vehicle. The user interface can also operate the on-board computer to receive input from the user. The on-board computer can be operated via a touchscreen. In other cases, the peripherals can provide a means for communicating with other devices located within the vehicle. For example, the microphone can receive audio (such as voice commands or other audio input) from a user of the control system. Similarly, the speaker can output audio to a user of the control system.

[0146] The wireless communication system can wirelessly communicate with one or more devices directly or via a communication network. For example, the wireless communication system can communicate with devices using cellular networks, Wi-Fi and wireless local area networks (WLAN), among other networks, and can also communicate directly with devices using infrared links, Bluetooth, or ZigBee. Other wireless protocols, such as various autonomous driving communication systems, among others, can also be used.

[0147] The power source 506 can provide power to various components of the vehicle. The power source 506 can be a rechargeable lithium-ion or lead-acid battery.

[0148] Some or all of the functionality to implement vehicle safety driving control is controlled by a computer system 507. The computer system 507 can include at least one processor that executes instructions stored in a non-transitory computer-readable medium, such as a memory. The computer system 507 provides the control system described above with the executable code to implement vehicle safety driving control.

[0149] The processor can be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor can be a dedicated device such as an application specific integrated circuit (ASIC) or other hardware-based processor. Those skilled in the art will appreciate that the processor, computer, or memory can actually comprise a plurality of processors, computers, or memories, which can or can not be stored in the same physical housing. For example, the memory can be a hard drive or other storage medium located in a housing different from that of the computer. Accordingly, reference to a processor or computer will be understood to encompass reference to a collection of processors or computers or memories, which can or can not operate in parallel. Rather than using a single processor to perform the steps described herein, such as the steering assembly and the deceleration assembly, some of the components can each have its own processor, which only performs determinations related to the functionality specific to the component.

[0150] A user interface 508 is provided for providing information to or receiving information from a user of the vehicle. Optionally, the user interface 508 can include one or more input / output devices in the set of peripheral devices 505, such as a wireless communication system, an on-board computer, a microphone, and a speaker.

[0151] It should be understood that the above components are only an example, in actual applications, components in each module or system can be added or deleted according to actual needs, Figure 5 It should not be understood as a limitation to the embodiments of the present application.

[0152] Reference will now be made to the following description Figure 6 which shows a structural schematic diagram of a computer system 600 suitable for implementing the vehicle safe driving control method and device according to the embodiments of the present application. Figure 6 The computer system 600 shown is merely an example, and should not bring any limitation to the functions and use range of the embodiments of the present application.

[0153] As shown in the figure, Figure 6 The computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 602 or programs loaded from a storage portion 608 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the computer system 600 are also stored. The CPU 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0154] The following components are connected to the I / O interface 605: an input part 606 including a keyboard, a mouse, etc.; an output part 607 including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage part 608 including a hard disk, etc.; and a communication part 609 including a network interface card such as a LAN card, a modem, etc. The communication part 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as necessary. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 610 as necessary, so that a computer program read out therefrom is installed in the storage part 608 as necessary.

[0155] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for executing the methods illustrated by the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by the communication part 609, and / or installed from the removable medium 611. When the computer program is executed by the central processing unit (CPU) 601, the above-described functions defined in the system of the present disclosure are executed.

[0156] It should be noted that the computer-readable medium shown in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component. In the present application, the computer-readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or component. The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0157] The flow diagrams and block diagrams in the drawings are schematic illustrations of possible architectures, functions and operations of systems, methods and computer program products in accordance with various embodiments of the present application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may be executed in the reverse order, depending on the functionality involved. It will also be noted that each block of the block diagrams or flow diagrams, and combinations of blocks in the block diagrams or flow diagrams, can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or combinations of special purpose hardware and computer instructions.

[0158] The modules described in the embodiments of the present application can be implemented in the form of software or hardware. The modules described can also be arranged in a processor, for example, a processor can be described as comprising an acquisition module and a control module. In some cases, the names of the modules do not constitute a limitation on the modules themselves, for example, the acquisition module can also be described as a module that acquires wheel speeds, lateral slip distances and roll angles of each wheel of a vehicle.

[0159] As another aspect, the present application also provides a computer readable medium, which can be included in the device described in the above embodiments or can exist independently without being assembled into the device. The computer readable medium carries one or more programs, which, when executed by the device, cause the device to include: acquiring wheel speeds, lateral slip distances and roll angles of each wheel of a vehicle; in response to at least one of a difference between a wheel speed of any wheel and an average wheel speed, a lateral slip distance of any wheel and a roll angle of the vehicle satisfying a preset slip trigger condition, the slip trigger condition including: the difference between the wheel speed of any wheel and the average wheel speed being greater than a product of the average wheel speed and a first preset multiple; the lateral slip distance of any wheel being greater than a preset distance and the roll angle being greater than a preset angle, the output torque of the engine of the vehicle and / or the braking force applied to the wheels are controlled.

[0160] According to the technical solutions of the embodiments of the present application, by acquiring wheel speeds, lateral slip distances and roll angles of each wheel of a vehicle and judging whether the data satisfy a preset slip trigger condition, in the case of satisfaction, the output torque of the engine of the vehicle and / or the braking force applied to the wheels are controlled, so that the vehicle quickly recovers to a normal and smooth driving state, the driving state of the vehicle can be controlled in time when the slip occurs, the further aggravation of the slip is avoided, the probability of traffic accidents is reduced, and the safe driving of the vehicle can be further ensured.

[0161] The specific embodiments described above do not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made depending on design requirements and other factors. Any modification, equivalent replacement and improvement made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle safe travel control method characterized by comprising: The method comprises: acquiring wheel speeds of each wheel of the vehicle, lateral slip distances of each wheel, and a roll angle of the vehicle; in response to at least one of a difference between the wheel speed of any wheel and a wheel speed average value, a lateral slip distance of any wheel, and a roll angle of the vehicle satisfying a preset slip triggering condition, the slip triggering condition comprising: the difference between the wheel speed of any wheel and the wheel speed average value being greater than a product of the wheel speed average value and a first preset multiple; the lateral slip distance of any wheel being greater than a preset distance and the roll angle being greater than a preset angle, regulating an output torque of an engine of the vehicle and / or a braking force applied to the wheels.

2. The vehicle safety running control method according to claim 1, characterized by The regulating the braking force applied to the wheels comprises: determining a target wheel that has slipped; applying a braking force to the target wheel until the difference between the wheel speed of the target wheel and the wheel speed average value is less than or equal to the product of the wheel speed average value and the first preset multiple, the lateral slip distance of the target wheel is less than or equal to the preset distance, and the roll angle is less than or equal to the preset angle.

3. The vehicle safety running control method according to claim 2, characterized by The determining the target wheel that has slipped comprises: determining a wheel whose difference between the wheel speed and the wheel speed average value is greater than the product of the wheel speed average value and the first preset multiple as the target wheel that has slipped; or calculating absolute values of wheel slip rates of each wheel, and determining a wheel whose absolute value of the wheel slip rate is greater than a preset wheel slip rate threshold as the target wheel that has slipped. The method further comprises:

4. The vehicle safe travel control method according to claim 1, characterized by acquiring a first wheel speed of a driving wheel of the vehicle and a second wheel speed of a non-driving wheel; calculating a current vehicle slip rate according to the first wheel speed and the second wheel speed; in response to the current vehicle slip rate being greater than a preset vehicle slip rate threshold, performing the step of regulating the output torque of the engine of the vehicle. The method further comprises:

5. The vehicle safety running control method according to claim 4, characterized by searching for a preset vehicle slip rate threshold corresponding to a current vehicle speed based on an association between vehicle speeds and preset vehicle slip rate ranges; comparing the current vehicle slip rate with the preset vehicle slip rate threshold corresponding to the current vehicle speed. The regulating the output torque of the engine of the vehicle comprises:

6. The vehicle safe travel control method according to claim 5, characterized by searching for a target torque reduction percentage corresponding to the current vehicle slip rate from a preset association between vehicle slip rates and torque reduction percentages; determining a target demand torque at a current vehicle speed and a current accelerator pedal opening degree according to an accelerator pedal-demand torque mapping table; calculating an expected torque to adjust the output torque of the engine to the expected torque according to the target torque reduction percentage and the target demand torque. The method further comprises:

7. The vehicle safety running control method according to any one of claims 1 to 5, characterized by in response to at least one of a difference between the wheel speed of any wheel and a wheel speed average value, a lateral slip distance of any wheel, and a roll angle of the vehicle satisfying a preset slip triggering condition, generating prompt information that the vehicle has slipped and steering is prohibited. The method further comprises:

8. The vehicle safe travel control method according to claim 1, characterized by ​ In response to the difference between the wheel speed of any wheel and the average wheel speed, the lateral slip distance of any wheel, and the roll angle of the vehicle all not satisfying the preset slip triggering condition and the difference between the wheel speed of any wheel and the average wheel speed being greater than the product of the average wheel speed and a second preset multiple, the product of the average wheel speed and the second preset multiple being less than the product of the average wheel speed and a first preset multiple, a prompt message that the vehicle is at risk of slipping is generated.

9. The vehicle safety running control method according to claim 7 or 8, characterized by, The method further includes: In the case that the prompt message is generated, the driver is prompted by text, sound and light, haptics, or vehicle body movement.

10. A vehicle safe travel control device characterized by comprising: Comprise: The acquisition module is configured to acquire the wheel speed, the lateral slip distance, and the roll angle of each wheel of the vehicle. The control module is configured to, in response to at least one of the difference between the wheel speed of any wheel and the average wheel speed, the lateral slip distance of any wheel, and the roll angle of the vehicle satisfying a preset slip triggering condition, control the output torque of the engine of the vehicle and / or the braking force applied to the wheels, the slip triggering condition comprising: the difference between the wheel speed of any wheel and the average wheel speed being greater than the product of the average wheel speed and a first preset multiple; the lateral slip distance of any wheel being greater than a preset distance and the roll angle being greater than a preset angle.

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