Method of controlling a vehicle tire blowout, controller, vehicle, medium and program product

Abstract

The embodiment of the present application provides a vehicle tire burst control method, a controller, a vehicle, a medium and a program product, which comprises the following steps: acquiring a vehicle tire burst parameter and a vehicle state parameter; and independently controlling two rear wheels of the vehicle according to the vehicle tire burst parameter and the vehicle state parameter, wherein the control at least comprises steering control. Through the embodiment of the present application, independent control of the rear wheels can be realized, and the motion performance of the vehicle is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle driving control technology, and in particular to a method for controlling a vehicle tire blowout, a vehicle controller, a vehicle, a computer storage medium, and a computer program product. Background Technology

[0002] Currently, vehicle steering is mainly achieved by moving the steering shaft where the front wheels are located. The rear wheels turn in response to the front wheels, which results in poor vehicle handling performance. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a vehicle tire blowout control method, a vehicle controller, a vehicle, a computer storage medium, and a computer program product that overcome or at least partially solve the above problems.

[0004] To address the aforementioned problems, this invention discloses a method for controlling vehicle tire blowout, comprising: Obtain vehicle tire blowout parameters and vehicle status parameters. Based on the vehicle tire blowout parameters and the vehicle status parameters, the two rear wheels of the vehicle are independently controlled, and the control includes at least steering control.

[0005] Optionally, it also includes: The control also includes torque control.

[0006] Optionally, the vehicle tire blowout parameters include tire blowout state parameters and tire blowout location parameters; based on the vehicle tire blowout parameters and the vehicle state parameters, the two rear wheels of the vehicle are independently controlled, including: When a tire blowout is determined based on the tire blowout status parameters, and the vehicle speed in the vehicle status parameters is greater than a first vehicle speed threshold, independent steering control and torque control are applied to the two rear wheels of the vehicle based on the vehicle status parameters. When a tire blowout is determined based on the tire blowout state parameters, and the vehicle speed in the vehicle state parameters is less than or equal to a first vehicle speed threshold, independent steering control and torque control are applied to the two rear wheels of the vehicle based on the tire blowout location parameters and the vehicle state parameters. When it is determined that the vehicle has not experienced a tire blowout based on the tire blowout status parameters, independent steering and torque control are applied to the two rear wheels of the vehicle based on the vehicle status parameters and a preset steering angle ratio.

[0007] Optionally, when a tire blowout is determined based on the tire blowout state parameters, and the vehicle speed in the vehicle state parameters is greater than a first vehicle speed threshold, the step of performing independent steering control and torque control on the two rear wheels of the vehicle based on the vehicle state parameters includes: When a tire blowout is determined based on the vehicle blowout parameters, and the vehicle speed in the vehicle status parameters is greater than a first vehicle speed threshold, the direction of the rear wheel pointing towards the vehicle's center of gravity is determined as the rear wheel steering direction. The rear wheel steering angle is determined based on the vehicle speed in the vehicle state parameters. The rear wheel torque is determined based on the vehicle yaw rate of the vehicle state parameters. Based on the rear wheel torque, the rear wheel steering angle, and the rear wheel steering direction, the two rear wheels of the vehicle are subjected to independent steering control and torque control.

[0008] Optionally, determining the rear wheel steering angle based on the vehicle speed in the vehicle state parameters includes: The rear wheel steering angle is determined based on the mapping relationship between vehicle speed and preset vehicle speed-angle in the vehicle state parameters.

[0009] Optionally, when a tire blowout is determined based on the tire blowout state parameters, and the vehicle speed in the vehicle state parameters is less than or equal to a first vehicle speed threshold, independent steering control and torque control are performed on the two rear wheels of the vehicle based on the tire blowout location parameters and the vehicle state parameters, including: When a rear tire blowout is determined based on the blowout location parameters, the rear wheel steering mechanism is controlled to return to the neutral position and locked; the rear wheel torque is determined based on the vehicle status parameters and the blowout location parameters; and independent torque control is applied to the two rear wheels of the vehicle based on the rear wheel torque. When a front tire blowout is determined based on the tire blowout location parameters, the rear wheel steering direction and rear wheel angle are determined based on the vehicle status parameters; the rear wheel torque is determined based on the vehicle status parameters and the tire blowout location parameters; and independent steering and torque control are performed on the two rear wheels of the vehicle based on the rear wheel steering direction, the rear wheel angle, and the rear wheel torque.

[0010] Optionally, the step of determining the rear wheel steering direction and rear wheel steering angle based on the vehicle state parameters includes: The rear wheel steering angle is determined based on the vehicle yaw rate from the vehicle status parameters. Calculate the target yaw rate based on the vehicle state parameters; The direction of the rear wheel rotation angle is determined by calculating the difference between the target yaw rate and the target yaw rate.

[0011] Optionally, determining the rear wheel torque based on the vehicle state parameters and the tire blowout location parameters includes: The required torque is determined based on the vehicle status parameters; Calculate the target yaw rate based on the vehicle state parameters; The target correction torque is determined based on the vehicle yaw rate and the target yaw rate, which are the vehicle state parameters. Based on the tire blowout location parameters, the target correction torque is superimposed on the required torque to determine the rear wheel torque.

[0012] Optionally, determining the target correction torque based on the vehicle yaw rate and the target yaw rate from the vehicle state parameters includes: Calculate the difference between the target yaw rate and the vehicle yaw rate; The target correction torque is determined based on the difference and the vehicle state parameters.

[0013] Optionally, calculating the target yaw rate based on the vehicle state parameters includes: Based on the target yaw rate calculation formula, the vehicle state parameters are calculated to obtain the target yaw rate; the target yaw rate calculation formula is as follows:

[0014] Where, γ ss δ represents the target yaw rate. f The front wheel steering angle; δ r Rear wheel steering angle; V x m is the vehicle speed; l is the sprung mass of the vehicle body; L is the front and rear wheelbase of the vehicle; f The distance from the center of gravity to the front wheelbase; r C is the distance from the center of gravity to the rear wheelbase. f C represents the front wheel lateral stiffness. r This refers to the rear wheel lateral stiffness.

[0015] Optionally, determining the target correction torque based on the difference and the vehicle state parameters includes: Determine the base correction torque corresponding to the vehicle speed in the preset base correction torque table for the vehicle state parameters; The difference is subjected to proportional-integral-adjustment processing to determine the feedback correction torque; The target correction torque is determined by combining the base correction torque and the feedback correction torque.

[0016] Optionally, the difference is subjected to proportional-integral-adjustment processing to determine the feedback correction torque, including: The difference is calculated based on the proportional-integral-adjustment formula to obtain the feedback correction torque. The proportional-integral-adjustment formula is as follows:

[0017] Where T represents the feedback correction torque; e represents the difference; Kp is the proportional coefficient, Ki is the integral coefficient, and Kd is the derivative coefficient.

[0018] Optionally, the target correction torque is determined by combining the base correction torque and the feedback correction torque, including: The weighted value of the base correction torque and the feedback correction torque is calculated to obtain the vehicle-end correction torque; Based on the current steering angle of the rear wheel, the vehicle end correction torque is adjusted to obtain the target correction torque.

[0019] Optionally, the step of correcting the vehicle-end correction torque based on the obtained current steering angle of the rear wheel to obtain the target correction torque includes: Calculate the cosine value of the current rotation angle; The product of the vehicle end correction torque and the cosine value is determined as the target correction torque.

[0020] Optionally, based on the tire blowout location parameters, the target correction torque is superimposed on the required torque to determine the rear wheel torque, including: The superimposed torque is determined based on the target corrected torque; Based on the tire blowout location parameters, the superimposed torque is added to the required torque to determine the rear wheel torque.

[0021] Optionally, the rear wheel torque includes the right rear wheel torque and the left rear wheel torque. The step of determining the rear wheel torque by adding the superimposed torque to the required torque based on the tire blowout location parameters includes: When the tire blowout location parameter is determined to be located on the right rear wheel, the torque of the left rear wheel is determined to be the required torque plus the superimposed torque; The torque of the right rear wheel is determined to be the minimum value between the required torque of the right rear wheel and 0.

[0022] Optionally, the rear wheel torque includes the right rear wheel torque and the left rear wheel torque. Based on the location of the tire blowout, the rear wheel torque is determined by adding the superimposed torque to the required torque, including: When the tire blowout location is at the left rear wheel, the torque of the right rear wheel is determined to be the required torque plus the superimposed torque; The left rear wheel torque is determined to be the minimum value between the right rear wheel torque requirement and 0.

[0023] Optionally, the rear wheel torque includes the right rear wheel torque and the left rear wheel torque. Based on the location of the tire blowout, the rear wheel torque is determined by adding the superimposed torque to the required torque, including: When the tire blowout is located at the front wheel, the torque of the right rear wheel is determined to be the required torque plus the superimposed torque. The torque of the left rear wheel is determined to be the required torque minus the superimposed torque.

[0024] Optionally, based on the vehicle state parameters and a preset steering angle ratio, independent steering control and torque control are performed on the two rear wheels of the vehicle, including: The direction of the rear wheel steering angle is determined based on the vehicle speed in the vehicle status parameters. The rear wheel steering angle is determined based on the vehicle yaw rate in the vehicle status parameters and the preset steering angle ratio. The rear wheel torque is determined based on the vehicle status parameters; The rear wheel torque, the rear wheel steering angle, and the rear wheel steering direction are determined as rear wheel control parameters.

[0025] Optionally, determining the rear wheel steering direction based on the vehicle speed in the vehicle state parameters includes: Determine whether the vehicle speed in the vehicle operating parameters is greater than a preset second vehicle speed threshold. In response to the vehicle speed being greater than the preset second vehicle speed threshold in the vehicle operating parameters, the steering direction that is the same as that of the front wheels is determined as the steering direction of the rear wheels. In response to the vehicle speed being less than or equal to the preset second vehicle speed threshold in the vehicle operating parameters, the steering direction opposite to that of the front wheels is determined as the rear wheel steering direction.

[0026] Optionally, determining the rear wheel steering angle based on the vehicle yaw rate in the vehicle state parameters and the preset steering angle ratio includes: Based on the preset steering angle ratio, the vehicle yaw rate in the vehicle state parameters is allocated to determine the rear wheel steering angle.

[0027] Optionally, the preset steering angle ratio includes the front and rear wheel steering angle ratio, and the step of allocating the vehicle yaw rate in the vehicle state parameters based on the preset steering angle ratio to determine the rear wheel steering angle includes: The rear wheel steering angle is determined by multiplying the vehicle yaw rate and the ratio of the front and rear wheel steering angles in the vehicle state parameters.

[0028] A vehicle controller includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the vehicle tire blowout control method as described above.

[0029] A vehicle, including a vehicle controller as described above.

[0030] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the vehicle tire blowout control method as described above.

[0031] A computer program product includes a computer program that, when executed by a processor, implements the steps of the vehicle tire blowout control method as described above.

[0032] The embodiments of the present invention have the following advantages: This invention, through obtaining vehicle tire blowout parameters and vehicle status parameters, independently controls the two rear wheels of the vehicle based on these parameters. This control includes at least steering control. The rear wheels can be independently controlled based on these parameters, and their steering is independent of the front wheel steering. This better meets the steering requirements of each turn, improving steering smoothness and vehicle handling, thereby enhancing the vehicle's performance. Attached Figure Description

[0033] Figure 1 This is a flowchart illustrating the steps of an embodiment of a vehicle tire blowout control method according to the present invention; Figure 2 This is a flowchart illustrating the steps of another embodiment of the vehicle tire blowout control method of the present invention; Figure 3 This is a schematic diagram of a vehicle used in another embodiment of the vehicle tire blowout control method of the present invention; Figure 4 This is a schematic diagram of the control module of another embodiment of the vehicle tire blowout control method of the present invention; Figure 5 This is a schematic diagram of the rear wheel steering angle control process, which is an example of a vehicle tire blowout control method according to the present invention. Figure 6 This is a torque distribution diagram illustrating an example of a vehicle tire blowout control method according to the present invention. Detailed Implementation

[0034] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] Reference Figure 1 The diagram illustrates a flowchart of an embodiment of a vehicle tire blowout control method according to the present invention. The vehicle tire blowout control method may specifically include the following steps: Step 101: Obtain vehicle tire blowout parameters and vehicle status parameters; While the vehicle is in motion, tire blowout parameters and vehicle status parameters can be acquired. Vehicle status refers to the current state and parameters of the vehicle, which can be obtained by detecting the status of various components on the vehicle through sensors and other devices. Tire blowout parameters are used to characterize the tire blowout situation.

[0036] Step 102: Based on the tire blowout parameters and the vehicle status parameters, independently control the two rear wheels of the vehicle, the control including at least steering control.

[0037] Based on the vehicle's tire blowout parameters and vehicle status parameters, the two rear wheels of the vehicle are independently controlled. The control includes at least steering control, such as a rear drive motor controller, which can control the steering of the rear wheels according to the vehicle's tire blowout parameters and vehicle status parameters.

[0038] This invention, through obtaining vehicle tire blowout parameters and vehicle status parameters, independently controls the two rear wheels of the vehicle based on these parameters. This control includes at least steering control. The rear wheels can be independently controlled based on these parameters, and their steering is independent of the front wheel steering. This better meets the steering requirements of each turn, improving steering smoothness and vehicle handling, thereby enhancing the vehicle's performance.

[0039] Reference Figure 2 The diagram illustrates a flowchart of another embodiment of the vehicle steering control method of the present invention, which specifically includes the following steps: You can refer to Figure 3 The controlled vehicle may include: a front wheel steering tie rod 1, a front axle drive motor assembly 2, a power battery 3, a vehicle controller 4, a left rear wheel drive motor assembly 5, a right rear wheel drive motor assembly 6, and a rear wheel steering tie rod 7. The front wheel steering tie rod 1 is connected to the front axle drive motor assembly 2 at both ends. The vehicle controller 4 controls the position of the front wheel steering tie rod 1 to control the front axle drive motor assembly 2 to rotate. The rear wheel steering tie rod 7 is connected to the left rear wheel drive motor assembly 5 and the right rear wheel drive motor assembly 6 near the wheels. The vehicle controller 4 controls the position of the rear wheel steering tie rod 7 to control the left rear wheel drive motor assembly 5 to rotate and the right rear wheel drive motor assembly 6 to rotate. The power battery 3 provides electrical energy to the vehicle.

[0040] Step 201: Obtain vehicle tire blowout parameters and vehicle status parameters; When the vehicle is traveling in a straight line, such as forward or backward, or when the vehicle is turning, i.e., when the vehicle is turning, the steering of the vehicle can be controlled. This steering condition can include the vehicle conditions corresponding to operations such as turning and changing lanes.

[0041] Acquire vehicle tire blowout parameters and vehicle status parameters. Vehicle tire blowout parameters identify whether a tire on the vehicle has blown out and their status parameters. Vehicle status parameters are various status data of the vehicle under steering conditions. These parameters can be obtained from the vehicle's sensors and vehicle controller. The tire blowout parameters include blowout status parameters and blowout location parameters. Step 202: Based on the vehicle tire blowout parameters and the vehicle status parameters, independently control the two rear wheels of the vehicle, the control including at least steering control and torque control; Based on tire blowout parameters and vehicle status parameters, the vehicle's state can be determined, allowing for independent control of the two rear wheels. This control includes at least steering control and torque control.

[0042] In an optional embodiment of the present invention, the two rear wheels of the vehicle are independently controlled based on the vehicle tire blowout parameters and the vehicle state parameters, including: When a tire blowout is determined based on the tire blowout state parameters, and the vehicle speed in the vehicle state parameters is greater than a first vehicle speed threshold, independent steering and torque control are applied to the two rear wheels of the vehicle based on the vehicle state parameters. When a tire blowout is determined based on the tire blowout state parameters, and the vehicle speed in the vehicle state parameters is less than or equal to the first vehicle speed threshold, independent steering and torque control are applied to the two rear wheels of the vehicle based on the tire blowout location parameters and the vehicle state parameters. When a tire blowout is determined based on the tire blowout state parameters, independent steering and torque control are applied to the two rear wheels of the vehicle based on the vehicle state parameters and a preset steering angle ratio.

[0043] The system can initially control the vehicle based on whether a tire blowout has occurred, using a proportional front-to-rear steering distribution when the vehicle is not experiencing a blowout. If the blowout status parameters indicate that the vehicle is not experiencing a blowout, independent steering and torque control can be applied to the two rear wheels based on the vehicle status parameters and a preset steering angle ratio. In the event of a tire blowout, the system considers the blowout scenario and integrates the vehicle's blowout parameters to control the vehicle. In the event of a tire blowout, the vehicle's speed can be determined, and the impact of the blowout under the corresponding driving conditions can be assessed. The driving state can be determined based on the vehicle speed from the vehicle's operating parameters. Under this driving state, control measures for the rear wheels can be determined by combining the vehicle's yaw rate, tire blowout parameters, and other vehicle operating parameters.

[0044] Specifically, the vehicle's driving state can be divided into high-speed and low-speed states based on vehicle speed. The determination of high-speed and low-speed states is based on the relationship between a first speed threshold and the vehicle speed. In response to a tire blowout, it is determined whether the vehicle speed in the vehicle's operating parameters exceeds the first speed threshold. If the speed exceeds the first speed threshold, the driving state is determined to be high-speed; that is, the vehicle is traveling at high speed. If the speed does not exceed the first speed threshold, the driving state is determined to be low-speed; that is, the vehicle is traveling at low speed. The first speed threshold is the threshold used to determine the driving state when a tire blowout occurs. The size of the first speed threshold is determined according to the actual situation, and this embodiment of the invention does not limit it. For example, the first speed threshold can be 40 km / h. When a tire blows out, if the vehicle speed is greater than 40 km / h, it is determined to be in a high-speed state; correspondingly, if the vehicle speed is not greater than 40 km / h, it is determined to be in a low-speed state.

[0045] When a tire blowout is determined based on the tire blowout status parameters, and the vehicle speed in the vehicle status parameters is greater than the first vehicle speed threshold, independent steering control and torque control are applied to the two rear wheels of the vehicle based on the vehicle status parameters. When a tire blowout is determined based on the tire blowout status parameters, and the vehicle speed in the vehicle status parameters is less than or equal to the first vehicle speed threshold, independent steering control and torque control are applied to the two rear wheels of the vehicle based on the tire blowout location parameters and the vehicle status parameters.

[0046] Furthermore, when a tire blowout is determined based on the tire blowout state parameters, and the vehicle speed in the vehicle state parameters is greater than a first vehicle speed threshold, the step of performing independent steering control and torque control on the two rear wheels of the vehicle based on the vehicle state parameters includes: when a tire blowout is determined based on the tire blowout parameters, and the vehicle speed in the vehicle state parameters is greater than the first vehicle speed threshold, determining the direction of the rear wheels pointing towards the vehicle's center of gravity as the rear wheel steering direction; determining the rear wheel steering angle based on the vehicle speed in the vehicle state parameters; determining the rear wheel torque based on the vehicle yaw rate in the vehicle state parameters; and performing independent steering control and torque control on the two rear wheels of the vehicle based on the rear wheel torque, the rear wheel steering angle, and the rear wheel steering direction.

[0047] When the vehicle speed in the vehicle state parameters exceeds a first speed threshold, the direction of the rear wheels pointing towards the vehicle's center of gravity is first determined as the rear wheel steering direction. By using this direction, the steering load on the rear wheels is also directed towards the center of gravity, maintaining steering stability. Based on the vehicle speed in the vehicle state parameters, the rear wheel steering angle is determined. Building upon this steering angle control, the rear wheel torque is determined based on the vehicle yaw rate in the vehicle state parameters. Then, based on the rear wheel torque, rear wheel steering angle, and rear wheel steering direction, independent steering and torque control are applied to the two rear wheels.

[0048] Specifically, determining the rear wheel steering angle based on the vehicle speed in the vehicle state parameters includes: determining the rear wheel steering angle based on the mapping relationship between the vehicle speed in the vehicle state parameters and a preset speed-angle relationship. The rear wheel steering angle can be determined by determining the magnitude of the angle corresponding to the vehicle speed according to the preset speed-angle mapping relationship. The direction of the rear wheel steering angle is the angle between the rear wheel and the direction perpendicular to the half-shaft when steering.

[0049] Furthermore, when a tire blowout is determined based on the tire blowout state parameters, and the vehicle speed in the vehicle state parameters is less than or equal to a first vehicle speed threshold, independent steering and torque control are performed on the two rear wheels of the vehicle based on the tire blowout location parameters and the vehicle state parameters. This includes: when a rear tire blowout is determined based on the tire blowout location parameters, controlling the rear wheel steering mechanism to return to a neutral position and locking it; determining the rear wheel torque based on the vehicle state parameters and the tire blowout location parameters; performing independent torque control on the two rear wheels of the vehicle based on the rear wheel torque; when a front tire blowout is determined based on the tire blowout location parameters, determining the rear wheel steering direction and rear wheel angle based on the vehicle state parameters; determining the rear wheel torque based on the vehicle state parameters and the tire blowout location parameters; and performing independent steering and torque control on the two rear wheels of the vehicle based on the rear wheel steering direction, the rear wheel angle, and the rear wheel torque.

[0050] In the event of a rear tire blowout, the steering mechanism controlling the rear wheels is returned to the neutral position and locked. The rear wheel steering direction is determined based on the vehicle's yaw rate. Then, based on vehicle status parameters and the blowout location parameters, the rear wheel torque and rear wheel steering direction are determined as rear wheel control parameters, and steering control is performed using these parameters.

[0051] When a front tire blows out, the direction and angle of the rear wheel can be determined based on the vehicle's status parameters; the torque of the rear wheel can be determined based on the vehicle's status parameters and the location of the tire blowout; and independent steering and torque control can be applied to the two rear wheels of the vehicle based on the direction, angle, and torque of the rear wheel.

[0052] Specifically, the steps of determining the rear wheel steering direction and rear wheel steering angle based on the vehicle state parameters include: determining the rear wheel steering angle based on the vehicle yaw rate in the vehicle state parameters; calculating the target yaw rate based on the vehicle state parameters; and calculating the difference between the target yaw rate and the target yaw rate to determine the rear wheel steering direction.

[0053] When the tire blowout is a front tire blowout, the direction and angle of the rear wheel rotation can be determined based on the vehicle's yaw rate and the difference between the yaw rate and the target yaw rate, as well as the vehicle's yaw rate.

[0054] For example, the target steering angle of the left rear wheel = rear wheel steering direction * left rear steering angle size * left rear correction coefficient; the target steering angle of the right rear wheel = rear wheel steering direction * right rear steering angle size * right rear correction coefficient.

[0055] The rear wheel steering direction is determined by the sign of the yaw rate difference and the steering wheel angle; the left and right rear steering angles are obtained by looking up the yaw rate difference, the left front wheel, and the right front wheel angles, respectively; the left rear correction coefficient and the right rear correction coefficient are obtained by looking up the vehicle speed, respectively.

[0056] If the actual yaw rate and the target yaw rate have the same sign, the yaw rate difference is less than 0, and |yaw rate difference| is greater than the threshold, then the vehicle is considered to be in an oversteer state. In this case, the rear wheel steering direction is the same as the steering wheel angle direction. Here, |yaw rate difference| is the absolute value of the difference between the actual yaw rate and the target yaw rate.

[0057] If the actual yaw rate of the vehicle has the same sign as the target yaw rate, the difference in yaw rate is greater than 0, and |yaw rate difference| is greater than the threshold, then the vehicle is considered to be in an understeering state. At this time, the steering direction of the rear wheels is opposite to the steering wheel angle.

[0058] Specifically, determining the rear wheel torque based on the vehicle state parameters and the tire blowout location parameters includes: determining the required torque based on the vehicle state parameters; calculating the target yaw rate based on the vehicle state parameters; determining the target correction torque based on the vehicle yaw rate of the vehicle state parameters and the target yaw rate; and determining the rear wheel torque by superimposing the target correction torque on the required torque based on the tire blowout location parameters.

[0059] Determining the rear wheel torque involves adjusting the original required rear wheel torque. First, the required torque can be determined based on vehicle speed, load, and gradient parameters. This required torque is the torque needed to drive the wheels. Next, the target yaw rate is calculated based on the vehicle parameters. Using the target yaw rate and the vehicle's yaw rate, the additional torque required to maintain vehicle stability during a tire blowout can be determined—this is the target correction torque. Finally, based on the different blowout location parameters, the target correction torque is added to the required torque in a corresponding manner to determine the rear wheel torque.

[0060] More specifically, determining the target correction torque based on the vehicle yaw rate and the target yaw rate of the vehicle state parameters includes: calculating the difference between the target yaw rate and the vehicle yaw rate; and determining the target correction torque based on the difference and the vehicle state parameters.

[0061] First, the target yaw rate is determined based on the real-time vehicle status parameters, such as wheel angle, center of gravity position, and wheel stiffness. The target yaw rate is calculated using the vehicle status parameters based on the target yaw rate calculation formula; the target yaw rate calculation formula is as follows:

[0062] Where, γ ss δ represents the target yaw rate. f The front wheel steering angle; δ r Rear wheel steering angle; V x m is the vehicle speed; l is the sprung mass of the vehicle body; L is the front and rear wheelbase of the vehicle; f The distance from the center of gravity to the front wheelbase; r C is the distance from the center of gravity to the rear wheelbase. f C represents the front wheel lateral stiffness. r Let be the rear wheel lateral stiffness; since the denominator of the formula includes the vehicle speed, it is necessary to perform a zero-prevention process.

[0063] The vehicle yaw rate is the actual yaw rate of the vehicle. The difference between the target yaw rate and the vehicle yaw rate can then be calculated. This difference represents the torque that needs to be corrected. The current state of the vehicle is determined using the vehicle state parameters, and the target correction torque is determined by combining the target yaw rate and the difference between the target yaw rate and the vehicle yaw rate.

[0064] The determination of the target correction torque, based on the difference and the vehicle state parameters, includes: determining the basic correction torque corresponding to the vehicle speed in a preset basic correction torque table; performing proportional-integral-adjustment processing on the difference to determine the feedback correction torque; and combining the basic correction torque and the feedback correction torque to determine the target correction torque. First, the vehicle speed is looked up in the preset basic correction torque table to determine the basic correction torque corresponding to that speed. The preset basic correction torque table can be determined through prior laboratory testing of the vehicle. The basic correction torque is the initial torque required to compensate for a tire blowout. Then, based on the difference between the target yaw rate and the vehicle yaw rate, proportional-integral-adjustment processing is performed to determine the feedback correction torque. The feedback correction torque is the torque that needs to correct the basic correction torque. Using the basic correction torque as feedforward control and the feedback correction torque as feedback control, the target correction torque is determined.

[0065] PID control targeting the difference between the target yaw rate and the vehicle yaw rate involves calculating this difference using a proportional-integral-regulation formula. The result of this calculation is the feedback correction torque. The proportional-integral-regulation formula is as follows:

[0066] Where T represents the feedback correction torque; e represents the difference; Kp is the proportional coefficient, Ki is the integral coefficient, and Kd is the derivative coefficient.

[0067] Specifically, the target correction torque is determined by combining the base correction torque and the feedback correction torque, including: calculating the weighted value of the base correction torque and the feedback correction torque to obtain the vehicle-end correction torque; and correcting the vehicle-end correction torque according to the obtained current steering angle of the rear wheel to obtain the target correction torque.

[0068] The base correction torque and the feedback correction torque can be weighted and calculated based on their respective weights. The resulting weighted value is the vehicle-end correction torque. The vehicle-end correction torque is the torque that needs to be corrected at the vehicle end after combining the base correction torque and the feedback correction torque. Then, based on the current steering angle of the rear wheels, the vehicle-end correction torque is converted to the wheel end and corrected to obtain the target correction torque at the wheel end.

[0069] Further, the step of correcting the vehicle-end correction torque based on the obtained current steering angle of the rear wheel to obtain the target correction torque includes: calculating the cosine value of the current steering angle; and determining the product of the vehicle-end correction torque and the cosine value as the target correction torque.

[0070] The cosine value of the current steering angle corresponding to the rear wheel that needs to be controlled can be calculated, and the product of the vehicle-end correction torque and this cosine value can be used as the target correction torque. For example, for the right rear wheel and the turning rear wheel, it can be calculated using the following formula:

[0071]

[0072] Among them, T RLcorr Correcting torque for the left rear wheel target, T RRcorr Correct torque for the right rear wheel target; T RL T RR Represents the corrected torque at the vehicle end; δ RL The current steering angle of the left rear wheel; δ RR This is the current steering angle of the right rear wheel.

[0073] Determining the rear wheel torque involves superimposing the target correction torque onto the required torque based on the tire blowout location parameters, including: determining the superimposed torque based on the target correction torque; and superimposing the superimposed torque onto the required torque based on the tire blowout location parameters to determine the rear wheel torque.

[0074] First, the superimposed torque can be determined based on the target corrected torque. The superimposed torque is the unit torque used to add torque to each rear wheel. The superimposed torque is less than the target corrected torque and is proportional to it. For example, the superimposed torque can be half of the target corrected torque. Then, depending on the location of the tire blowout, this superimposed torque is added to the required torque to determine the rear wheel torque.

[0075] The rear wheel torque includes the right rear wheel torque and the left rear wheel torque. The right rear wheel torque is the torque required to steer the right rear wheel of the vehicle; the left rear wheel torque is the torque required to steer the left rear wheel of the vehicle.

[0076] The step of determining the rear wheel torque by adding the superimposed torque to the required torque based on the location of the tire blowout can be performed in different ways depending on the location of the tire blowout.

[0077] In one example of the present invention, the step of determining the rear wheel torque by adding the superimposed torque to the required torque based on the tire blowout location parameter includes: when the tire blowout location parameter is determined to be located on the right rear wheel, determining the left rear wheel torque to be the required torque plus the superimposed torque; and determining the right rear wheel torque to be the minimum value between the right rear wheel required torque and 0.

[0078] In one example of the present invention, the rear wheel torque is determined by adding the superimposed torque to the required torque based on the location of the tire blowout, including: when the tire blowout location is on the left rear wheel, determining the right rear wheel torque to be the required torque plus the superimposed torque; and determining the left rear wheel torque to be the minimum value between the right rear wheel required torque and 0.

[0079] In one example of the present invention, determining the rear wheel torque based on the tire blowout location by adding the superimposed torque to the required torque includes: when the tire blowout location is on the front wheel, determining the right rear wheel torque as the required torque plus the superimposed torque; and determining the left rear wheel torque as the required torque minus the superimposed torque.

[0080] For example, the principle for torque distribution is as follows: 1. A tire blowout on the left rear wheel cuts off the torque required by the driver on the left rear wheel, reduces the torque required by the front motor by half the target corrected torque, and increases the torque required by the right rear wheel motor by half the target corrected torque. Front motor torque = Front motor required torque - Corrected target torque * 0.5 Left rear motor torque = min[0, left rear motor required torque] Right rear motor torque = Right rear motor required torque + Corrected target torque * 0.5 2. If the right rear tire blows out, instead of cutting off the torque required by the right rear wheel motor, reduce the torque required by the front motor by half of the target corrected torque, and increase the torque required by the left rear wheel motor by half of the target corrected torque. Front motor torque = Front motor required torque - Corrected target torque * 0.5 Left rear motor torque = Left rear motor required torque + Corrected target torque * 0.5 Right rear motor torque = min[0, right rear motor required torque] 3. If a front tire blows out, cut off the torque required by the front axle motor, reduce the torque required by the left rear motor by half of the target correction torque, and increase the torque required by the right rear motor by half of the target correction torque. Front motor torque = min[0, front motor required torque] Left rear motor torque = Left rear motor required torque - Corrected target torque * 0.5 Right rear motor torque = Right rear motor required torque + Corrected target torque * 0.5 Finally, torque transfer needs to be output after passing through step size smoothing limits and upper and lower limit limits.

[0081] Furthermore, when the vehicle has not experienced a tire blowout, the steering of the rear and front wheels can be controlled proportionally. Based on the vehicle status parameters and a preset steering angle ratio, independent steering and torque control are performed on the two rear wheels of the vehicle, including: determining the rear wheel steering direction based on the vehicle speed in the vehicle status parameters; determining the rear wheel steering angle based on the vehicle yaw rate in the vehicle status parameters and the preset steering angle ratio; determining the rear wheel torque based on the vehicle status parameters; and determining the rear wheel torque, the rear wheel steering angle, and the rear wheel steering direction as rear wheel control parameters.

[0082] Before a tire blowout, the rear wheel steering direction is determined based on the vehicle speed from the vehicle status parameters; the higher the speed, the smaller the steering angle, and vice versa. The rear wheel steering angle is then determined by combining the vehicle yaw rate with a preset steering angle ratio. The rear wheel torque is then determined based on the vehicle yaw rate and vehicle status parameters. The process of determining the rear wheel torque using the vehicle yaw rate and vehicle status parameters can refer to the above embodiment. The rear wheel torque, rear wheel steering angle, and rear wheel steering direction are used as rear wheel control parameters, and the rear wheels are controlled based on these parameters.

[0083] The direction of rear wheel steering can be determined by the relationship between vehicle speed and a second speed threshold. The second speed threshold is a threshold used to determine the vehicle's driving status when there is no tire blowout. It can be determined whether the vehicle speed in the vehicle status parameters is greater than the preset second speed threshold; if the vehicle speed in the vehicle status parameters is greater than the preset second speed threshold, the direction in the same direction as the front wheels is determined as the rear wheel steering direction; if the vehicle speed in the vehicle status parameters is not greater than the preset second speed threshold, the direction in the opposite direction to the front wheels is determined as the rear wheel steering direction.

[0084] The system determines whether the vehicle speed in the vehicle status parameters exceeds a preset second speed threshold. When the speed exceeds the preset second speed threshold, i.e., the vehicle is traveling at high speed without a tire blowout, the direction in which the front wheels turn can be determined. When the speed does not exceed the preset second speed threshold, i.e., the vehicle is traveling at low speed without a tire blowout, the direction in which the rear wheels turn can be determined.

[0085] Specifically, determining the rear wheel steering angle based on the vehicle yaw rate in the vehicle state parameters and the preset steering angle ratio includes: allocating the vehicle yaw rate in the vehicle state parameters based on the preset steering angle ratio to determine the rear wheel steering angle.

[0086] According to the preset steering angle ratio, the vehicle's yaw rate can be distributed to each rear wheel to determine the rear wheel steering angle. The preset steering angle ratio is the distribution ratio of steering between the front and rear wheels, which can be determined based on the vehicle's model parameters; no specific limit is placed on the exact value.

[0087] Furthermore, the preset steering angle ratio includes the front and rear wheel steering angle ratio. The step of allocating the vehicle yaw rate in the vehicle state parameters based on the preset steering angle ratio to determine the rear wheel steering angle includes: multiplying the vehicle yaw rate in the vehicle state parameters and the front and rear wheel steering angle ratio to determine the rear wheel steering angle.

[0088] The preset steering angle ratio includes the front and rear wheel steering angle ratio. The steering angle assigned to the rear wheels, i.e., the rear wheel steering angle, can be calculated by multiplying the vehicle's yaw rate and the front and rear wheel steering angle ratio.

[0089] In summary, vehicle control can be achieved as follows: Figure 4 As shown, it includes the following control modules: Input signal processing module 10: processes the signals collected by the vehicle sensors, including filtering, biasing, correction, etc., and processes the signals into a usable state, laying the foundation for subsequent modules.

[0090] Control activation condition judgment module 11: Determines the current state of the vehicle and the prerequisites for whether the function can be activated.

[0091] Driver steering recognition module 12: Determines the current driver's steering intention through sensor signals.

[0092] Tire blowout detection module 13: Determines the current tire blowout situation of the vehicle through sensor signals. If a tire blowout occurs, it outputs a tire blowout signal and a blowout wheel position signal.

[0093] Torque Calculation Module 14: Responsible for calculating the torque required by the current driver, and calculating the required correction torque in combination with vehicle status, steering intention, and tire blowout situation.

[0094] Rear wheel steering angle calculation module 15: responsible for calculating and outputting the required steering angles of the left and right rear wheels of the current vehicle.

[0095] The rear wheel angle torque correction and distribution module 16 is responsible for correcting the torque calculated by the torque calculation module 14 based on the rear wheel angle and outputting it to the actuator.

[0096] Front axle motor actuator module 17: responsible for executing the calculated front axle motor torque.

[0097] Left rear / right rear motor execution module 18: Responsible for executing the calculated left rear and right rear motor torques respectively.

[0098] Left rear wheel steering mechanism module 19: Responsible for executing the calculated left rear wheel steering angle.

[0099] Right rear wheel steering mechanism module 20: responsible for executing the calculated right rear wheel steering angle.

[0100] Vehicle sensor module 20: Responsible for collecting vehicle information.

[0101] For the rear wheel steering angle control flowchart, please refer to... Figure 5 .

[0102] S500: Start.

[0103] S501 / S502: Determine if a tire has blown out based on the blowout signal.

[0104] S503: If step S502 is not true, determine whether the vehicle speed is greater than threshold 1.

[0105] S504: If the previous step was not successful, calculate the rear wheel steering angle while maintaining the rear wheel steering direction opposite to the front wheel steering direction. The calculation process is as follows: Left rear wheel target steering angle = Left front wheel steering angle * Steering ratio Right wheel target steering angle = Right front wheel steering angle * Steering ratio The steering angles of the left and right front wheels are obtained by referring to the corresponding calibration table for steering wheel angles, and the steering ratio is obtained by referring to the corresponding ratio for vehicle speed.

[0106] S505: If step S503 is true, calculate the rear wheel steering angle, ensuring the rear wheel steering direction remains the same as the front wheel steering direction. The calculation process is the same as in S504.

[0107] S506: If step S502 is yes, determine whether the vehicle speed is greater than the threshold 2.

[0108] S507: If step S506 is not correct, determine if the vehicle speed indicates a rear tire blowout.

[0109] S508: If step S507 is not specified, calculate the required rear wheel steering angle and direction based on the yaw rate difference. The calculation process is as follows: Left rear wheel target steering angle = Rear wheel steering direction * Left rear steering angle magnitude * Left rear correction factor Right wheel target steering angle = Rear wheel steering direction * Right rear steering angle magnitude * Right rear correction factor The rear wheel steering direction is determined by the yaw rate difference sign and the steering wheel angle sign; the left and right rear steering angles are obtained by looking up the yaw rate difference, left front wheel, and right front wheel steering angles respectively; the left rear correction coefficient and the right rear correction coefficient are obtained by looking up the vehicle speed respectively.

[0110] If the actual yaw rate of the vehicle has the same sign as the target yaw rate, the difference in yaw rate is <0, and |yaw rate difference| is > the threshold, then the vehicle is considered to be in an oversteering state. At this time, the direction of the rear wheel steering is the same as the direction of the steering wheel angle.

[0111] If the actual yaw rate of the vehicle has the same sign as the target yaw rate, the difference in yaw rate is greater than 0, and |yaw rate difference| is greater than the threshold, then the vehicle is considered to be in an understeering state. At this time, the steering direction of the rear wheels is opposite to the steering wheel angle.

[0112] S509: If step S507 is yes, the rear wheel steering mechanism returns to the neutral position, maintains straight line and locks.

[0113] S510: Step S506 is yes, the rear wheel turns in the opposite direction and points towards the vehicle's center of gravity, and the size of the turning angle is proportional to the vehicle speed and the front wheel turning angle.

[0114] S511: Rear wheel steering mechanism activated.

[0115] S512: End.

[0116] For torque calculation and distribution, please refer to... Figure 6 .

[0117] S600: Acquires control module requirements through vehicle sensors, including signals such as wheel speed, yaw rate, steering wheel angle, tire blowout detection, actual motor torque, and rear wheel angle.

[0118] S601: The signals obtained through S600 define the driver's required motor torque for the front axle, left rear wheel, and right rear wheel (matched through testing).

[0119] S602: Calculates the difference between the undesired yaw rate and the target yaw rate caused by a tire blowout, as well as the front wheel angle, based on the signal information acquired by S600. The front wheel angle is obtained by referring to the steering wheel angle table (steering wheel - front wheel angle), which can be obtained through prior test calibration. Furthermore, the difference between the vehicle's yaw rate and the target yaw rate is defined as the difference between the vehicle's actual yaw rate and the target yaw rate. The target yaw rate is calculated using the following formula:

[0120] Where, γ ss δ represents the target yaw rate. f The front wheel steering angle; δ r Rear wheel steering angle; V x m is the vehicle speed; l is the sprung mass of the vehicle body; L is the front and rear wheelbase of the vehicle; f The distance from the center of gravity to the front wheelbase; r C is the distance from the center of gravity to the rear wheelbase. f C represents the front wheel lateral stiffness. r This is the rear wheel lateral stiffness; it should be noted that because the denominator of the formula includes the vehicle speed, it is necessary to perform a zero-prevention process.

[0121] S603: Defines the base correction torque table (preliminary test calibration). The base correction torque is proportional to vehicle speed and yaw rate, serving as feedforward control. Then, the difference between the vehicle yaw rate obtained from S601 and the target yaw rate is used for proportional-integral adjustment to calculate the feedback correction torque, serving as feedback control. The target correction torque is defined as the weighted value of the base correction torque and the feedback correction torque. A feedforward + feedback control closed loop is used to address the additional yaw caused by tire blowout instability. The correction torque calculation process is as follows:

[0122] Where T represents the correction torque; e represents the difference between the target yaw and the actual yaw; Kp, Ki, and Kd are the proportional, integral, and derivative coefficients, respectively, which are obtained by looking up a table through calibration.

[0123] S604: The target corrected torque for the rear wheels calculated based on the rear wheel steering angle correction step S603. The formula is as follows:

[0124]

[0125] Among them, T RLcorr T RRcorr These represent the corrected torque; T RL T RR These represent the torque before correction; δ RL The left rear wheel steering angle; δ RR The steering angle of the right rear wheel; S605: Based on the tire blowout signal, the target corrected torque, modified according to S604, is distributed to the left and right rear wheels and superimposed on the driver's required torque; the distribution principle is: 1. A tire blowout on the left rear wheel cuts off the torque required by the driver on the left rear wheel, reduces the torque required by the front motor by half the target corrected torque, and increases the torque required by the right rear wheel motor by half the target corrected torque. Front motor torque = Front motor required torque - Corrected target torque * 0.5 Left rear motor torque = min[0, left rear motor required torque] Right rear motor torque = Right rear motor required torque + Corrected target torque * 0.5 2. If the right rear tire blows out, instead of cutting off the torque required by the right rear wheel motor, reduce the torque required by the front motor by half of the target corrected torque, and increase the torque required by the left rear wheel motor by half of the target corrected torque. Front motor torque = Front motor required torque - Corrected target torque * 0.5 Left rear motor torque = Left rear motor required torque + Corrected target torque * 0.5 Right rear motor torque = min[0, right rear motor required torque] 3. If a front tire blows out, cut off the torque required by the front axle motor, reduce the torque required by the left rear motor by half of the target correction torque, and increase the torque required by the right rear motor by half of the target correction torque. Front motor torque = min[0, front motor required torque] Left rear motor torque = Left rear motor required torque - Corrected target torque * 0.5 Right rear motor torque = Right rear motor required torque + Corrected target torque * 0.5 Finally, torque transfer needs to be output after passing through step size smoothing limits and upper and lower limit limits.

[0126] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0127] This invention also discloses a vehicle controller, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the steps of the vehicle tire blowout control method as described above.

[0128] This invention also discloses a vehicle, including the vehicle controller described above.

[0129] This invention also discloses a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the vehicle tire blowout control method described above.

[0130] A computer program product includes a computer program that, when executed by a processor, implements the steps of the vehicle tire blowout control method as described above.

[0131] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0132] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0133] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0134] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0135] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0136] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0137] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0138] The foregoing has provided a detailed description of a vehicle tire blowout control method, a vehicle controller, a vehicle, a computer storage medium, and a computer program product provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. 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 the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for controlling tire blowout in vehicles, characterized in that, include: Obtain vehicle tire blowout parameters and vehicle status parameters, wherein the vehicle tire blowout parameters include tire blowout status parameters and tire blowout location parameters; Based on the vehicle tire blowout parameters and the vehicle status parameters, the two rear wheels of the vehicle are independently controlled, and the control includes at least steering control and torque control. Specifically, based on the vehicle tire blowout parameters and the vehicle status parameters, the two rear wheels of the vehicle are independently controlled, including: When a tire blowout is determined based on the tire blowout status parameters, and the vehicle speed in the vehicle status parameters is greater than a first vehicle speed threshold, independent steering control and torque control are applied to the two rear wheels of the vehicle based on the vehicle status parameters. When a tire blowout is determined based on the tire blowout state parameters, and the vehicle speed in the vehicle state parameters is less than or equal to a first vehicle speed threshold, independent steering control and torque control are applied to the two rear wheels of the vehicle based on the tire blowout location parameters and the vehicle state parameters. When it is determined that the vehicle has not experienced a tire blowout based on the tire blowout status parameters, independent steering and torque control are applied to the two rear wheels of the vehicle based on the vehicle status parameters and a preset steering angle ratio.

2. The control method according to claim 1, characterized in that, When a tire blowout is determined based on the tire blowout state parameters, and the vehicle speed in the vehicle state parameters is greater than a first vehicle speed threshold, the steps of performing independent steering control and torque control on the two rear wheels of the vehicle based on the vehicle state parameters include: When a tire blowout is determined based on the vehicle blowout parameters, and the vehicle speed in the vehicle status parameters is greater than a first vehicle speed threshold, the direction of the rear wheel pointing towards the vehicle's center of gravity is determined as the rear wheel steering direction. The rear wheel steering angle is determined based on the vehicle speed in the vehicle state parameters. The rear wheel torque is determined based on the vehicle yaw rate of the vehicle state parameters. Based on the rear wheel torque, the rear wheel steering angle, and the rear wheel steering direction, the two rear wheels of the vehicle are subjected to independent steering control and torque control.

3. The control method according to claim 2, characterized in that, Based on the vehicle speed in the vehicle state parameters, the rear wheel steering angle is determined, including: The rear wheel steering angle is determined based on the mapping relationship between vehicle speed and preset vehicle speed-angle in the vehicle state parameters.

4. The control method according to claim 2, characterized in that, When a tire blowout is determined based on the tire blowout state parameters, and the vehicle speed in the vehicle state parameters is less than or equal to a first vehicle speed threshold, independent steering and torque control are applied to the two rear wheels of the vehicle based on the tire blowout location parameters and the vehicle state parameters, including: When a rear tire blowout is determined based on the blowout location parameters, the rear wheel steering mechanism is controlled to return to the neutral position and locked; the rear wheel torque is determined based on the vehicle status parameters and the blowout location parameters; and independent torque control is applied to the two rear wheels of the vehicle based on the rear wheel torque. When a front tire blowout is determined based on the tire blowout location parameters, the rear wheel steering direction and rear wheel angle are determined based on the vehicle status parameters; the rear wheel torque is determined based on the vehicle status parameters and the tire blowout location parameters; and independent steering and torque control are performed on the two rear wheels of the vehicle based on the rear wheel steering direction, the rear wheel angle, and the rear wheel torque.

5. The control method according to claim 4, characterized in that, The steps of determining the rear wheel steering direction and rear wheel steering angle based on the vehicle state parameters include: The rear wheel steering angle is determined based on the vehicle yaw rate from the vehicle status parameters. Calculate the target yaw rate based on the vehicle state parameters; The direction of the rear wheel rotation angle is determined by calculating the difference between the target yaw rate and the target yaw rate.

6. The control method according to claim 4, characterized in that, Determining the rear wheel torque based on the vehicle status parameters and the tire blowout location parameters includes: The required torque is determined based on the vehicle status parameters; Calculate the target yaw rate based on the vehicle state parameters; The target correction torque is determined based on the vehicle yaw rate and the target yaw rate, which are the vehicle state parameters. Based on the tire blowout location parameters, the target correction torque is superimposed on the required torque to determine the rear wheel torque.

7. The control method according to claim 6, characterized in that, Based on the vehicle yaw rate and the target yaw rate from the vehicle state parameters, the target correction torque is determined, including: Calculate the difference between the target yaw rate and the vehicle yaw rate; The target correction torque is determined based on the difference and the vehicle state parameters.

8. The control method according to claim 6, characterized in that, Calculating the target yaw rate based on the vehicle state parameters includes: Based on the target yaw rate calculation formula, the vehicle state parameters are calculated to obtain the target yaw rate; the target yaw rate calculation formula is as follows: Where, γ ss δ represents the target yaw rate. f The front wheel steering angle; δ r Rear wheel steering angle; V x m is the vehicle speed; l is the sprung mass of the vehicle body; L is the front and rear wheelbase of the vehicle; f The distance from the center of gravity to the front wheelbase; r C is the distance from the center of gravity to the rear wheelbase. f C represents the front wheel lateral stiffness. r This refers to the rear wheel lateral stiffness.

9. The control method according to claim 7, characterized in that, Determining the target correction torque based on the difference and the vehicle state parameters includes: Determine the base correction torque corresponding to the vehicle speed in the preset base correction torque table for the vehicle state parameters; The difference is subjected to proportional-integral-adjustment processing to determine the feedback correction torque; The target correction torque is determined by combining the base correction torque and the feedback correction torque.

10. The control method according to claim 9, characterized in that, The difference is subjected to proportional-integral-adjustment processing to determine the feedback correction torque, including: The difference is calculated based on the proportional-integral-adjustment formula to obtain the feedback correction torque. The proportional-integral-adjustment formula is as follows: Where T represents the feedback correction torque; e represents the difference; K P For proportionality coefficient, K I For the integral coefficient, K D is the differential coefficient.

11. The control method according to claim 9, characterized in that, Determining the target correction torque by combining the base correction torque and the feedback correction torque includes: The weighted value of the base correction torque and the feedback correction torque is calculated to obtain the vehicle-end correction torque; Based on the current steering angle of the rear wheel, the vehicle end correction torque is adjusted to obtain the target correction torque.

12. The control method according to claim 11, characterized in that, The step of correcting the vehicle end correction torque based on the obtained current steering angle of the rear wheel to obtain the target correction torque includes: Calculate the cosine value of the current rotation angle; The product of the vehicle end correction torque and the cosine value is determined as the target correction torque.

13. The control method according to claim 6, characterized in that, Based on the tire blowout location parameters, the target correction torque is superimposed on the required torque to determine the rear wheel torque, including: The superimposed torque is determined based on the target corrected torque; Based on the tire blowout location parameters, the superimposed torque is added to the required torque to determine the rear wheel torque.

14. The control method according to claim 13, characterized in that, The rear wheel torque includes the right rear wheel torque and the left rear wheel torque. The step of determining the rear wheel torque by adding the superimposed torque to the required torque based on the tire blowout location parameters includes: When the tire blowout location parameter is determined to be located on the right rear wheel, the torque of the left rear wheel is determined to be the required torque plus the superimposed torque; The torque of the right rear wheel is determined to be the minimum value between the required torque of the right rear wheel and 0.

15. The control method according to claim 13, characterized in that, The rear wheel torque includes the right rear wheel torque and the left rear wheel torque. Based on the location of the tire blowout, the rear wheel torque is determined by adding the superimposed torque to the required torque, including: When the tire blowout location is at the left rear wheel, the torque of the right rear wheel is determined to be the required torque plus the superimposed torque; The left rear wheel torque is determined to be the minimum value between the right rear wheel torque requirement and 0.

16. The control method according to claim 13, characterized in that, The rear wheel torque includes the right rear wheel torque and the left rear wheel torque. Based on the location of the tire blowout, the rear wheel torque is determined by adding the superimposed torque to the required torque, including: When the tire blowout is located at the front wheel, the torque of the right rear wheel is determined to be the required torque plus the superimposed torque. The torque of the left rear wheel is determined to be the required torque minus the superimposed torque.

17. The control method according to claim 2, characterized in that, Based on the vehicle state parameters and a preset steering angle ratio, independent steering and torque control are performed on the two rear wheels of the vehicle, including: The direction of the rear wheel steering angle is determined based on the vehicle speed in the vehicle status parameters. The rear wheel steering angle is determined based on the vehicle yaw rate in the vehicle status parameters and the preset steering angle ratio. The rear wheel torque is determined based on the vehicle status parameters; The rear wheel torque, the rear wheel steering angle, and the rear wheel steering direction are determined as rear wheel control parameters.

18. The control method according to claim 17, characterized in that, Determining the rear wheel steering direction based on the vehicle speed in the vehicle status parameters includes: Determine whether the vehicle speed in the vehicle status parameters is greater than a preset second vehicle speed threshold. In response to the vehicle speed in the vehicle state parameters being greater than the preset second vehicle speed threshold, the steering direction that is the same as that of the front wheels is determined as the steering direction of the rear wheels; In response to the vehicle speed being less than or equal to the preset second vehicle speed threshold in the vehicle state parameters, the steering direction opposite to that of the front wheels is determined as the rear wheel steering direction.

19. The control method according to claim 17, characterized in that, Determining the rear wheel steering angle based on the vehicle yaw rate in the vehicle state parameters and the preset steering angle ratio includes: Based on the preset steering angle ratio, the vehicle yaw rate in the vehicle state parameters is allocated to determine the rear wheel steering angle.

20. The control method according to claim 19, characterized in that, The preset steering angle ratio includes the front and rear wheel steering angle ratio. The step of allocating the vehicle yaw rate from the vehicle state parameters based on the preset steering angle ratio to determine the rear wheel steering angle includes: The rear wheel steering angle is determined by multiplying the vehicle yaw rate and the ratio of the front and rear wheel steering angles in the vehicle state parameters.

21. A vehicle controller, characterized in that, The device includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the vehicle tire blowout control method as described in any one of claims 1 to 20.

22. A vehicle, characterized in that, Includes the vehicle controller as described in claim 21.

23. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the vehicle tire blowout control method as described in any one of claims 1 to 20.

24. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the steps of the vehicle tire blowout control method as described in any one of claims 1 to 20.

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