Control method, control system and vehicle for a vehicle

Abstract

This application provides a vehicle control method, a control system, and a vehicle. The vehicle control method includes: acquiring tire blowout detection signals for each wheel of the vehicle; determining the tire blowout type based on the tire blowout detection signals of all wheels; the tire blowout type includes single-wheel blowout, two-wheel blowout, three-wheel blowout, and four-wheel blowout; if the tire blowout type is a single-wheel or two-wheel blowout, then based on the vehicle's lateral acceleration signal and the tire blowout detection signals of each wheel, controlling the vehicle's braking device to brake the wheel that is waiting to be braked but has not blown out, and controlling the vehicle's lateral and longitudinal stability control system and / or vertical stability control system; if the tire blowout type is a three-wheel or four-wheel blowout, then controlling the vehicle's lateral and longitudinal stability control system and / or vertical stability control system. This provides high safety.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle control method, a control system, and a vehicle. Background Technology

[0002] With the gradual development of science and technology and the increasing usage of vehicles, tire blowouts, as a serious safety hazard during vehicle operation, have received widespread attention. Related technologies enable vehicles to maintain stability in the event of a single tire blowout. However, with the increasing number of vehicles and the growing complexity of road conditions, the occurrence of multiple tire blowouts is gradually rising. This makes it difficult for vehicles to ensure driving safety after multiple tire blowouts, resulting in poor vehicle safety. Summary of the Invention

[0003] This application provides a vehicle control method, control system, and vehicle with high safety.

[0004] This application provides a vehicle control method, including: Acquire the tire blowout detection signal for each wheel of the vehicle; The type of tire blowout is determined based on the blowout detection signals of all wheels; the types of tire blowout include single-wheel blowout, double-wheel blowout, three-wheel blowout, and four-wheel blowout. If the tire blowout type is a single-wheel tire blowout or a double-wheel tire blowout, then based on the lateral acceleration signal of the vehicle and the tire blowout detection signal of each wheel, the vehicle's braking device is controlled to brake the wheel that is waiting to be braked but has not blown out, and the vehicle's lateral and longitudinal stability control system and / or vertical stability control system are controlled. If the tire blowout is a three-wheeled tire blowout or a four-wheeled tire blowout, then the lateral and longitudinal stability control system and / or vertical stability control system of the vehicle are controlled.

[0005] Furthermore, determining the type of tire blowout based on the blowout detection signals of all wheels includes: Based on the tire blowout detection signals of all wheels, determine the tire blowout wheel position data representing the location of the blowout wheel; wherein, the tire blowout wheel position data is a four-bit binary number, and each bit of the four-bit binary number corresponds to the tire blowout detection signal of one wheel. The type of tire blowout is determined based on the tire position data of the blowout.

[0006] Further, the step of controlling the vehicle's braking device to brake the non-exploded tires based on the vehicle's lateral acceleration signal and the tire blowout detection signal of each wheel includes: Based on the lateral acceleration signal of the vehicle, a direction setting value representing the driving direction of the vehicle is determined; The wheel that has not blown out is determined based on the product of the direction setting value and the tire blowout wheel position data; Control the vehicle's braking device to brake the wheels that are awaiting braking but have not yet blown out.

[0007] Further, determining the direction setting value representing the vehicle's travel direction based on the vehicle's lateral acceleration signal includes: If the lateral acceleration of the vehicle is greater than the first set acceleration, then the direction setting value is the first direction setting value; If the lateral acceleration of the vehicle is less than the second set acceleration, then the direction setting value is the second direction setting value; wherein the first direction setting value and the second direction setting value have the same value but opposite signs.

[0008] Further, determining the non-exploded tire to be braked based on the product of the direction setting value and the tire blowout wheel position data includes: The type of instability caused by the tire blowout is determined by multiplying the steering setting value and the tire blowout wheel position data; the instability type includes understeer and oversteer. If the instability category is understeer, then the wheel to be braked without a blowout is the inner rear wheel or the inner front wheel; If the instability category is oversteer, then the wheel to be braked without a blowout is the outer front wheel.

[0009] Furthermore, the vehicle control method also includes: Determine the estimated blowout signal for each wheel based on the wheel speed of all wheels; Based on the blowout detection signal and blowout estimation signal of each wheel, determine the total blowout verification value that represents the matching status of the blowout detection signal and blowout estimation signal of all wheels. If the tire blowout type is a single-wheel blowout or a double-wheel blowout, then based on the vehicle's lateral acceleration signal and the blowout detection signal of each wheel, the vehicle's braking device is controlled to brake the wheel that is awaiting braking but has not blown out, including: If the tire blowout type is a single tire blowout or a double tire blowout, then determine whether the total tire blowout verification value is the preset verification value; If so, the vehicle's braking device is controlled to brake the wheels that are waiting to be braked but have not blown out, based on the vehicle's lateral acceleration signal and the tire blowout detection signal of each wheel.

[0010] Further, determining the total blowout verification value, representing the matching status of the blowout detection signals and blowout estimation signals of all wheels, based on the blowout detection signal and blowout estimation signal of each wheel, includes: The blowout detection signal and the blowout estimation signal of each wheel are compared to obtain the matching result for each wheel; the matching result includes a matching failure state, a matching success state, and a default state indicating no matching or matching in progress; wherein, different matching results are different matching values; different blowout detection signals of each wheel are different blowout detection values; The total tire blowout verification value is determined by summing the products of the tire blowout detection value and the matching value for each wheel.

[0011] Furthermore, the lateral and longitudinal stability control system for controlling the vehicle includes: controlling the lateral and longitudinal stability control system of the vehicle to adjust the drive torque distribution and rear wheel steering angle of the vehicle; The vertical stability control system for controlling the vehicle includes: controlling the vertical stability control system of the vehicle to adjust the height of the vehicle's suspension.

[0012] This application provides a vehicle control system, including: processor; Memory, which stores computer programs; When the processor executes the computer program, it implements the vehicle control method as described in any of the above embodiments.

[0013] This application provides a vehicle, including the vehicle control system described above.

[0014] The vehicle control method provided in this application includes determining the tire blowout type based on tire blowout detection signals from all wheels. If the blowout type is a single-wheel or double-wheel blowout, the vehicle's braking device is controlled to brake the unblemished wheel based on the vehicle's lateral acceleration signal and the blowout detection signal of each wheel. The vehicle's lateral and longitudinal stability control system and / or vertical stability control system are also controlled. If the blowout type is a three-wheel or four-wheel blowout, the vehicle's lateral and longitudinal stability control system and / or vertical stability control system are controlled. This effectively improves vehicle safety under different blowout types, thus providing a more flexible and safer driving experience.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] Figure 1 The diagram shown is a flowchart of a vehicle control method according to an embodiment of this application; Figure 2 As shown Figure 1 The flowchart of the vehicle control method shown is a sub-flowchart. Figure 3 As shown Figure 1 Another sub-flowchart of the vehicle control method shown; Figure 4 As shown Figure 1 Another sub-flowchart of the vehicle control method shown; Figure 5 As shown Figure 1 Another sub-flowchart of the vehicle control method shown; Figure 6 The diagram shown is a schematic frame of a vehicle control system according to an embodiment of this application. Figure 7 The diagram shown is a control timing diagram of a vehicle control system according to an embodiment of this application. Detailed Implementation

[0018] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0019] The vehicle control method, control system, and vehicle of this application will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the features of the following embodiments and implementations can be combined with each other.

[0020] See Figure 1 As shown, this application provides a vehicle control method, which may include steps S1 to S4.

[0021] In step S1, the tire blowout detection signal of each wheel of the vehicle is acquired. This can be achieved by acquiring the tire blowout detection signal detected by the tire blowout sensor installed on each wheel. The tire blowout detection signal can be used to indicate whether the wheel has a tire blowout or not. Different tire blowout detection signals for each wheel are different tire blowout detection values. In this embodiment, the tire blowout detection values ​​include 1 and 0. When a wheel has a tire blowout, the tire blowout detection signal for that wheel can be 1; when the wheel has not a tire blowout, the tire blowout detection signal for that wheel can be 0. That is, the tire blowout detection signals for the left front wheel, right front wheel, left rear wheel, and right rear wheel can be 1 or 0 respectively.

[0022] In step S2, the tire blowout type is determined based on the blowout detection signals of all wheels. Blowout types include single-wheel blowout, two-wheel blowout, three-wheel blowout, and four-wheel blowout.

[0023] See Figure 2 As shown, in one embodiment, step S2 includes steps S21 to S22.

[0024] In step S21, the tire blowout position data, representing the location of the blowout wheel, is determined based on the blowout detection signals of all wheels. The blowout position data is a four-bit binary number, where each bit corresponds to a single tire blowout detection signal for one wheel.

[0025] In one embodiment, the tire blowout detection signal for the left front tire can be the fourth bit of a four-bit binary number, the tire blowout detection signal for the right front tire can be the third bit of a four-bit binary number, the tire blowout detection signal for the left rear tire can be the second bit of a four-bit binary number, and the tire blowout detection signal for the right rear tire can be the first bit of a four-bit binary number. The four-bit binary number can be converted to a decimal number. The type of tire blowout is determined based on the decimal number.

[0026] When the tire blowout type is "not blowout", the four-bit binary number is 0 0 0 0, which corresponds to the decimal number 0.

[0027] When the tire blowout type is a single-wheel blowout, the possible scenarios include: left front tire blowout, right front tire blowout, left rear tire blowout, and right rear tire blowout.

[0028] If the four binary digits are 1 0 0 0, it indicates a blowout on the left front tire, corresponding to the decimal number 8; if the four binary digits are 0 1 0 0, it indicates a blowout on the right front tire, corresponding to the decimal number 4; if the four binary digits are 0 0 1 0, it indicates a blowout on the left rear tire, corresponding to the decimal number 2; if the four binary digits are 0 0 0 1, it indicates a blowout on the right rear tire, corresponding to the decimal number 1.

[0029] When the tire blowout type is a dual tire blowout, the possible scenarios include: left front tire blowout to right front tire, left front tire blowout to left rear tire, left front tire blowout to right rear tire, right front tire blowout to left rear tire, right front tire blowout to right rear tire, and left rear tire blowout to right rear tire.

[0030] If the four-bit binary number is 1 1 0 0, it indicates a tire blowout on the left front wheel or right front wheel, corresponding to the decimal number 12; if the four-bit binary number is 1 0 1 0, it indicates a tire blowout on the left front wheel or left rear wheel, corresponding to the decimal number 10; if the four-bit binary number is 10 0 1, it indicates a tire blowout on the left front wheel or right rear wheel, corresponding to the decimal number 9; if the four-bit binary number is 0 1 1 0, it indicates a tire blowout on the right front wheel or left rear wheel, corresponding to the decimal number 6; if the four-bit binary number is 0 1 0 1, it indicates a tire blowout on the right front wheel or right rear wheel, corresponding to the decimal number 5; if the four-bit binary number is 0 0 1 1, it indicates a tire blowout on the left rear wheel or right rear wheel, corresponding to the decimal number 3.

[0031] When the tire blowout type is a three-wheel blowout, the possible scenarios include: left front tire, right front tire, left rear tire blowout, left front tire, right front tire, right rear tire blowout, left front tire, left rear tire, right rear tire blowout, and right front tire, left rear tire, right rear tire blowout.

[0032] If the four-bit binary number is 1 1 1 0, it indicates that the front left wheel, front right wheel, and rear left wheel have blown out, corresponding to the decimal number 14; if the four-bit binary number is 1 1 0 1, it indicates that the front left wheel, front right wheel, and rear right wheel have blown out, corresponding to the decimal number 13; if the four-bit binary number is 1 0 1 1, it indicates that the front left wheel, rear left wheel, and rear right wheel have blown out, corresponding to the decimal number 11; if the four-bit binary number is 0 1 1 1, it indicates that the front right wheel, rear left wheel, and rear right wheel have blown out, corresponding to the decimal number 7.

[0033] When the tire blowout type is a four-wheel blowout, the possible scenarios include: left front tire, right front tire, left rear tire, and right rear tire blowout. If the four-bit binary number is 1 1 1 1, it indicates that the left front tire, right front tire, left rear tire, and right rear tire have blowouts, corresponding to the decimal number 15.

[0034] In step S22, the tire blowout type is determined based on the tire position data. Specifically, when the decimal number corresponding to the tire position data is 0, the tire blowout type is determined to be non-blowout, and the blowout flag is set to 0. When the decimal number corresponding to the tire position data is 1, 2, 4, or 8, the tire blowout type is determined to be a single-wheel blowout, and the blowout flag is set to 1. When the decimal number corresponding to the tire position data is 3, 5, 6, 9, 10, or 12, the tire blowout type is determined to be a two-wheel blowout, and the blowout flag is set to 2. When the decimal number corresponding to the tire position data is 7, 11, 13, or 14, the tire blowout type is determined to be a three-wheel blowout, and the blowout flag is set to 3. When the decimal number corresponding to the tire position data is 15, the tire blowout type is determined to be a four-wheel blowout, and the blowout flag is set to 4.

[0035] Since the tire blowout wheel position data is a four-bit binary number, and the 16 digits represented by the four-bit binary number can completely cover all tire blowout situations, the method of determining the tire blowout type is simple.

[0036] In step S3, if the tire blowout is a single-wheel blowout or a double-wheel blowout, then based on the vehicle's lateral acceleration signal and the blowout detection signal of each wheel, the vehicle's braking device is controlled to brake the wheel that is not yet blown out, and the vehicle's lateral and longitudinal stability control system and / or vertical stability control system are controlled. Controlling the vehicle's lateral and longitudinal stability control system and / or vertical stability control system means that only the lateral and longitudinal stability control system can be controlled, only the vertical stability control system can be controlled, or both can be controlled.

[0037] In one embodiment, the lateral and longitudinal stability control system includes at least one of a rear-wheel steering system and a drive torque distribution system. The vertical stability control system includes a suspension system that can adjust the left and right suspension heights and the front and rear suspension heights.

[0038] In one embodiment, a vehicle lateral and longitudinal stability control system includes: controlling the vehicle lateral and longitudinal stability control system to adjust the vehicle's drive torque distribution and rear wheel steering angle.

[0039] In one embodiment, controlling the vertical stability control system of a vehicle includes: controlling the vertical stability control system of the vehicle to adjust the height of the vehicle's suspension.

[0040] In step S4, if the tire blowout is a three-wheel or four-wheel blowout, the vehicle's lateral and longitudinal stability control system and / or vertical stability control system are controlled.

[0041] The vehicle control method provided in this application includes determining the tire blowout type based on tire blowout detection signals from all wheels. If the blowout type is a single-wheel or double-wheel blowout, the vehicle's braking device is controlled to brake the unblemished wheel based on the vehicle's lateral acceleration signal and the tire blowout detection signal of each wheel. The vehicle's lateral and longitudinal stability control system and / or vertical stability control system are also controlled. If the blowout type is a three-wheel or four-wheel blowout, the vehicle's lateral and longitudinal stability control system and / or vertical stability control system are controlled. This effectively improves vehicle safety under different blowout types, providing a more flexible and safer driving experience. Furthermore, the blowout type can be quickly determined based on the tire blowout detection signals from all wheels, and different controls can be applied to different blowout types, thereby reducing the safety risks caused by vehicle instability and improving safety.

[0042] See Figure 3 As shown, in one embodiment, the vehicle's braking device is controlled to brake the wheel that is not yet blown out, based on the vehicle's lateral acceleration signal and the tire blowout detection signal of each wheel, including steps S31 to S33.

[0043] In step S31, a direction setting value representing the vehicle's driving direction is determined based on the vehicle's lateral acceleration signal.

[0044] In one embodiment, step S31 includes: If the vehicle's lateral acceleration is greater than the first preset acceleration, then the direction setting value is the first direction setting value. In this embodiment, the first preset acceleration can be 0.1 m / s². 2 .

[0045] If the vehicle's lateral acceleration is less than the second set acceleration, then the direction setting value is the second direction setting value. The first direction setting value and the second direction setting value have the same value but opposite signs. In this embodiment, the second set acceleration can be -0.1 m / s². 2 The first direction setting value can be 1, and the second direction setting value can be -1. The first set acceleration can be positive acceleration, and the second set acceleration can be negative acceleration.

[0046] In one embodiment, if the lateral acceleration of the vehicle is not greater than a first preset acceleration and not less than a second preset acceleration, then the direction setting value is a third direction setting value. The third direction setting value can be 0.

[0047] In step S32, the wheel to be braked without a blowout is determined based on the product of the direction setting value and the blowout wheel position data.

[0048] In one embodiment, step S32 includes: The type of instability caused by a tire blowout is determined by multiplying the steering setpoint and the tire position data. Instability types include understeer and oversteer.

[0049] In this embodiment, the instability category can be determined by multiplying the direction setting value and the decimal number corresponding to the tire blowout wheel position data. This product can have the following values: 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0, -1, -2, -3, -4, -5, -6, -7, -8, -9, -10, -11, -12, -13, -14, -15.

[0050] Understeer includes single-wheel front axle tire blowout, dual-wheel front axle tire blowout, dual-wheel front (outer) and dual-wheel rear (inner) tire blowout, and dual-wheel outer tire blowout. Specifically, a product of 8, 4, -8, or -4 indicates a single-wheel front axle tire blowout. A product of 12 or -12 indicates a dual-wheel front axle tire blowout. A product of 6 or -9 indicates a dual-wheel front (outer) and dual-wheel rear (inner) tire blowout. A product of 5 or -10 indicates a dual-wheel outer tire blowout. Therefore, when the product is 8, 4, -8, -4, 12, -12, 6, -9, 5, or -10, the instability category is determined to be understeer.

[0051] Oversteer includes single-wheel rear axle tire blowout, dual-wheel rear axle tire blowout, front inner and rear outer dual-wheel blowout, and inner dual-wheel blowout. Specifically, a product of 2, 1, -2, or -1 indicates a single-wheel rear axle tire blowout. A product of 3 or -3 indicates a dual-wheel rear axle tire blowout. A product of 9 or -6 indicates a front inner and rear outer dual-wheel blowout. A product of 10 or -5 indicates an inner dual-wheel blowout. Therefore, when the product is 2, 1, -2, -1, 3, -3, 9, -6, 10, or -5, the instability category is determined to be oversteer.

[0052] If the instability category is understeer, then the wheel that has not blown out while braking is the inner rear wheel or the inner front wheel.

[0053] In one embodiment, if the product is 8, 4, -8, -4, 12, -12, 5, -10, then the wheel to be braked without a tire blowout is the inner rear wheel. Specifically, when the product is 12, -12, 5, -10, the braking force of the braking device on the inner rear wheel is greater than when the product is 8, 4, -8, -4. Since understeer is very pronounced (even completely lost) when the product is 12, -12, 5, -10, while understeer is moderate when the product is 8, 4, -8, -4, this allows for better correction of the vehicle's attitude.

[0054] If the product is 6 or -9, then the wheel that is waiting to be braked and has not blown out is the inner front wheel.

[0055] In one embodiment, if the instability category is oversteer, the wheel to be braked without a blowout is the outer front wheel. That is, when the product is 2, 1, -2, -1, 3, -3, 9, -6, 10, or -5, the wheel to be braked without a blowout is the outer front wheel.

[0056] In step S33, the vehicle's braking system is controlled to brake the wheel that is not in a blowout condition. This allows for the identification of the wheel to be braked based on different instability categories, thus enhancing safety.

[0057] When the product is 8, 4, -8, -4, 12, -12, 5, or -10, the first control strategy is executed, controlling the vehicle's braking system to brake the inner rear wheel. If the product is 6 or -9, the second control strategy is executed, controlling the vehicle's braking system to brake the inner front wheel. If the product is 2, 1, -2, -1, 3, -3, 9, -6, 10, or -5, the third control strategy is executed, controlling the vehicle's braking system to brake the outer front wheel.

[0058] See Figure 4 As shown, in one embodiment, the vehicle control method further includes steps S5-S6: In step S5, the estimated blowout signal for each wheel is determined based on the wheel speeds of all wheels.

[0059] In step S6, based on the blowout detection signal and blowout estimation signal of each wheel, a total blowout verification value representing the matching status of the blowout detection signal and blowout estimation signal of all wheels is determined.

[0060] See Figure 5 As shown, in one embodiment, step S6 includes steps S61 to S62: In step S61, the blowout detection signal and the blowout estimation signal of each wheel are compared to obtain the matching result for each wheel. The matching result includes a matching failure status, a matching success status, and a default status indicating no matching or matching in progress. Different matching results represent different matching values.

[0061] In this embodiment, the tire blowout estimation signal can be used to indicate whether the wheel has blown out or not. Each wheel has a different tire blowout estimation signal with a different estimated value. In this embodiment, the tire blowout estimation value includes 1 and 0. When a tire blowout is confirmed, the tire blowout estimation signal for that wheel can be 1; when a tire does not blow out, the tire blowout estimation signal for that wheel can be 0. Comparing the tire blowout detection signal and the tire blowout estimation signal for each wheel can refer to comparing the tire blowout detection value and the tire blowout estimation value.

[0062] Matching values ​​include 0, 1, and 3. If both the tire blowout detection signal and the tire blowout estimation signal indicate a tire blowout or no blowout, the matching result for that wheel is considered a successful match, and the tire blowout detection signal detected by the tire blowout sensor for that wheel is reliable. In this case, the matching value for that wheel can be 3.

[0063] If the tire blowout detection signal and the tire blowout estimation signal indicate that one wheel has blown out while the other indicates that the wheel has not blown out, then the matching result for that wheel is a matching failure, and the tire blowout detection signal detected by the tire blowout sensor of that wheel is unreliable. In this case, the matching value for that wheel can be 1.

[0064] If no conclusion is reached regarding a failed match or a successful match, the matching result for that wheel is the default state. In this case, the matching value for that wheel can be 0.

[0065] In step S62, the total tire blowout verification value is determined by summing the products of the tire blowout detection value and the matching value for each wheel. In this embodiment, the total tire blowout verification value is calculated as follows: (Left front wheel tire blowout detection value × Left front wheel matching value) + (Right front wheel tire blowout detection value × Right front wheel matching value) + (Left rear wheel tire blowout detection value × Left rear wheel matching value) + (Right rear wheel tire blowout detection value × Right rear wheel matching value). This effectively solves the signal delay problem of dual-wheel tire blowout verification, enabling verification of both single-wheel and dual-wheel tire blowouts, resulting in more accurate verification results.

[0066] If the tire blowout is a single-wheel blowout or a double-wheel blowout, the vehicle's braking device is controlled to brake the wheel that is waiting to be braked, based on the vehicle's lateral acceleration signal and the blowout detection signal of each wheel, including steps S34 to S35.

[0067] In step S34, if the tire blowout type is a single-wheel blowout or a double-wheel blowout, it is determined whether the total blowout verification value is the preset verification value. In this embodiment, if the tire blowout type is a single-wheel blowout, the preset verification value is 3. If the total blowout verification value is 3, it indicates that the single-wheel blowout verification is successful. If the tire blowout type is a double-wheel blowout, the preset verification value is 6. If the total blowout verification value is 6, it indicates that the double-wheel blowout verification is successful.

[0068] In step S35, if so, the vehicle's braking system is controlled to brake the wheels awaiting braking without a blowout, based on the vehicle's lateral acceleration signal and the blowout detection signal of each wheel. This allows for more accurate blowout identification by controlling the vehicle's braking system to brake the wheels awaiting braking without a blowout after a successful blowout detection, based on the vehicle's lateral acceleration signal and the blowout detection signal of each wheel.

[0069] See Figure 6 and Figure 7 As shown in the figure, this application embodiment also provides a vehicle control system 100, which includes a tire blowout verification processing module 205, a tire blowout signal processing module 206, a multi-wheel tire blowout control state machine 127, and a control module.

[0070] The tire blowout verification processing module 205 includes a wheel speed verification module 122. The wheel speed verification module 122 compares the tire blowout detection signal and the tire blowout estimation signal of each wheel to obtain a matching result for each wheel. Different matching results result in different matching values. Specifically, the wheel speed verification module 122 can acquire the tire blowout detection signal detected by the tire blowout sensor for each wheel, and it can also acquire the wheel speed of each wheel to determine the tire blowout estimation signal for each wheel. The tire blowout detection signals can be the left front wheel blowout detection signal 101, the right front wheel blowout detection signal 102, the left rear wheel blowout detection signal 103, and the right rear wheel blowout detection signal 104. The wheel speeds can be the left front wheel speed 105, the right front wheel speed 106, the left rear wheel speed 107, and the right rear wheel speed 108.

[0071] The tire blowout verification processing module 205 also includes a verification processing module 123, which is used to determine the total tire blowout verification value based on the sum of the products of the tire blowout detection value and the matching value of each wheel.

[0072] The tire blowout verification processing module 205 is connected to the multi-wheel tire blowout control state machine 127 and is used to transmit the total tire blowout verification value to the multi-wheel tire blowout control state machine 127.

[0073] The multi-wheel tire blowout control state machine 127 is used to determine whether the total tire blowout verification value is the preset verification value when the tire blowout type is a single-wheel blowout or a dual-wheel blowout. The multi-wheel tire blowout control state machine 127 includes a default state, an initialization state, a standby state, an active state, a low-speed state, and a high-speed state. The multi-wheel tire blowout control state machine 127 will enter this state whenever at least one wheel experiences a blowout, thus ensuring the efficient and accurate operation of the vehicle's control system.

[0074] The control module is connected to the multi-wheel tire blowout control state machine 127. When the total tire blowout verification value is the preset verification value, the control module controls the vehicle's braking device to brake the tires that are waiting to be braked but have not blown out, based on the vehicle's lateral acceleration signal and the tire blowout detection signal of each wheel, and controls the vehicle's lateral and longitudinal stability control system and / or vertical stability control system.

[0075] The control module is used to control the vehicle's lateral and longitudinal stability control systems and / or vertical stability control systems in the event of a three-wheel or four-wheel tire blowout. The control module can differentiate control strategies according to different blowout conditions, ensuring timely and accurate control.

[0076] The tire blowout signal processing module 206 includes a tire blowout ID processing module 124, which is used to determine the direction setting value representing the vehicle's driving direction based on the vehicle's lateral acceleration signal, and obtain the product of the direction setting value and the tire blowout wheel position data.

[0077] The tire blowout signal processing module 206 includes a tire blowout flag processing module 125, which is used to determine the type of tire blowout based on the tire blowout wheel position data.

[0078] The tire blowout signal processing module 206 includes a tire blowout type processing module 126, which determines the instability category based on the product of the direction setting value and the tire blowout wheel position data. This allows for the determination of a control strategy based on the instability category identified by the tire blowout signal processing module, resulting in high reliability.

[0079] The control module is used to execute either the first control strategy 128 or the second control strategy 129 when the instability category is understeering. It is also used to execute the third control strategy 130 when the instability category is oversteering.

[0080] The vehicle's control system also includes a detection module connected to the tire blowout signal processing module. This module includes lateral acceleration 109, yaw rate 110, longitudinal acceleration 111, longitudinal vehicle speed 112, gear information 113, steering wheel angle 114, rear turn angle 115, actual drive torque 116, accelerator pedal percentage 117, other system self-test completion signal 118, VDC activation flag 119, other system fault information 120, actual braking torque 121, tire blowout function safety level, etc.

[0081] The vehicle's control system also includes a control target module connected to the control module. The control target module includes drive control flag 131, drive control target 132, brake control flag 133, forward drive control target 134, suspension control flag 135, brake control target 136, tire blowout severity level 137, rear turn control flag 138, rear turn control target 139, forward turn control flag 140, tire blowout control target signal, etc.

[0082] See Figure 7 As shown, in one embodiment, the vehicle control system 100 further includes an input module and an output module, which can serve as the input interface and output interface of the vehicle control system.

[0083] The vehicle control system 100 also includes a yaw rate estimation module 201, a vertical force distribution module 202, a driver intention estimation module 203, and a vehicle motion estimation module 204.

[0084] The tire blowout verification processing module 205 is used to output the matching result of each wheel, and to determine the total tire blowout verification value based on the sum of the products of the tire blowout detection value and the matching value of each wheel, and output the total tire blowout verification value.

[0085] The tire blowout signal processing module 206 can output the obtained blowout ID, instability category, and blowout flag to subsequent modules for use in the multi-round blowout control state machine transitions and subsequent control strategies. The blowout flag indicates the blowout type. The instability category indicates understeer or oversteer.

[0086] The vehicle's control system also includes a pre-control identification module 207, an arbitration module 208, and a soft exit module 209.

[0087] This application also provides a vehicle control system, including a processor and a memory. The number of processors may be one or more. The memory stores a computer program. When the processor executes the computer program, it implements the vehicle control method as described in the above embodiments.

[0088] This application also provides a vehicle that includes a control system for the vehicle as described in the above embodiments.

[0089] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A control method of a vehicle, characterized by, include: Acquire the tire blowout detection signal for each wheel of the vehicle; The type of tire blowout is determined based on the blowout detection signals of all wheels; the types of tire blowout include single-wheel blowout, double-wheel blowout, three-wheel blowout, and four-wheel blowout. If the tire blowout type is a single-wheel tire blowout or a double-wheel tire blowout, then based on the lateral acceleration signal of the vehicle and the tire blowout detection signal of each wheel, the vehicle's braking device is controlled to brake the wheel that is waiting to be braked but has not blown out, and the vehicle's lateral and longitudinal stability control system and / or vertical stability control system are controlled. If the tire blowout is a three-wheeled tire blowout or a four-wheeled tire blowout, then the lateral and longitudinal stability control system and / or vertical stability control system of the vehicle are controlled.

2. The control method of a vehicle according to claim 1, characterized by, The process of determining the type of tire blowout based on the blowout detection signals of all wheels includes: Based on the tire blowout detection signals of all wheels, determine the tire blowout wheel position data representing the location of the blowout wheel; wherein, the tire blowout wheel position data is a four-bit binary number, and each bit of the four-bit binary number corresponds to the tire blowout detection signal of one wheel. The type of tire blowout is determined based on the tire position data of the blowout.

3. The vehicle control method according to claim 2, characterized in that, The step of controlling the vehicle's braking device to brake the wheels awaiting braking without tire blowouts based on the vehicle's lateral acceleration signal and the tire blowout detection signal of each wheel includes: Based on the lateral acceleration signal of the vehicle, a direction setting value representing the driving direction of the vehicle is determined; The wheel that has not blown out is determined based on the product of the direction setting value and the tire blowout wheel position data; Control the vehicle's braking device to brake the wheels that are awaiting braking but have not yet blown out.

4. The vehicle control method according to claim 3, characterized in that, Determining the direction setting value representing the vehicle's travel direction based on the vehicle's lateral acceleration signal includes: If the lateral acceleration of the vehicle is greater than the first set acceleration, then the direction setting value is the first direction setting value; If the lateral acceleration of the vehicle is less than the second set acceleration, then the direction setting value is the second direction setting value; wherein the first direction setting value and the second direction setting value have the same value but opposite signs.

5. The vehicle control method according to claim 3, characterized in that, The step of determining the non-exploded tire to be braked based on the product of the direction setting value and the tire blowout wheel position data includes: The type of instability caused by the tire blowout is determined by multiplying the steering setting value and the tire blowout wheel position data; the instability type includes understeer and oversteer. If the instability category is understeer, then the wheel to be braked without a blowout is the inner rear wheel or the inner front wheel; If the instability category is oversteer, then the wheel to be braked without a blowout is the outer front wheel.

6. The vehicle control method according to claim 1, characterized in that, The vehicle control method also includes: Determine the estimated blowout signal for each wheel based on the wheel speed of all wheels; Based on the blowout detection signal and blowout estimation signal of each wheel, determine the total blowout verification value that represents the matching status of the blowout detection signal and blowout estimation signal of all wheels. If the tire blowout type is a single-wheel blowout or a double-wheel blowout, then based on the vehicle's lateral acceleration signal and the blowout detection signal of each wheel, the vehicle's braking device is controlled to brake the wheel that is awaiting braking but has not blown out, including: If the tire blowout type is a single tire blowout or a double tire blowout, then determine whether the total tire blowout verification value is the preset verification value; If so, the vehicle's braking device is controlled to brake the wheels that are waiting to be braked but have not blown out, based on the vehicle's lateral acceleration signal and the tire blowout detection signal of each wheel.

7. The vehicle control method according to claim 6, characterized in that, The step of determining a total blowout verification value, representing the matching status of the blowout detection signals and blowout estimation signals of all wheels, based on the blowout detection signal and blowout estimation signal of each wheel, includes: The blowout detection signal and the blowout estimation signal of each wheel are compared to obtain the matching result for each wheel; the matching result includes a matching failure state, a matching success state, and a default state indicating no matching or matching in progress; wherein, different matching results are different matching values; different blowout detection signals of each wheel are different blowout detection values; The total tire blowout verification value is determined by summing the products of the tire blowout detection value and the matching value for each wheel.

8. The vehicle control method according to claim 1, characterized in that, The lateral and longitudinal stability control system for controlling the vehicle includes: controlling the lateral and longitudinal stability control system of the vehicle to adjust the drive torque distribution and rear wheel steering angle of the vehicle. The vertical stability control system for controlling the vehicle includes: controlling the vertical stability control system of the vehicle to adjust the height of the vehicle's suspension.

9. A vehicle control system, characterized in that, include: processor; Memory, which stores computer programs; When the processor executes the computer program, it implements the vehicle control method as described in any one of claims 1 to 8.

10. A vehicle, characterized in that, Includes the vehicle control system as described in claim 9.

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