Vehicle control method and vehicle

Abstract

A vehicle control method and a vehicle. The method comprises: acquiring driving state data of a vehicle during driving and the centroid position of the vehicle; in response to the driving state data indicating that a wheel of the vehicle has a fault and the centroid position satisfies a driving protection function condition, acquiring actual load distribution data of the vehicle, the driving protection function condition being used for representing that the wheel having a fault can be protected by adjusting the centroid position; on the basis of the actual load distribution data, adjusting the height of four corners of the vehicle; on the basis of the adjusted heights of the four corners, shifting the centroid position into a target area, the target area being used for representing inhibiting the wheel having a fault from bearing the load of the vehicle; and, in response to the centroid position being successfully shifted to the target area, controlling vehicle driving.

Description

Vehicle control method and vehicle

[0001] Cross-reference

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on August 28, 2023, with application number 202311091748.2 and invention name “Vehicle Control Method and Vehicle”, the entire contents of which are incorporated by reference in this disclosure. Technical Field

[0003] The embodiments of the present application relate to the field of vehicles, and in particular, to a vehicle control method and a vehicle. Background Art

[0004] Currently, if a vehicle encounters a wheel failure during driving, in order to ensure that the wheel is not further damaged, it is necessary to promptly replace the spare tire or tow truck for rescue. However, this situation requires a long wait. Therefore, there is still a technical problem of low efficiency in controlling vehicle driving when there is a wheel failure.

[0005] With respect to the technical problem in the related art mentioned above that the efficiency of controlling the vehicle's travel is low when a wheel fails, no effective solution has been proposed so far.

[0006] Summary of the Invention

[0007] The embodiments of the present application provide a vehicle control method and a vehicle to at least solve the technical problem of low efficiency in controlling vehicle driving when a wheel fails.

[0008] According to one aspect of an embodiment of the present application, a vehicle control method is provided. The method may include: obtaining driving state data and the center of mass position of the vehicle during driving; in response to the driving state data indicating that a wheel of the vehicle is faulty and the center of mass position satisfies a driving protection function condition, obtaining actual load distribution data of the vehicle, wherein the driving protection function condition is used to indicate that the wheel with the fault can be protected by adjusting the center of mass position; adjusting the height of the four corners of the vehicle based on the actual load distribution data; based on the adjusted four corner heights, transferring the center of mass position to a target area, wherein the target area is used to indicate that the wheel with the fault is prohibited from bearing the vehicle load; and in response to the center of mass position successfully transferring to the target area, controlling the vehicle to drive.

[0009] Optionally, in response to the driving status data indicating that a wheel of the vehicle is faulty and the center of mass position meets the driving protection function conditions, before obtaining the actual load distribution data of the vehicle, the method may include: determining the number of wheels in the vehicle with faults; in response to the number being a target number, detecting the center of mass position; or, in response to the number not being the target number, sending a first prompt message to a target object of the vehicle, wherein the first prompt message is used to prompt the target object to control the vehicle to stop.

[0010] Optionally, based on the actual load distribution data, the heights of the four corners of the vehicle are adjusted, including: in response to the quantity being the target quantity, determining the status data of the actual load distribution data; in response to the status data being a transfer of the center of mass position, sending a second prompt message to the target object, wherein the second prompt message is used to prompt the target object to confirm whether the center of mass position needs to be transferred; and in response to the confirmation transfer instruction corresponding to the second prompt message, adjusting the heights of the four corners.

[0011] Optionally, in response to the confirmation transfer instruction corresponding to the second prompt information, the four corner heights are adjusted, including: adjusting the height of the air spring corresponding to the wheel, so that the four corner heights are adjusted to obtain an adjustment result, wherein the adjustment result is used to represent the adjusted four corner heights.

[0012] Optionally, the height of the air spring corresponding to the wheel is adjusted so that the height of the four corners is adjusted to obtain an adjustment result, including: adjusting the height of the air spring of the wheel with a fault and the height of the air spring of the corresponding diagonally opposite wheel to obtain an adjustment result, wherein the adjustment result is used to indicate that the target height difference between the heights of the two air springs is reached.

[0013] Optionally, based on the adjusted four corner heights, the center of mass position is transferred to the target area, including: based on the adjustment result obtained by adjusting the height of the air spring corresponding to the wheel, the center of mass position is moved to the target area formed by the wheel line under normal circumstances; in response to the center of mass position moving into the target area and maintaining the target time, the air pressure at the wheel with the fault is controlled to be reduced to complete the transfer of the center of mass position.

[0014] Optionally, the method further includes: if there is a shock absorbing device in the vehicle, controlling the shock absorbing device to raise the wheel with the fault to the target position and maintain it at the target position; and / or, if there is a suspension device in the vehicle, controlling the suspension device to detect the load of the vehicle to obtain a detection result, wherein the detection result is used to indicate whether the load is concentrated on the wheel in normal condition.

[0015] Optionally, based on the actual load distribution data, the heights of the four corners of the vehicle are adjusted, including: in response to the status data of the actual load distribution data being that the center of mass position cannot be transferred, sending a third prompt message to the target object, wherein the third prompt message is used to prompt the target object to move objects in the vehicle and / or increase the load on the diagonally opposite corners of the wheel in the fault situation; in response to the third prompt message, adjusting the center of mass position to meet the driving protection function conditions; in response to the center of mass position meeting the driving protection function conditions, obtaining the actual load distribution data; and adjusting the heights of the four corners based on the actual load distribution data.

[0016] Optionally, in response to the successful transfer of the center of mass position to the target area, the vehicle driving is controlled, including: during the process of controlling the vehicle driving, detecting the load data of the wheels under normal conditions; in response to the load data being less than the total load data, sending a fourth prompt message to the target object of the vehicle, wherein the fourth prompt message is used to prompt that a second center of mass transfer is required.

[0017] Optionally, the method further includes: in response to the load data being greater than or equal to the total load data, sending corresponding prompt information to the target object to prompt the target object to continue controlling the vehicle driving.

[0018] Optionally, the method may also include: based on the confirmation of the secondary transfer instruction of the fourth prompt information, controlling the air pressure of the wheel's air spring to return to the initial air pressure value; after restoring the initial air pressure value, re-determining the actual load distribution data and the wheel height data, wherein the height data includes the raised height of the wheel in a faulty condition and the lowered height of the wheel in a normal condition.

[0019] Optionally, the driving status data is used to indicate whether there is a tire fault in the vehicle, and includes at least the vehicle's speed, acceleration, slope information, vehicle height displacement information, and the air spring pressure of each wheel. Obtaining the driving status data of the vehicle during driving includes: during the vehicle's driving, collecting vehicle speed, acceleration, and vehicle height displacement information through sensors deployed on the vehicle, and determining slope information based on the acceleration, wherein the slope information is used to indicate the slope condition of the road surface on which the vehicle is currently located, and the vehicle height displacement information is used to indicate the height information of different wheels.

[0020] Optionally, obtaining the center of mass position of the vehicle includes: determining the body load borne by each wheel of the vehicle based on the driving state data; and determining the center of mass position based on the body load of each wheel.

[0021] According to another aspect of an embodiment of the present application, a vehicle control device is provided. The device may include: a first acquisition component configured to acquire driving state data and the center of mass position of the vehicle during driving; a second acquisition component configured to acquire actual load distribution data of the vehicle in response to the driving state data indicating that a wheel of the vehicle is in a fault condition and the center of mass position satisfies a driving protection function condition, wherein the driving protection function condition is used to indicate that the wheel in the fault condition can be protected by adjusting the center of mass position; an adjustment component configured to adjust the height of the four corners of the vehicle based on the actual load distribution data; a transfer component configured to transfer the center of mass position to a target area based on the adjusted four corner heights, wherein the target area is used to indicate that the wheel in the fault condition is prohibited from bearing the vehicle load; and a control component configured to control the vehicle's driving in response to the center of mass position successfully transferring to the target area.

[0022] According to another aspect of the embodiments of the present application, a computer-readable storage medium is further provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the vehicle control method of the embodiments of the present application.

[0023] According to another aspect of an embodiment of the present application, a processor is further provided, wherein the processor is configured to run a program, wherein when the program is run, the vehicle control method of the embodiment of the present application is executed.

[0024] According to another aspect of the embodiment of the present application, a vehicle is further provided, which is configured to execute the vehicle control method of the embodiment of the present application.

[0025] According to another aspect of an embodiment of the present application, an electronic device is provided. The electronic device includes one or more processors and a memory, wherein the memory is configured to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle control method of the embodiment of the present disclosure.

[0026] According to another aspect of an embodiment of the present application, a computer program product is also provided, including a non-volatile computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it performs the steps of the vehicle control method of the embodiment of the present disclosure.

[0027] In an embodiment of the present application, driving status data of a vehicle and the position of the center of mass of the vehicle are obtained during driving; in response to the driving status data indicating that a wheel of the vehicle is in a faulty condition and the center of mass position meets the driving protection function condition, actual load distribution data of the vehicle is obtained, wherein the driving protection function condition is used to characterize that the wheel in the faulty condition can be protected by adjusting the center of mass position; based on the actual load distribution data, the heights of the four corners of the vehicle are adjusted; based on the adjusted heights of the four corners, the center of mass position is transferred to a target area, wherein the target area is used to characterize that the wheel in the faulty condition is prohibited from bearing the load of the vehicle; in response to the center of mass position being successfully transferred to the target area, the vehicle driving is controlled. That is to say, if the embodiment of the present application detects that a wheel of the vehicle is faulty in the driving status data during the driving process of the vehicle, the center of mass position of the vehicle can be detected. If the center of mass position of the vehicle also meets the driving protection function conditions at this time, the actual load distribution data of the vehicle can be obtained, and the height of the four corners of the vehicle can be adjusted according to the actual load distribution data, so as to transfer the center of mass position to the target area where the wheel without the fault does not need to bear the load of the vehicle. After successfully transferring to the target area, the vehicle can continue to travel. Considering that by sharing the load of the vehicle to other normal wheels, further damage to the wheel with the fault can be avoided, and the problem of needing to replace the spare tire in time or waiting on the spot to request a tow truck when the wheel has a fault is avoided, the technical problem of low efficiency in controlling the vehicle's driving when the wheel has a fault is solved, and the technical effect of improving the efficiency of controlling the vehicle's driving when the wheel has a fault is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the embodiments of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0029] FIG1 is a flow chart of a vehicle control method according to an embodiment of the present application;

[0030] FIG2 is a flow chart of a method for controlling a vehicle's center of mass transfer to support driving without damaging the tire rim after a tire blowout according to an embodiment of the present application;

[0031] FIG3 is a schematic diagram of a functional communication architecture for traveling in a vehicle according to an embodiment of the present application;

[0032] FIG4 is a schematic diagram of a control device for a vehicle according to an embodiment of the present application;

[0033] FIG5 is a schematic diagram of the structure of a computer-readable storage medium according to an embodiment of the present application;

[0034] FIG6 is a schematic diagram of the structure of a processor according to an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or components is not necessarily limited to those steps or components clearly listed, but may include other steps or components that are not clearly listed or inherent to these processes, methods, products or devices.

[0037] According to an embodiment of the present application, an embodiment of a vehicle control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0038] FIG1 is a flow chart of a method for controlling a vehicle according to an embodiment of the present application. As shown in FIG1 , the method may include the following steps:

[0039] Step S102: Acquire the driving state data of the vehicle and the center of mass position of the vehicle during driving.

[0040] In the technical solution provided in step S102 above, the vehicle's driving status data and center of mass position can be detected in real time while the vehicle is driving. In this embodiment of the present application, a vehicle with four wheels is used as an example. The driving status data can be used to characterize the health status of the vehicle's wheels, that is, it can be used to diagnose whether there is a wheel fault. It can include data such as vehicle speed, acceleration, road slope, four-point vehicle height displacement information, air spring front left (FL) pressure, air spring front right (FR) pressure, air spring rear left (RL) pressure, and air spring rear right (RR) pressure during driving. It should be noted that the above driving status data is only illustrative and is not specifically limited here. As long as the data can detect the health status of each wheel in the vehicle, it is within the scope of protection of the embodiments of the present application. The center of mass position can be used to indicate the location of the vehicle's center of mass.

[0041] Optionally, while the vehicle is in motion, sensors deployed around the vehicle can be used to detect driving status data. For example, the vehicle's speed and the slope it is on can be detected. Acceleration can also be used to calculate the current slope of the vehicle. Four-point height signals of the vehicle's body and the pressure of the vehicle's four air springs can also be detected. Driving status data can be used to determine whether any of the vehicle's wheels are faulty, calculate the load on each wheel, and determine the current center of mass of the vehicle.

[0042] Step S104, in response to the driving status data indicating that a wheel of the vehicle is faulty and the center of mass position meets the driving protection function condition, the actual load distribution data of the vehicle is obtained, wherein the driving protection function condition is used to characterize that the wheel with a fault can be protected by adjusting the center of mass position.

[0043] In the technical solution provided in the above step S104 of the present application, after obtaining the driving status data of the vehicle and the center of mass position of the vehicle during driving, it is possible to determine whether there is a fault condition in the wheel in the driving status data, and it is also possible to determine whether the center of mass position meets the driving protection function conditions. If it is determined that the vehicle is in a fault condition and the center of mass position meets the driving protection function conditions, the current actual load distribution data of the vehicle can be obtained, wherein the driving protection function conditions can be used to characterize the ability to protect the wheel in a fault condition by adjusting the center of mass position, which can also be called a tire blowout driving protection function. The fault condition can be a tire blowout or deflation, etc., which is only an example here and does not specifically limit the wheel fault condition. The actual load distribution data can also be called the current load distribution of the vehicle or the current vehicle load distribution.

[0044] Optionally, after the driving state data of the vehicle is acquired, the vehicle body load borne by each of the four wheels may be calculated, and the position of the center of mass of the vehicle may be determined.

[0045] Optionally, when it is determined through driving status data that a wheel is faulty, it is possible to calculate whether the center of mass position of the vehicle meets the driving protection function conditions for each of the four wheels after the fault occurs, that is, whether it is possible to transfer the center of mass position of the wheel to a wheel on the ground plane where there is no fault by only changing the height of the four corners of the vehicle body without performing other operations. This situation is limited by the maximum minimum height and maximum height that can be provided by the air springs (empty springs) at the four corners of the vehicle body and the active suspension.

[0046] Optionally, after the above detection, if the center of mass position does not meet the driving protection function conditions in the current situation, it is necessary to determine whether the driver moves the position of the load in the vehicle or adds load at the diagonal corner of the wheel in the cabin in case of a fault, so that the center of mass position meets the driving protection function conditions.

[0047] Step S106: adjusting the heights of the four corners of the vehicle based on the actual load distribution data.

[0048] In the technical solution provided in the above step S106 of the present application, in response to the driving status data indicating that there is a fault in the vehicle's wheels and the center of mass position meets the driving protection function conditions, after obtaining the actual load distribution data of the vehicle, the height of the four corners of the vehicle can be adjusted based on the actual load distribution data.

[0049] Optionally, if one or several wheels are faulty, the center position of the vehicle cannot be transferred to the normal wheels by simply adjusting the height of the empty springs due to the maximum and minimum heights that can be provided by the empty springs at the four corners of the vehicle body. Therefore, the corresponding wheels can be recorded and the minimum load transfer required in the vehicle cabin can be calculated to transfer the center of mass to the normal wheels.

[0050] Optionally, if a faulty wheel is detected, a faulty driving protection control function can be triggered to the driver to determine whether the faulty wheel can achieve center of mass transfer to protect the faulty wheel. If so, the driver can be prompted to stop the vehicle and confirm the entry into the flat tire protection control program, pending adjustment of the vehicle's four corner heights.

[0051] Optionally, the heights of the four air springs of the vehicle may be controlled so that there is a height difference between the height of the empty spring at the wheel with the fault and the height of the empty spring at other normal wheels.

[0052] Step S108: Based on the adjusted four-corner heights, the center of mass position is transferred to a target area, wherein the target area is used to represent the load of the vehicle borne by the wheel in the prohibited fault condition.

[0053] In the technical solution provided in the above step S108 of the present application, after adjusting the heights of the four corners of the vehicle based on the actual load distribution data, the center of mass position can be transferred to the target area based on the adjusted heights of the four corners, wherein the target area can be used to characterize the load borne by the vehicle in a prohibited fault situation, and can be the range connected by the wheels in normal conditions.

[0054] Optionally, the center of mass position of the vehicle can be shifted by adjusting the heights of the four corners until the wheel with the fault does not need to bear the load of the vehicle at all, that is, the center of mass position is shifted to the target area.

[0055] If a wheel fails while a vehicle is driving, a spare tire must be promptly replaced or a tow truck must be requested to prevent further damage. Therefore, the technical problem of inefficient vehicle control when a wheel fails still exists. In an embodiment of the present application, an air spring in the vehicle can be utilized to control the vehicle height corresponding to the failed vehicle and the vehicle height of the normal vehicle. By changing the height difference between the failed wheel and the wheel diagonally opposite to it, the vehicle's center of mass is positioned within a target area. This prevents the failed tire from bearing the load, preventing further damage to the rim and tire of the failed wheel during driving. This allows the driver to smoothly drive the vehicle to the desired destination after the failed wheel is removed without causing further damage to the failed wheel. Therefore, by distributing the vehicle's load to other normal wheels, further damage to the failed wheel is avoided, and the need to promptly replace a spare tire or wait for a tow truck when a wheel fails is avoided, the technical problem of inefficient vehicle control when a wheel fails is solved.

[0056] Step S110 , in response to the centroid position being successfully transferred to the target area, controlling the vehicle to travel.

[0057] In the technical solution provided in the above step S110 of the present application, after the center of mass position is transferred to the target area based on the adjusted four corner heights, it can be determined whether the center of mass position is successfully transferred to the target area. If so, the vehicle can be controlled to travel.

[0058] Optionally, after the center of mass position is successfully transferred to the target area, the driver can be notified of the successful transfer and can restart the vehicle. The driver should be advised to avoid sudden acceleration or deceleration during driving to minimize vehicle jolts. Furthermore, the vehicle's driving status data can be monitored in real time during driving. If a faulty wheel is detected to be bearing load during driving, the driver will be prompted to perform the vehicle load transfer operation again, i.e., the center of mass transfer operation.

[0059] In the above steps S102 to S110 of the present application, the driving status data and the center of mass position of the vehicle during driving are obtained; in response to the driving status data indicating that a wheel of the vehicle is faulty and the center of mass position meets the driving protection function conditions, the actual load distribution data of the vehicle is obtained, wherein the driving protection function conditions are used to characterize that the wheel with a fault can be protected by adjusting the center of mass position; based on the actual load distribution data, the heights of the four corners of the vehicle are adjusted; based on the adjusted heights of the four corners, the center of mass position is transferred to a target area, wherein the target area is used to characterize that the wheel with a fault is prohibited from bearing the load of the vehicle; in response to the center of mass position being successfully transferred to the target area, the vehicle is controlled to travel. That is to say, if the embodiment of the present application detects that a wheel of the vehicle is faulty in the driving status data during the driving process of the vehicle, the center of mass position of the vehicle can be detected. If the center of mass position of the vehicle also meets the driving protection function conditions at this time, the actual load distribution data of the vehicle can be obtained, and the height of the four corners of the vehicle can be adjusted according to the actual load distribution data, so as to transfer the center of mass position to the target area where the wheel without the fault does not need to bear the load of the vehicle. After successfully transferring to the target area, the vehicle can continue to travel. Considering that by sharing the load of the vehicle to other normal wheels, further damage to the wheel with the fault can be avoided, and the problem of needing to replace the spare tire in time or waiting on the spot to request a tow truck when the wheel has a fault is avoided, the technical problem of low efficiency in controlling the vehicle's driving when the wheel has a fault is solved, and the technical effect of improving the efficiency of controlling the vehicle's driving when the wheel has a fault is achieved.

[0060] The above method of this embodiment is further introduced below.

[0061] As an optional embodiment, in step S104, in response to the driving status data indicating that a wheel of the vehicle is faulty and the center of mass position meets the driving protection function conditions, before obtaining the actual load distribution data of the vehicle, the method may include: determining the number of wheels in the vehicle that are faulty; in response to the number being a target number, detecting the center of mass position; or, in response to the number not being the target number, sending a first prompt message to a target object of the vehicle, wherein the first prompt message is used to prompt the target object to control the vehicle to stop.

[0062] In this embodiment, before obtaining the vehicle's actual load distribution data, the driving status data can be used to determine whether any of the vehicle's wheels are faulty, and the number of wheels with faults can be determined. When the number of wheels with faults reaches the target number, the center of mass position can be tested to determine whether it meets the driving protection function conditions. If the number of vehicles with faults does not reach the target number, a first prompt message can be sent to a target object of the vehicle, where the first prompt message can be used to prompt the target object to control the vehicle to stop. The target number can be preset to one. The target object can be the vehicle's occupants, including the driver and passengers.

[0063] Optionally, when it is detected that the number of wheels with faults is greater than one, it may indicate that the safety of the vehicle is very low. At this time, if the driver still controls the vehicle without knowing it, there may be a major safety hazard. Therefore, when it is detected that the number of wheels with faults is greater than one, it is necessary to send a first prompt message to the driver on the graphical user interface on the vehicle, prompting the driver that the number of wheels with faults exceeds the standard and the vehicle needs to be stopped.

[0064] For example, when it is detected that two wheels in a vehicle have flat tires, corresponding text box information can be displayed on the vehicle's in-vehicle navigation interface, such as "There are two flat tires. The vehicle should not continue driving. It is recommended to slowly pull over and wait for a tow truck or change tires. Do not operate the steering wheel randomly while pulling over." The voice information can also be output through the voice device in the vehicle to prompt the driver, thereby reminding the driver to slowly pull over to ensure the driver's safety and to ensure that the tires in the vehicle are not further damaged. It should be noted that the above-mentioned method and content of sending the first prompt information to the driver are only for illustration and are not specifically limited here.

[0065] As an optional implementation method, step S106 adjusts the height of the four corners of the vehicle based on the actual load distribution data, including: in response to the quantity being the target quantity, determining the status data of the actual load distribution data; in response to the status data being a transfer of the center of mass position, sending a second prompt message to the target object, wherein the second prompt message is used to prompt the target object to confirm whether the center of mass position needs to be transferred; in response to the confirmation transfer instruction corresponding to the second prompt message, adjusting the height of the four corners.

[0066] In this embodiment, during the process of adjusting the height of the four corners of the vehicle based on actual load distribution data, when the number of wheels detected to be faulty reaches the target number, the status of the vehicle's actual load distribution data at that time can be determined. If the status data indicates a shift in the center of mass position, a second prompt message can be sent to the target object. The vehicle's four corner heights can be adjusted by confirming the shift instruction corresponding to the second prompt message. The second prompt message can be used to prompt the target object to confirm whether the center of mass position shift is required. The status data can be used to indicate whether the vehicle's actual load distribution data can cope with the center of mass shift for tire blowout protection.

[0067] Optionally, when it is detected that the number of wheels with faults is one and the status data of the actual load distribution data shows that the center of mass position can be transferred, a second prompt message can be sent to the driver, prompting the driver to keep the vehicle stopped and ask the driver to confirm entering the flat tire protection control program. At this time, the vehicle can be controlled to adjust the height of the four corners, and the driver can wait for the center of mass adjustment of the entire vehicle to be completed before driving the vehicle.

[0068] For example, when it is detected that the number of wheels with a flat tire is one, and the current vehicle load distribution can cope with the center of mass transfer of the flat tire protection, the corresponding text box information can be displayed on the graphical user interface in the vehicle. For example, it can be displayed "Please confirm whether to enter the flat tire protection control program", and the controls of "yes" and "no" can be displayed. The corresponding voice information can also be output through a voice device to prompt the driver, and the driver can confirm the transfer instruction by voice input of "yes" or "no". When it is detected that the driver clicks the "yes" control, or voice inputs the "yes" confirmation transfer instruction, the flat tire protection control program can be started. At this time, the voice device or the graphical user interface can display "Please pull over, the center of mass transfer is about to begin" to prompt the driver to stop and wait for the center of mass of the vehicle to adjust. It should be noted that this is only an example, and there is no specific restriction on the method and content of sending the second prompt message.

[0069] As an optional embodiment, step S106, in response to the confirmation transfer instruction corresponding to the second prompt information, adjusts the height of the four corners, including: adjusting the height of the air spring corresponding to the wheel, so that the height of the four corners is adjusted to obtain an adjustment result, wherein the adjustment result is used to represent the adjusted height of the four corners.

[0070] In this embodiment, when receiving the confirmation transfer instruction corresponding to the second prompt information, in the process of adjusting the four corner heights, the height of the air spring corresponding to the wheel can be adjusted, so that the four corner heights are adjusted to obtain an adjustment result, wherein the adjustment result can be used to represent the adjusted four corner heights.

[0071] Optionally, the heights of the four air springs corresponding to the four wheels of the vehicle can be controlled so that the height of the air spring on the side of the wheel where the fault occurs reaches a corresponding height difference with the height of the air spring corresponding to the wheel diagonally opposite to the wheel, thereby adjusting the heights of the four corners to obtain a height adjustment result, and based on the adjustment result, the center of mass position of the vehicle can be transferred.

[0072] As an optional embodiment, step S108, based on the adjusted four corner heights, transfers the center of mass position to the target area, including: based on the adjustment result, moving the center of mass position to the target area formed by the wheel line under normal conditions; in response to the center of mass position moving to the target area and maintaining the target time, controlling the air pressure at the wheel with the fault to be reduced, thereby completing the transfer of the center of mass position.

[0073] In this embodiment, when shifting the center of mass to a target area based on the adjusted four-corner heights, the center of mass can be shifted to the target area formed by the line connecting the wheels under normal conditions based on the adjustment results. When the center of mass is shifted to the target area and maintained for a target time, the air pressure at the wheel experiencing the fault can be reduced to complete the shift of the center of mass. The target time can be a preset time length or a time length set according to actual circumstances, for example, it can be preset to two seconds. It should be noted that the aforementioned target time length and setting method are merely illustrative and are not specifically limited herein.

[0074] Optionally, the height of the vehicle's four air springs can be controlled so that the height difference between the empty spring on the side of the blown tire and the corresponding empty spring on the tire diagonally opposite the blown tire reaches a target height difference, and this adjustment is maintained for two seconds. Theoretically, the vehicle's center of mass has now been adjusted to the target triangle area connecting the three wheels. At this point, if the air spring force supporting the ground on the blown tire is removed, the blown wheel will no longer bear the vehicle load. After the empty spring adjustment is completed and maintained for two seconds, the air spring on the blown tire can be controlled to reduce the air pressure to a certain extent to maintain the current shift in the center of mass position.

[0075] As an optional embodiment, step S106, the method further includes: if there is a shock absorbing device in the vehicle, controlling the shock absorbing device to raise the wheel with the fault to the target position and maintain it at the target position; and / or, if there is a suspension device in the vehicle, controlling the suspension device to detect the load of the vehicle to obtain a detection result, wherein the detection result is used to indicate whether the load is concentrated on the wheel in normal condition.

[0076] In this embodiment, if there is a shock absorbing device in the vehicle, the shock absorbing device can be controlled to raise the wheel with a fault to the target position and maintain the wheel at the target position. If there is a suspension device in the vehicle, the suspension device can be controlled to detect the load of the vehicle to obtain a detection result, wherein the detection result can be used to indicate whether the load in the vehicle is concentrated on the wheel in a normal condition. The shock absorbing device can be an active shock absorber. The suspension device can be an active suspension. The target position can be a height data preset in advance, or it can be a height data set by itself according to actual conditions. It should be noted that this is only an example and does not impose specific restrictions on the setting method of the target position. As long as the height of the wheel with a fault is lifted off the ground by the shock absorbing device, it is within the protection scope of the embodiment of the present application.

[0077] Optionally, if the vehicle is equipped with active shock absorbers, the active shock absorbers can be controlled to raise the faulty wheel to a certain distance from the ground, and the valve system of the active shock absorber can be closed to maintain this height. If the vehicle does not have active shock absorbers or the active shock absorbers do not have the function of closing the valve system to maintain height, this step can be skipped.

[0078] Optionally, if the vehicle is equipped with active suspension, to confirm that the faulty wheel is no longer bearing the vehicle load, the vehicle can be lifted based on vehicle height information from the four vehicle height sensors. Furthermore, the load on the four air springs can be used to confirm that the load is concentrated on the three normal wheels. If the vehicle does not have active suspension, this determination is not necessary.

[0079] As an optional embodiment, step S106, based on the actual load distribution data, adjusts the height of the four corners of the vehicle, including: in response to the status data of the actual load distribution data being that the center of mass position cannot be transferred, sending a third prompt message to the target object, wherein the third prompt message is used to prompt the target object to move objects in the vehicle and / or increase the load on the diagonally opposite corners of the wheel in the fault situation; in response to the third prompt message, adjusting the center of mass position to meet the driving protection function conditions; in response to the center of mass position meeting the driving protection function conditions, obtaining the actual load distribution data; based on the actual load distribution data, adjusting the height of the four corners.

[0080] In this embodiment, in the process of adjusting the heights of the four corners of the vehicle based on the actual load distribution data, when it is detected that the status data of the actual load distribution data is that the center of mass position cannot be transferred, a third prompt message can be sent to the target object, and based on the third prompt message, the center of mass position of the vehicle can be adjusted to meet the driving protection function conditions. When the center of mass position meets the driving protection function conditions, the actual load distribution data can be obtained, and the heights of the four corners of the vehicle can be adjusted based on the actual load distribution data, wherein the third prompt message can be used to prompt the target object to move objects in the vehicle and / or increase the load on the diagonally opposite corners of the wheel in the fault situation.

[0081] Optionally, it is possible to detect whether the actual load distribution data of the vehicle can meet the driving protection function conditions. If the driving protection function conditions are not met, a third prompt message can be sent to the driver, prompting the driver to manually move objects in the vehicle to move the center of mass position of the vehicle, or to manually increase the load diagonally opposite the wheel in the fault situation so that the actual load distribution data of the current vehicle meets the driving protection function conditions.

[0082] For example, it is possible to detect whether the current vehicle load distribution can correspond to the center of mass transfer for tire blowout protection. If it cannot cope with the center of mass transfer for tire blowout protection, a corresponding text box message can be displayed on the vehicle's graphical user interface. For example, it can be displayed that "the tire with the blowout is the left front wheel. The owner is requested to manually move the items in the vehicle to the top of the right rear wheel, or increase the load in the cabin above the right rear wheel." The corresponding voice message can also be output through a voice device to prompt the driver. According to the above prompt message, the driver can move the items in the cabin to a position in the cabin above the right rear wheel on the opposite side of the left front wheel of the flat tire. It is also possible to place stones or any heavy objects in the cabin above the right rear wheel to increase the load on the right rear wheel, so that the current vehicle load distribution can cope with the center of mass transfer for tire blowout protection. When satisfied, a prompt message can be sent to the driver, and there is no need to manually transfer the center of mass position. It should be noted that the above method and content of sending the second prompt message are only for example purposes and are not specifically limited here.

[0083] As an optional embodiment, step S110, in response to the successful transfer of the center of mass position to the target area, controls the vehicle driving, including: in the process of controlling the vehicle driving, detecting the load data of the wheels under normal conditions; in response to the load data being less than the total load data, sending a fourth prompt message to the target object of the vehicle, wherein the fourth prompt message is used to prompt that a second center of mass transfer is required.

[0084] In this embodiment, when the center of mass position is successfully transferred to the target area, the normal wheel load data can be detected during the vehicle's driving control. If the load data is detected to be less than the total load data, a fourth prompt message can be sent to the target object of the vehicle. The fourth prompt message can be used to indicate that the vehicle needs to perform a second center of mass transfer. The load data can also be referred to as the load value. The total load data can also be referred to as the total load.

[0085] Optionally, after the center of mass position is successfully transferred to the target area, the driver can control the vehicle's driving, trying not to accelerate or decelerate suddenly and to avoid vehicle jolting. During this process, the three air springs corresponding to the three normal wheels can be monitored, and the corresponding load data can be calculated. It can also be confirmed whether the sum of the load data for these three wheels is less than the total load data. If the sum of the load data is less than the total load data, it can be indicated that there may be bumps or shaking during vehicle driving, causing the faulty wheel to contact the ground. At this time, the driver can be prompted to perform the vehicle's center of mass position transfer operation again, that is, a secondary load transfer operation can be performed.

[0086] For example, after the vehicle is running smoothly, the calculated load values ​​of the air springs on the three sides of the wheel that has not had a flat tire can be monitored in real time to see if the sum of the load values ​​carried by these three wheels is less than the total load. If it is less than the total load, it can be determined that the wheel on the side with the flat tire is in contact with the ground. At this time, a corresponding text box message can be displayed on the vehicle's graphical user interface, such as "The flat tire wheel has contacted the ground and secondary load transfer is required." A corresponding voice prompt message can also be output through a voice device to alert the driver.

[0087] As an optional embodiment, step S110, the method may also include: based on the confirmation of the secondary transfer instruction of the fourth prompt information, controlling the air pressure of the air spring of the wheel to return to the initial air pressure value; after restoring the initial air pressure value, re-determining the actual load distribution data and the height data of the wheel, wherein the height data includes the raised height of the wheel in a faulty condition and the lowered height of the wheel in a normal condition.

[0088] In this embodiment, based on the confirmation secondary transfer instruction of the fourth prompt information, the air pressure of the wheel air spring can be controlled to return to the initial air pressure value, and after returning to the initial air pressure value, the actual load distribution data and the height data of the wheels in the vehicle can be re-determined, wherein the height data can include the raised height to be raised for a vehicle with a fault, and can also include the lowered height to be lowered for a vehicle under normal circumstances.

[0089] Optionally, when the driver confirms the need to transfer the center of mass position, the air pressure of the air spring can be controlled to a corresponding air pressure value, so that the minimum load transfer required to achieve the tire blowout driving protection function can be recalculated, as well as the corresponding required height of the vehicle body raised on the side of the tire blowout and the height of the vehicle body lowered diagonally opposite the wheel on the side of the tire blowout.

[0090] In an embodiment of the present application, driving status data of a vehicle and the position of the center of mass of the vehicle are obtained during driving; in response to the driving status data indicating that a wheel of the vehicle is in a faulty condition and the center of mass position meets the driving protection function condition, actual load distribution data of the vehicle is obtained, wherein the driving protection function condition is used to characterize that the wheel in the faulty condition can be protected by adjusting the center of mass position; based on the actual load distribution data, the heights of the four corners of the vehicle are adjusted; based on the adjusted heights of the four corners, the center of mass position is transferred to a target area, wherein the target area is used to characterize that the wheel in the faulty condition is prohibited from bearing the load of the vehicle; in response to the center of mass position being successfully transferred to the target area, the vehicle driving is controlled. That is to say, if the embodiment of the present application detects that a wheel of the vehicle is faulty in the driving status data during the driving process of the vehicle, the center of mass position of the vehicle can be detected. If the center of mass position of the vehicle also meets the driving protection function conditions at this time, the actual load distribution data of the vehicle can be obtained, and the height of the four corners of the vehicle can be adjusted according to the actual load distribution data, so as to transfer the center of mass position to the target area where the wheel without the fault does not need to bear the load of the vehicle. After successfully transferring to the target area, the vehicle can continue to travel. Considering that by sharing the load of the vehicle to other normal wheels, further damage to the wheel with the fault can be avoided, and the problem of needing to replace the spare tire in time or waiting on the spot to request a tow truck when the wheel has a fault is avoided, the technical problem of low efficiency in controlling the vehicle's driving when the wheel has a fault is solved, and the technical effect of improving the efficiency of controlling the vehicle's driving when the wheel has a fault is achieved.

[0091] The technical solutions of the embodiments of the present application are illustrated below with reference to preferred implementation methods.

[0092] Currently, if a vehicle experiences a tire blowout or other wheel failure while driving, a spare tire must be promptly replaced to prevent further damage to the faulty tire and rim. Once the vehicle reaches the repair location, the faulty tire can be used again after a simple repair. However, installing a spare tire requires space, thus occupying the vehicle's passenger compartment. Spare tires are also heavy, increasing the vehicle's load and fuel consumption. A tow truck can be called for in the event of a tire blowout or other wheel failure, but this often requires a long wait, and roadside assistance may not be available in remote areas, making vehicle rescue solutions costly and inefficient. So, how can a vehicle still drive smoothly to its designated location after a tire blowout? Currently, there is no technical solution to this problem.

[0093] A related technology proposes a method for controlling a vehicle tire blowout. The method may include: obtaining tire pressure information; determining whether a tire blowout exists based on the tire pressure information; and, in the event of a tire blowout, adjusting the vehicle height difference so that the vehicle height on the blown tire side is higher than the vehicle height on the unblown tire side and / or increasing the input torque to the wheel on the blown tire side. This method can effectively prevent vehicle rollover without causing a sudden drop in vehicle speed, thereby minimizing the risk of rear-end collisions, by implementing at least one of the following two adjustments: adjusting the vehicle height difference on both sides and increasing the input torque to the wheel on the blown tire side.

[0094] However, the above method still has the technical problem of low efficiency in controlling vehicle driving when a wheel fails.

[0095] Furthermore, an embodiment of the present application proposes a control method for shifting the center of mass of a vehicle after a tire blowout to support driving without damaging the tire rim. If the method detects that a wheel of the vehicle has a fault in the driving status data during vehicle driving, the center of mass position of the vehicle can be detected. If the center of mass position of the vehicle also meets the driving protection function conditions at this time, the actual load distribution data of the vehicle can be obtained, and the height of the four corners of the vehicle can be adjusted according to the actual load distribution data, so as to shift the center of mass position to a target area where the wheel with the fault does not need to bear the load of the vehicle. After successfully shifting to the target area, the vehicle can continue to travel. Considering that by sharing the load of the vehicle to other normal wheels, further damage to the wheel with the fault can be avoided, and the problem of needing to replace the spare tire in time or waiting on the spot to request a tow truck when the wheel has a fault is avoided, the technical problem of low efficiency in controlling vehicle driving when a wheel has a fault is solved, and the technical effect of improving the efficiency of controlling vehicle driving when a wheel has a fault is achieved.

[0096] The following is a further introduction to the embodiments of the present application.

[0097] FIG2 is a flow chart of a method for controlling a vehicle's center of mass transfer to support driving without damaging the tire rim after a tire blowout according to an embodiment of the present application. As shown in FIG2 , the method may include the following steps:

[0098] Step S201 : determining the four-wheel loads and the center of mass position of the vehicle based on the driving state data of the vehicle.

[0099] In the technical solution provided in the above step S201 of the present application, the driving status data of the vehicle can be obtained, and the loads of the four wheels (four wheels) in the vehicle and the center of mass position of the vehicle can be determined through the driving status data.

[0100] Figure 3 is a schematic diagram of a functional communication architecture for vehicle operation according to an embodiment of the present application. As shown in Figure 3, driving status data may include vehicle speed, acceleration / road grade, four-point vehicle height displacement, air spring FL pressure, air spring FR pressure, air spring RL pressure, and air spring RR pressure. This is for illustrative purposes only and is not intended to be limiting. Based on this driving status data, the vehicle's center of mass transfer and tire blowout protection strategy can be analyzed to prevent further damage to the tire blowout by controlling the air springs FL, FR, RL, and RR, as well as the active shock absorbers FL, FR, RL, and RR.

[0101] Optionally, while the vehicle is in motion, sensors deployed around the vehicle can be used to detect driving status data. For example, the vehicle's speed and the slope it is on can be detected. Acceleration can also be used to calculate the current slope of the vehicle. Four-point height signals of the vehicle's body and the pressure of the vehicle's four air springs can also be detected. Driving status data can be used to determine whether any of the vehicle's wheels are faulty, calculate the load on each wheel, and determine the current center of mass of the vehicle.

[0102] Optionally, after the driving state data of the vehicle is acquired, the vehicle body load borne by each of the four wheels may be calculated, and the position of the center of mass of the vehicle may be determined.

[0103] Optionally, when it is determined through driving status data that a wheel is faulty, it is possible to calculate whether the center of mass position of the vehicle meets the driving protection function conditions for each of the four wheels after the fault occurs, that is, whether it is possible to transfer the center of mass position of the wheel to a wheel on the ground plane where there is no fault by only changing the height of the four corners of the vehicle body without performing other operations. This situation is limited by the maximum minimum height and maximum height that can be provided by the air springs at the four corners of the vehicle body and the active suspension.

[0104] Optionally, after the above detection, if the center of mass position does not meet the driving protection function conditions in the current situation, it is necessary to determine whether the driver moves the position of the load in the vehicle or adds load at the diagonal corner of the wheel in the cabin in case of a fault, so that the center of mass position meets the driving protection function conditions.

[0105] Alternatively, the vehicle can calculate the required height to raise the vehicle on the side of the tire that has been blown and the required height to lower the vehicle diagonally opposite the tire to achieve the tire blowout protection function, or the minimum load transfer required to achieve the tire blowout protection function. Subsequently, it can be determined whether tire blowout information has been received. If so, the driver triggers the tire blowout protection control function. Otherwise, the vehicle's driving status data needs to be re-acquired.

[0106] Step S202 : determining whether the vehicle load distribution corresponds to the center of mass transfer for tire blowout protection.

[0107] In the technical solution provided in step S202 of the present application, it is possible to determine whether the current vehicle load distribution can cope with the center of mass shift of tire blowout protection. If so, step S205 can be executed; otherwise, step S203 can be executed.

[0108] Optionally, if one or several wheels are faulty, the center position of the vehicle cannot be transferred to the normal wheels by simply adjusting the height of the empty springs due to the maximum and minimum heights that can be provided by the empty springs at the four corners of the vehicle body. Therefore, the corresponding wheels can be recorded and the minimum load transfer required in the vehicle cabin can be calculated to transfer the center of mass to the normal wheels.

[0109] Optionally, if a faulty wheel is detected, a faulty driving protection control function can be triggered to the driver to determine whether the faulty wheel can achieve center of mass transfer to protect the faulty wheel. If so, the driver can be prompted to stop the vehicle and confirm the entry into the flat tire protection control program, pending adjustment of the vehicle's four corner heights.

[0110] Optionally, the heights of the four air springs of the vehicle may be controlled so that there is a height difference between the height of the empty spring at the wheel with the fault and the height of the empty spring at other normal wheels.

[0111] Optionally, when it is detected that the number of wheels with faults is greater than one, it may indicate that the safety of the vehicle is very low. At this time, if the driver still controls the vehicle without knowing it, there may be a major safety hazard. Therefore, when it is detected that the number of wheels with faults is greater than one, it is necessary to send a first prompt message to the driver on the graphical user interface on the vehicle, prompting the driver that the number of wheels with faults exceeds the standard and the vehicle needs to be stopped.

[0112] Optionally, when it is detected that the number of wheels with faults is one and the status data of the actual load distribution data shows that the center of mass position can be transferred, a second prompt message can be sent to the driver, prompting the driver to keep the vehicle stopped and ask the driver to confirm entering the flat tire protection control program. At this time, the vehicle can be controlled to adjust the height of the four corners, and the driver can wait for the center of mass adjustment of the entire vehicle to be completed before driving the vehicle.

[0113] Step S203: Send a third prompt message to prompt the driver to move objects in the vehicle and / or increase the load diagonally opposite to the wheel with the flat tire.

[0114] In the technical solution provided in the above step S203 of the present application, a third prompt message can be sent to the driver, prompting the driver to adjust the center of mass position of the vehicle by moving objects in the vehicle and / or increasing the load diagonally opposite the tire blowout wheel, so as to determine whether the current vehicle load distribution can cope with the center of mass transfer of tire blowout protection, and execute step S204.

[0115] Optionally, it is possible to detect whether the actual load distribution data of the vehicle can meet the driving protection function conditions. If the driving protection function conditions are not met, a third prompt message can be sent to the driver, prompting the driver to manually move objects in the vehicle to move the center of mass position of the vehicle, or to manually increase the load diagonally opposite the wheel in the fault situation so that the actual load distribution data of the current vehicle meets the driving protection function conditions.

[0116] Step S204 , determining whether the vehicle load distribution corresponds to the center of mass transfer for tire blowout protection.

[0117] In the technical solution provided in the above step S204 of the present application, it is possible to detect whether the vehicle load distribution after adjustment by the driver can cope with the center of mass shift of tire blowout protection. If so, step S205 can be executed. Otherwise, step S203 can be executed.

[0118] Step S205: Send a second prompt message to adjust the center of mass position of the vehicle.

[0119] In the technical solution provided in the above step S205 of the present application, the heights of the four air springs corresponding to the four wheels of the vehicle can be controlled so that the height of the air spring on the side of the wheel where the fault occurs reaches a corresponding height difference with the height of the air spring corresponding to the wheel diagonally opposite to the wheel, thereby adjusting the heights of the four corners to obtain a height adjustment result, and thus the transfer of the center of mass position of the vehicle can be completed based on the adjustment result.

[0120] Optionally, the height of the vehicle's four air springs can be controlled so that the height difference between the empty spring on the side of the blown tire and the corresponding empty spring on the tire diagonally opposite the blown tire reaches a target height difference, and this adjustment is maintained for two seconds. Theoretically, the vehicle's center of mass has now been adjusted to the target triangle area connecting the three wheels. At this point, if the air spring force supporting the ground on the blown tire is removed, the blown wheel will no longer bear the vehicle load. After the empty spring adjustment is completed and maintained for two seconds, the air spring on the blown tire can be controlled to reduce the air pressure to a certain extent to maintain the current shift in the center of mass position.

[0121] Optionally, if the vehicle is equipped with active shock absorbers, the active shock absorbers can be controlled to raise the faulty wheel to a certain distance from the ground, and the valve system of the active shock absorber can be closed to maintain this height. If the vehicle does not have active shock absorbers or the active shock absorbers do not have the function of closing the valve system to maintain height, this step can be skipped.

[0122] Optionally, if the vehicle is equipped with active suspension, to confirm that the faulty wheel is no longer bearing the vehicle load, the vehicle can be lifted based on vehicle height information from the four vehicle height sensors. Furthermore, the load on the four air springs can be used to confirm that the load is concentrated on the three normal wheels. If the vehicle does not have active suspension, this determination is not necessary.

[0123] Step S206 , confirming whether the load of the vehicle is concentrated on the three wheels that are not flat.

[0124] In the technical solution provided in step S206 of the present application, it is possible to determine whether the vehicle load is concentrated on the three wheels in a normal state, that is, on the wheels that are not flat. If so, step S207 can be executed. Otherwise, step S209 can be executed.

[0125] Step S207: prompting the driver to control the vehicle.

[0126] In the technical solution provided in the above step S207 of the present application, optionally, after the center of mass position is successfully transferred to the target area, the driver can control the vehicle's driving. During this process, try not to accelerate or decelerate suddenly and try to avoid vehicle bumps.

[0127] Step S208: Determine whether the sum of the loads carried by the three wheels is less than the total load.

[0128] In the technical solution provided in step S208 of the present application, while the driver is controlling the vehicle, it can be determined whether the sum of the loads carried by the three wheels is less than the total load. If so, step S209 can be executed. Otherwise, step S207 can be executed.

[0129] Step S209: prompting the driver to perform the vehicle load transfer operation again.

[0130] In the technical solution provided in the above step S209 of the present application, the driver can be prompted that the current vehicle needs to perform a load transfer operation again.

[0131] Optionally, while the driver is controlling the vehicle, the three air springs corresponding to the three normal wheels can be monitored and their corresponding load data calculated. The system can then determine whether the sum of the load data for these three wheels is less than the total load data. If the sum of the load data is less than the total load data, this indicates that the vehicle may have experienced bumps or vibrations during driving, causing the faulty wheel to contact the ground. In this case, the driver can be prompted to perform a secondary load transfer operation, i.e., to shift the center of mass of the vehicle again.

[0132] Optionally, when the driver confirms the need to transfer the center of mass position, the air pressure of the air spring can be controlled to a corresponding air pressure value, so that the minimum load transfer required to achieve the tire blowout driving protection function can be recalculated, as well as the corresponding required height of the vehicle body raised on the side of the tire blowout and the height of the vehicle body lowered diagonally opposite the wheel on the side of the tire blowout.

[0133] In the embodiment of the present application, if it is detected in the driving status data during the driving process that a wheel of the vehicle is faulty, the center of mass position of the vehicle can be detected. If the center of mass position of the vehicle also meets the driving protection function conditions at this time, the actual load distribution data of the vehicle can be obtained, and the heights of the four corners of the vehicle can be adjusted according to the actual load distribution data, so as to transfer the center of mass position to the target area where the wheel with the fault does not need to bear the load of the vehicle. After successfully transferring to the target area, the vehicle can continue to travel. Considering that by sharing the load of the vehicle to other normal wheels, further damage to the wheel with the fault can be avoided, and the problem of needing to replace the spare tire in time or waiting on the spot to request a tow truck when the wheel has a fault is avoided, the technical problem of low efficiency in controlling the vehicle's travel when the wheel has a fault is solved, and the technical effect of improving the efficiency of controlling the vehicle's travel when the wheel has a fault is achieved.

[0134] According to an embodiment of the present application, a vehicle control device is also provided. It should be noted that the vehicle control device of the battery can be configured to execute the vehicle control method of the embodiment of the present application.

[0135] Figure 4 is a schematic diagram of a vehicle control device according to an embodiment of the present application. As shown in Figure 4, the vehicle control device 400 may include: a first acquisition component 402, a second acquisition component 404, an adjustment component 406, a transfer component 408 and a control component 410.

[0136] The first acquisition component 402 is configured to acquire the driving state data of the vehicle and the center of mass position of the vehicle during driving.

[0137] The second acquisition component 404 is configured to obtain the actual load distribution data of the vehicle in response to the driving status data indicating that a wheel of the vehicle is faulty and the center of mass position meets the driving protection function condition, wherein the driving protection function condition is used to characterize that the wheel with a fault can be protected by adjusting the center of mass position.

[0138] The adjustment component 406 is configured to adjust the height of the four corners of the vehicle based on the actual load distribution data.

[0139] The transfer component 408 is configured to transfer the center of mass position to a target area based on the adjusted four corner heights, wherein the target area is used to represent the load of the vehicle borne by the wheel in the prohibited fault condition.

[0140] The control component 410 is configured to control the vehicle to travel in response to the center of mass position being successfully transferred to the target area.

[0141] It should be noted here that the above-mentioned first acquisition component 402, second acquisition component 404, adjustment component 406, transfer component 408 and control component 410 can be run in the terminal as part of the device, and the functions implemented by the above-mentioned modules can be executed by the processor in the terminal. The terminal can also be a smart phone (such as Android phone, iOS phone, etc.), tablet computer, palm computer, mobile Internet device (Mobile Internet Devices, abbreviated as MID), PAD and other terminal devices.

[0142] Optionally, the device may also include: a determination component, configured to determine the number of wheels in the vehicle that are in a faulty condition; a detection component, configured to detect the center of mass position in response to the number being a target number; and a sending component, configured to send a first prompt message to a target object of the vehicle in response to the number not being the target number, wherein the first prompt message is used to prompt the target object to control the vehicle to stop.

[0143] It should be noted here that the above-mentioned determination component and sending component can be run in the terminal as part of the device, and the functions implemented by the above-mentioned components can be executed by the processor in the terminal.

[0144] Optionally, the adjustment component 406 may include: a first determination component, configured to determine the status data of the actual load distribution data in response to the quantity being the target quantity; a first sending component, configured to send a second prompt message to the target object in response to the status data being to transfer the center of mass position, wherein the second prompt message is used to prompt the target object to confirm whether the center of mass position needs to be transferred; and a first adjustment component, configured to adjust the heights of the four corners in response to the confirmation transfer instruction corresponding to the second prompt message.

[0145] It should be noted here that the above-mentioned first determination component, first sending component and first adjustment component can be run in the terminal as part of the device, and the functions implemented by the above-mentioned components can be executed by the processor in the terminal.

[0146] Optionally, the first adjustment component may further include: a first adjustment subcomponent, configured to adjust the height of the air spring corresponding to the wheel, so that the heights of the four corners are adjusted to obtain an adjustment result, wherein the adjustment result is used to represent the adjusted heights of the four corners.

[0147] It should be noted here that the above-mentioned first adjustment subcomponent can be run in the terminal as a part of the device, and the functions implemented by the above-mentioned component can be executed by the processor in the terminal.

[0148] Optionally, the first adjustment component may also include: a second adjustment sub-component, configured to adjust the height of the air spring of the wheel with a fault and the height of the air spring of the corresponding diagonally opposite wheel to obtain an adjustment result, wherein the adjustment result is used to indicate that the target height difference between the heights of the air springs of the two has been reached.

[0149] It should be noted here that the above-mentioned second adjustment subcomponent can be run in the terminal as a part of the device, and the functions implemented by the above-mentioned component can be executed by the processor in the terminal.

[0150] Optionally, the transfer component 408 may include: a moving component, configured to move the center of mass position to a target area formed by the wheel connection line under normal circumstances based on an adjustment result obtained by adjusting the height of the air spring corresponding to the wheel; a first control component, configured to control the air pressure at the wheel with a fault to be reduced in response to the center of mass position moving to the target area and maintaining it for a target time, thereby completing the transfer of the center of mass position.

[0151] It should be noted here that the above-mentioned moving component and first control component can be run in the terminal as part of the device, and the functions implemented by the above-mentioned components can be executed by the processor in the terminal.

[0152] Optionally, the device may also include: a first processing component, if there is a shock absorber device in the vehicle, configured to control the shock absorber device to raise the wheel with a fault to a target position and maintain it at the target position; a second processing component, if there is a suspension device in the vehicle, configured to control the suspension device to detect the load of the vehicle and obtain a detection result, wherein the detection result is used to indicate whether the load is concentrated on the wheel in normal condition.

[0153] It should be noted here that the first processing component and the second processing component can be run in the terminal as part of the device, and the functions implemented by the above components can be executed by the processor in the terminal.

[0154] Optionally, the adjustment component 406 may include: a second sending component, configured to send a third prompt message to the target object in response to the status data of the actual load distribution data being that the center of mass position cannot be transferred, wherein the third prompt message is used to prompt the target object to move objects in the vehicle and / or increase the load on the diagonal corners of the wheels in the fault situation; a second adjustment component, configured to adjust the center of mass position to meet the driving protection function conditions in response to the third prompt message; an acquisition component, configured to acquire the actual load distribution data in response to the center of mass position meeting the driving protection function conditions; a third adjustment component, configured to adjust the four corner heights based on the actual load distribution data.

[0155] It should be noted here that the above-mentioned second sending component, second adjustment component, acquisition component and third adjustment component can run in the terminal as part of the device, and the functions implemented by the above-mentioned components can be executed by the processor in the terminal.

[0156] Optionally, the control component 410 may include: a detection component, configured to detect the load data of the wheels under normal conditions during the control of vehicle driving; a third sending component, configured to send a fourth prompt message to the target object of the vehicle in response to the load data being less than the total load data, wherein the fourth prompt message is used to prompt that a second center of mass transfer is required.

[0157] It should be noted here that the above-mentioned detection component and the third sending component can be run in the terminal as part of the device, and the functions implemented by the above-mentioned components can be executed by the processor in the terminal.

[0158] Optionally, the control component 410 may include: a fourth sending component, configured to send corresponding prompt information to the target object in response to the load data being greater than or equal to the total load data, so as to prompt the target object to continue controlling the vehicle driving.

[0159] It should be noted here that the fourth sending component can be run in the terminal as a part of the device, and the functions implemented by the above component can be executed by the processor in the terminal.

[0160] Optionally, the control component 410 may also include: a second control component, configured to confirm the secondary transfer instruction based on the fourth prompt information, and control the air pressure of the air spring of the wheel to return to the initial air pressure value; a second determination component, configured to redetermine the actual load distribution data and the height data of the wheel after restoring the initial air pressure value, wherein the height data includes the raised height of the wheel in a faulty condition and the lowered height of the wheel in a normal condition.

[0161] It should be noted here that the second control component and the second determination component can be run in the terminal as part of the device, and the functions implemented by the above components can be executed by the processor in the terminal.

[0162] Optionally, the first acquisition component 402 may include: an acquisition component, configured to collect vehicle speed, acceleration and vehicle height displacement information through sensors deployed on the vehicle during vehicle driving, and determine slope information based on the acceleration, wherein the slope information is used to indicate the slope condition of the road surface on which the vehicle is currently located, and the vehicle height displacement information is used to indicate the height information of different wheels.

[0163] It should be noted here that the above-mentioned acquisition component can be run in the terminal as a part of the device, and the functions implemented by the above-mentioned component can be executed by the processor in the terminal.

[0164] Optionally, the first acquisition component 402 may include: a third determination component, configured to determine the body load borne by each wheel in the vehicle based on the driving status data; and a fourth determination component, configured to determine the center of mass position based on the body load of each wheel.

[0165] It should be noted here that the third determination component and the fourth determination component can be run in the terminal as part of the device, and the functions implemented by the above components can be executed by the processor in the terminal.

[0166] In an embodiment of the present application, a first acquisition component is used to obtain driving status data and the center of mass position of the vehicle during driving; a second acquisition component is used to obtain actual load distribution data of the vehicle in response to the driving status data indicating that a wheel of the vehicle is in a faulty condition and the center of mass position satisfies a driving protection function condition, wherein the driving protection function condition is used to characterize that the wheel in a faulty condition can be protected by adjusting the center of mass position; an adjustment component is used to adjust the four corner heights of the vehicle based on the actual load distribution data; a transfer component is used to transfer the center of mass position to a target area based on the adjusted four corner heights, wherein the target area is used to characterize that the wheel in a faulty condition is prohibited from bearing the load of the vehicle; a control component is used to control the vehicle in response to the center of mass position being successfully transferred to the target area, thereby solving the technical problem of low efficiency in controlling the vehicle's driving when a wheel in a faulty condition is present, and achieving the technical effect of improving the efficiency of controlling the vehicle's driving when a wheel in a faulty condition is present.

[0167] According to an embodiment of the present application, a computer-readable storage medium is further provided, which includes a stored program, wherein the program executes the vehicle control method described in the embodiment of the present application.

[0168] The various functional components provided in the embodiments of the present application can be operated in a vehicle control method or a similar computing device, and can also be stored as part of a computer-readable storage medium.

[0169] FIG5 is a schematic diagram of the structure of a computer-readable storage medium according to an embodiment of the present application. As shown in FIG5 , a program product 50 in a real-time manner according to the present application is provided, on which a computer program is stored. When the computer program is executed by a processor, program code for implementing the following steps is implemented:

[0170] Obtaining the vehicle's driving status data and the vehicle's center of mass position during driving;

[0171] In response to the driving state data indicating that a wheel of the vehicle is in a faulty condition and the center of mass position satisfies a driving protection function condition, obtaining actual load distribution data of the vehicle, wherein the driving protection function condition is used to indicate that the wheel in the faulty condition can be protected by adjusting the center of mass position;

[0172] Adjust the vehicle's four corner heights based on actual load distribution data;

[0173] Based on the adjusted four-corner heights, the center of mass position is shifted to a target area, wherein the target area is used to represent the load borne by the wheel of the prohibited fault condition;

[0174] In response to the center of mass position being successfully transferred to the target area, the vehicle is controlled to travel.

[0175] Optionally, the computer program also implements program code for the following steps when executed by the processor: determining the number of wheels in the vehicle that are in a faulty condition; in response to the number being a target number, detecting the center of mass position; or, in response to the number not being the target number, sending a first prompt message to a target object of the vehicle, wherein the first prompt message is used to prompt the target object to control the vehicle to stop.

[0176] Optionally, the computer program also implements program code for the following steps when executed by the processor: in response to the quantity being the target quantity, determining status data of the actual load distribution data; in response to the status data being a transfer of the center of mass position, sending a second prompt message to the target object, wherein the second prompt message is used to prompt the target object to confirm whether the center of mass position needs to be transferred; and in response to the confirmation transfer instruction corresponding to the second prompt message, adjusting the heights of the four corners.

[0177] Optionally, the computer program also implements program code of the following steps when executed by the processor: adjusting the height of the air spring corresponding to the wheel so that the height of the four corners is adjusted to obtain an adjustment result, wherein the adjustment result is used to represent the adjusted height of the four corners.

[0178] Optionally, the computer program also implements the degree code of the following steps when executed by the processor: adjusting the height of the air spring of the wheel with the fault and the height of the air spring of the corresponding diagonally opposite wheel to obtain an adjustment result, wherein the adjustment result is used to indicate that the target height difference between the heights of the air springs of the two has been reached.

[0179] Optionally, the computer program also implements program code for the following steps when executed by the processor: based on the adjustment result obtained by adjusting the height of the air spring corresponding to the wheel, the center of mass position is moved to the target area formed by the wheel line under normal circumstances; in response to the center of mass position moving to the target area and maintaining the target time, the air pressure at the wheel with the fault is controlled to be reduced to complete the transfer of the center of mass position.

[0180] Optionally, the computer program also implements program codes for the following steps when executed by the processor: if there is a shock absorber device in the vehicle, control the shock absorber device to raise the wheel with the fault to the target position and maintain it at the target position; and / or, if there is a suspension device in the vehicle, control the suspension device to detect the load of the vehicle and obtain a detection result, wherein the detection result is used to indicate whether the load is concentrated on the wheel in normal condition.

[0181] Optionally, the computer program is also configured to implement the following program codes when executed by the processor: in response to the status data of the actual load distribution data being that the center of mass position cannot be transferred, sending a third prompt message to the target object, wherein the third prompt message is used to prompt the target object to move objects in the vehicle and / or increase the load at the diagonal corners of the wheels in the fault situation; in response to the third prompt message, adjusting the center of mass position to meet the driving protection function conditions; in response to the center of mass position meeting the driving protection function conditions, obtaining the actual load distribution data; and adjusting the heights of the four corners based on the actual load distribution data.

[0182] Optionally, the computer program also implements program codes of the following steps when executed by the processor: in the process of controlling the vehicle's driving, detecting the load data of the wheels under normal conditions; in response to the load data being less than the total load data, sending a fourth prompt message to the target object of the vehicle, wherein the fourth prompt message is used to prompt that a second center of mass transfer is required.

[0183] Optionally, the computer program further implements program code of the following steps when executed by the processor: in response to the load data being greater than or equal to the total load data, sending corresponding prompt information to the target object to prompt the target object to continue controlling the vehicle driving.

[0184] Optionally, the computer program also implements program codes for the following steps when executed by the processor: based on the confirmation secondary transfer instruction of the fourth prompt information, controlling the air pressure of the air spring of the wheel to return to the initial air pressure value; after restoring the initial air pressure value, re-determining the actual load distribution data and the height data of the wheel, wherein the height data includes the raised height of the wheel in a faulty condition and the lowered height of the wheel in a normal condition.

[0185] Optionally, the computer program also implements program code of the following steps when executed by the processor: during the vehicle's driving process, the vehicle speed, acceleration and vehicle height displacement information are collected through sensors deployed on the vehicle, and the slope information is determined based on the acceleration, wherein the slope information is used to indicate the slope condition of the road surface on which the vehicle is currently located, and the vehicle height displacement information is used to indicate the height information of different wheels.

[0186] Optionally, the computer program also implements program codes of the following steps when executed by the processor: determining the body load borne by each wheel of the vehicle based on the driving status data; and determining the center of mass position based on the body load of each wheel.

[0187] Optionally, in an embodiment of the present application, the computer-readable storage medium may also be configured as a program code for various preferred or optional method steps provided by the vehicle control method.

[0188] Optionally, the specific examples in the embodiments of the present application can refer to the examples described in the above embodiments, and this embodiment will not be repeated here.

[0189] Computer-readable storage media may include a data signal transmitted in baseband or as part of a carrier wave, carrying readable program code. Such a transmitted data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Non-volatile storage media may transmit, propagate, or transfer programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0190] The program code contained in the computer-readable storage medium can be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, radio frequency, etc., or any suitable combination of the foregoing.

[0191] According to an embodiment of the present application, a processor is further provided. FIG6 is a schematic diagram of the structure of a processor according to an embodiment of the present application. As shown in FIG6 , the processor 60 is configured to run a program, wherein the program, when running, executes the vehicle control method described in the embodiment of the present application.

[0192] In an embodiment of the present application, the processor 60 may execute an operating program of a vehicle fault information processing method.

[0193] Optionally, in the embodiment of the present application, the processor 60 may be configured to perform the following steps:

[0194] Obtaining the vehicle's driving status data and the vehicle's center of mass position during driving;

[0195] In response to the driving state data indicating that a wheel of the vehicle is in a faulty condition and the center of mass position satisfies a driving protection function condition, obtaining actual load distribution data of the vehicle, wherein the driving protection function condition is used to indicate that the wheel in the faulty condition can be protected by adjusting the center of mass position;

[0196] Adjust the vehicle's four corner heights based on actual load distribution data;

[0197] Based on the adjusted four-corner heights, the center of mass position is shifted to a target area, wherein the target area is used to represent the load borne by the wheel of the prohibited fault condition;

[0198] In response to the center of mass position being successfully transferred to the target area, the vehicle is controlled to travel.

[0199] Optionally, the processor 60 may be further configured to perform the following steps: determining the number of wheels in the vehicle that are in a faulty condition; in response to the number being a target number, detecting the center of mass position; or, in response to the number not being the target number, sending a first prompt message to a target object of the vehicle, wherein the first prompt message is used to prompt the target object to control the vehicle to stop.

[0200] Optionally, the processor 60 can also be configured to perform the following steps: in response to the quantity being the target quantity, determining the status data of the actual load distribution data; in response to the status data being a transfer of the center of mass position, sending a second prompt message to the target object, wherein the second prompt message is used to prompt the target object to confirm whether the center of mass position needs to be transferred; in response to the confirmation transfer instruction corresponding to the second prompt message, adjusting the heights of the four corners.

[0201] Optionally, the processor 60 may be further configured to perform the following steps: adjusting the height of the air spring corresponding to the wheel so that the heights of the four corners are adjusted to obtain an adjustment result, wherein the adjustment result is used to represent the adjusted heights of the four corners.

[0202] Optionally, the processor 60 can also be configured to perform the following steps: adjusting the height of the air spring of the wheel with the fault and the height of the air spring of the corresponding diagonally opposite wheel to obtain an adjustment result, wherein the adjustment result is used to indicate that the target height difference between the heights of the air springs of the two has been reached.

[0203] Optionally, the processor 60 can also be configured to perform the following steps: based on the adjustment result obtained by adjusting the height of the air spring corresponding to the wheel, move the center of mass position to the target area formed by the wheel line under normal circumstances; in response to the center of mass position moving to the target area and maintaining the target time, control the air pressure at the wheel with a fault to be reduced to complete the transfer of the center of mass position.

[0204] Optionally, the processor 60 can be further configured to perform the following steps: if there is a shock absorber device in the vehicle, control the shock absorber device to raise the wheel with a fault to a target position and maintain it at the target position; and / or, if there is a suspension device in the vehicle, control the suspension device to detect the load of the vehicle and obtain a detection result, wherein the detection result is used to indicate whether the load is concentrated on the wheel in normal condition.

[0205] Optionally, the processor 60 can be further configured to perform the following steps: in response to the status data of the actual load distribution data being that the center of mass position cannot be transferred, sending a third prompt message to the target object, wherein the third prompt message is used to prompt the target object to move objects in the vehicle and / or increase the load at the diagonal corners of the wheels in the fault situation; in response to the third prompt message, adjusting the center of mass position to meet the driving protection function conditions; in response to the center of mass position meeting the driving protection function conditions, obtaining the actual load distribution data; and adjusting the four corner heights based on the actual load distribution data.

[0206] Optionally, the processor 60 can also be configured to perform the following steps: while controlling the vehicle's driving, detecting the load data of the wheels under normal conditions; in response to the load data being less than the total load data, sending a fourth prompt message to the target object of the vehicle, wherein the fourth prompt message is used to prompt that a second center of mass transfer is required.

[0207] Optionally, the processor 60 may be further configured to perform the following steps: in response to the load data being greater than or equal to the total load data, sending corresponding prompt information to the target object to prompt the target object to continue controlling the vehicle driving.

[0208] Optionally, the processor 60 can also be configured to perform the following steps: based on the confirmation secondary transfer instruction of the fourth prompt information, control the air pressure of the wheel's air spring to return to the initial air pressure value; after restoring the initial air pressure value, redetermine the actual load distribution data and the wheel height data, wherein the height data includes the raised height of the wheel in a faulty condition and the lowered height of the wheel in a normal condition.

[0209] Optionally, the processor 60 can also be configured to perform the following steps: during vehicle driving, the vehicle speed, acceleration and vehicle height displacement information are collected through sensors deployed on the vehicle, and the slope information is determined based on the acceleration, wherein the slope information is used to indicate the slope condition of the road surface on which the vehicle is currently located, and the vehicle height displacement information is used to indicate the height information of different wheels.

[0210] Optionally, the processor 60 may be further configured to perform the following steps: determining the body load borne by each wheel of the vehicle based on the driving status data; and determining the center of mass position based on the body load of each wheel.

[0211] The processor 60 may execute various functional applications and data processing by running software programs and components stored in the memory, that is, implement the vehicle control method.

[0212] According to an embodiment of the present application, a vehicle is also provided, which is configured to execute the vehicle control method of the embodiment of the present application.

[0213] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0214] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0215] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the components can be a logical function division. In actual implementation, there may be other division methods, such as multiple components or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of components can be electrical or other forms.

[0216] The components described as separate parts may or may not be physically separate, and the components shown as components may or may not be physical components, that is, they may be located in one place or distributed across multiple components. Some or all of the components may be selected according to actual needs to achieve the purpose of the present embodiment.

[0217] In addition, the functional components in the various embodiments of the present application may be integrated into a processing component, or each component may exist physically separately, or two or more components may be integrated into a single component. The above-mentioned integrated components may be implemented in the form of hardware or software functional components.

[0218] If the integrated components are implemented in the form of software functional components and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0219] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application. Industrial Applicability

[0220] The solution provided in the embodiments of the present application can be applied to a vehicle control process to obtain driving state data and the center of mass position of the vehicle during driving; in response to the driving state data indicating that a wheel of the vehicle is faulty and the center of mass position meets a driving protection function condition, obtain actual load distribution data of the vehicle, wherein the driving protection function condition is used to indicate that the wheel with the faulty condition can be protected by adjusting the center of mass position; adjust the height of the four corners of the vehicle based on the actual load distribution data; based on the adjusted four corner heights, shift the center of mass position to a target area, wherein the target area is used to indicate that the wheel with the faulty condition is prohibited from bearing the vehicle load; and in response to the center of mass position successfully shifting to the target area, control the vehicle's driving. The above solution considers that by sharing the vehicle's load with other normal wheels, further damage to the faulty wheel is avoided, and the problem of needing to replace a spare tire or wait for a tow truck when a wheel with the faulty condition exists is avoided. This solves the technical problem of low efficiency in controlling vehicle driving when a wheel with the faulty condition exists, and achieves the technical effect of improving the efficiency of controlling vehicle driving when a wheel with the faulty condition exists.

Claims

1. A vehicle control method, comprising: Acquiring driving state data of a vehicle and a center of mass position of the vehicle during driving; In response to the driving state data indicating that a wheel of the vehicle has a fault condition and the center of mass position satisfies a driving protection function condition, obtaining actual load distribution data of the vehicle, wherein the driving protection function condition is used to indicate that the wheel having the fault condition can be protected by adjusting the center of mass position; adjusting the height of the four corners of the vehicle based on the actual load distribution data; Based on the adjusted four-corner heights, the center of mass position is transferred to a target area, wherein the target area is used to characterize that the wheel of the fault condition is prohibited from bearing the load of the vehicle; In response to the center of mass position being successfully transferred to the target area, the vehicle is controlled to travel.

2. The method according to claim 1, wherein: In response to the driving state data indicating that a wheel of the vehicle is faulty and the center of mass position meets a driving protection function condition, before obtaining actual load distribution data of the vehicle, the method further includes: determining the number of wheels in the vehicle having the fault condition; In response to the number being a target number, detecting the centroid position; or, In response to the number not being the target number, a first prompt message is sent to a target object of the vehicle, wherein the first prompt message is used to prompt the target object to control the vehicle to stop.

3. The method according to claim 2, wherein: Adjusting the height of four corners of the vehicle based on the actual load distribution data includes: In response to the number being the target number, determining status data of the actual load distribution data; In response to the state data being to transfer the centroid position, sending second prompt information to the target object, wherein the second prompt information is used to prompt the target object to confirm whether the centroid position needs to be transferred; In response to a confirmation transfer instruction corresponding to the second prompt information, the heights of the four corners are adjusted.

4. The method according to claim 3, wherein: In response to the confirmation transfer instruction corresponding to the second prompt information, adjusting the heights of the four corners includes: The height of the air spring corresponding to the wheel is adjusted so that the heights of the four corners are adjusted to obtain an adjustment result, wherein the adjustment result is used to represent the adjusted heights of the four corners.

5. The method according to claim 4, wherein: The height of the air spring corresponding to the wheel is adjusted so that the height of the four corners is adjusted, and the adjustment result is obtained, including: The air spring height of the wheel having the fault condition and the height of the air spring of the corresponding diagonally opposite wheel are adjusted to obtain the adjustment result, wherein the adjustment result is used to indicate that the target height difference between the heights of the air springs of the two wheels is reached.

6. The method according to claim 1, wherein: Based on the adjusted heights of the four corners, transferring the centroid position to a target area comprises: Based on an adjustment result obtained by adjusting the height of the air spring corresponding to the wheel, the center of mass position is moved to the target area formed by the wheel connection line in a normal situation; In response to the center of mass position moving into the target area and maintaining the target time, the air pressure at the wheel where the fault condition exists is controlled to be reduced to complete the transfer of the center of mass position.

7. The method according to claim 6, wherein: The method further comprises: If a shock absorbing device is provided in the vehicle, the shock absorbing device is controlled to raise the wheel with the fault condition to a target position and maintain the wheel at the target position; and / or, If a suspension device is present in the vehicle, the suspension device is controlled to detect the load of the vehicle to obtain a detection result, wherein the detection result is used to indicate whether the load is concentrated on the wheel in the normal condition.

8. The method according to claim 1, wherein: Adjusting the height of four corners of the vehicle based on the actual load distribution data includes: In response to the status data of the actual load distribution data being that the center of mass position cannot be transferred, sending a third prompt message to the target object, wherein the third prompt message is used to prompt the target object to move an object in the vehicle and / or increase a load at a diagonally opposite corner of the wheel in the fault condition; In response to the third prompt information, adjusting the center of mass position to meet the driving protection function condition; In response to the center of mass position satisfying the driving protection function condition, acquiring the actual load distribution data; Based on the actual load distribution data, the heights of the four corners are adjusted.

9. The method according to claim 1, wherein: In response to the centroid position being successfully transferred to the target area, controlling the vehicle to travel includes: During the process of controlling the vehicle to travel, detecting the load data of the wheels in normal conditions; In response to the load data being less than the total load data, fourth prompt information is sent to the target object of the vehicle, wherein the fourth prompt information is used to prompt that a second center of mass transfer is required.

10. The method according to claim 9, wherein: The method further comprises: In response to the load data being greater than or equal to the total load data, corresponding prompt information is sent to the target object to prompt the target object to continue controlling the driving of the vehicle.

11. The method according to claim 9, wherein: The method further comprises: Based on the confirmation secondary transfer instruction of the fourth prompt information, controlling the air pressure of the air spring of the wheel to return to the initial air pressure value; After the initial air pressure value is restored, the actual load distribution data and the height data of the wheel are re-determined, wherein the height data includes the raised height of the wheel with the fault condition and the lowered height of the wheel with the normal condition.

12. The method according to claim 1, wherein: The driving state data is used to indicate whether the tire in the vehicle has the fault condition, and at least includes the vehicle speed, acceleration, ramp information, vehicle height displacement information and air spring pressure of each wheel, wherein obtaining the driving state data of the vehicle during driving includes: During the driving process of the vehicle, the vehicle speed, the acceleration and the vehicle height displacement information are collected by sensors deployed on the vehicle, and the ramp information is determined based on the acceleration, wherein the ramp information is used to indicate the slope condition of the road surface on which the vehicle is currently located, and the vehicle height displacement information is used to indicate the height information of different wheels.

13. The method according to claim 1, wherein: Get the center of mass of the vehicle, including: Based on the driving state data, determining the body load borne by each wheel in the vehicle; The center of mass position is determined based on the vehicle body loads of each of the wheels.

14. A vehicle control device, comprising: A first acquisition component is configured to acquire driving state data of a vehicle during driving and a center of mass position of the vehicle; a second acquisition component, configured to acquire actual load distribution data of the vehicle in response to the driving state data indicating that a wheel of the vehicle has a fault condition and the center of mass position satisfies a driving protection function condition, wherein the driving protection function condition is used to indicate that the wheel having the fault condition can be protected by adjusting the center of mass position; an adjustment component configured to adjust the height of four corners of the vehicle based on the actual load distribution data; a transfer assembly configured to transfer the center of mass position to a target area based on the adjusted four-corner heights, wherein the target area is used to characterize the wheel that prohibits the fault condition from bearing the load of the vehicle; A control component is configured to control the vehicle to travel in response to the center of mass position being successfully transferred to the target area.

15. A vehicle configured to perform the method of any one of claims 1 to 13.

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