Vehicle escape control method and apparatus, and device and storage medium

Abstract

Provided are a vehicle escape control method and apparatus, and a device and a storage medium. The method comprises: S201, in response to an escape mode activation operation of a user, controlling a suspension (102) to extend to a maximum stretch state; S202, controlling a front axle electric motor (103) to rotate forwards, so as to drive wheels to rotate forwards, and controlling a rear axle electric motor (104) to rotate backwards, so as to drive the wheels to rotate backwards; S203, acquiring the wheel pressure of each wheel in real time, and if all the wheel pressures meet an electric motor stop condition, controlling the front axle electric motor and the rear axle electric motor to stop; S204, controlling the suspension to retract, and in a reciprocating motion mode, firstly controlling the front axle electric motor and the rear axle electric motor to rotate backwards at a low speed and then controlling the front axle electric motor and the rear axle electric motor to rotate forwards at a low speed until the suspension is retracted to a maximum retraction state; S205, controlling the front axle electric motor and the rear axle electric motor to stop, and controlling the suspension to extend to the maximum stretch state; and S206, if the sum of all the wheel pressures is equal to vehicle gravity data, controlling the front axle electric motor and the rear axle electric motor to rotate, so as to drive the wheels to rotate to complete the escape. The method enables a driver to independently drive a vehicle to complete the escape and self-rescue when the vehicle is stuck in sand.

Description

Vehicle escape control method, device, equipment and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on January 3, 2024, with application number 202410009169.7 and application name “Vehicle Escape Control Method, Device, Equipment and Storage Medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to, but is not limited to, the field of vehicle technology, and in particular to a vehicle escape control method, device, equipment, and storage medium. Background Art

[0003] When driving on complex roads, such as sandy terrain, vehicles can become stuck in the soft sand, becoming unable to extricate themselves. In such situations, the only options available are waiting for external assistance or relying on manual self-rescue by the driver or passengers, which requires significant manpower, resources, and time. Therefore, a control method for automatically freeing a vehicle from a stuck condition is urgently needed, enabling the driver to independently maneuver the vehicle and extricate themselves. Summary of the Invention

[0004] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0005] The present application provides a vehicle escape control method, device, equipment and storage medium, which can enable a driver to drive the vehicle alone to escape and save himself when the vehicle is stuck in sand.

[0006] The purpose of the present invention is achieved by the following technical solutions:

[0007] In a first aspect, the present invention provides a vehicle escape control method, wherein the vehicle includes a vehicle body, a suspension mounted on a bottom of the vehicle body, a plurality of wheels connected to the suspension, a front axle motor mounted on the bottom of the vehicle body for driving the wheels, and a rear axle motor mounted on the bottom of the vehicle body for driving the wheels, the method comprising:

[0008] In response to a user's escape mode activation operation, controlling the suspension to extend to a maximum extension state;

[0009] Controlling the front axle motor to rotate forward to drive the wheels to rotate forward, and controlling the rear axle motor to rotate backward to drive the wheels to rotate backward;

[0010] Acquire the wheel pressure of each wheel in real time, and if all wheel pressures meet the motor stop condition, control the front axle motor and the rear axle motor to stop;

[0011] Controlling the suspension to retract, and first controlling the front axle motor and the rear axle motor to rotate in a reverse direction at a low speed in a reciprocating motion mode, and then controlling the front axle motor and the rear axle motor to rotate in a forward direction at a low speed until the suspension is retracted to a maximum retracted state;

[0012] Controlling the front axle motor and the rear axle motor to stop, and controlling the suspension to extend to a maximum stretching state;

[0013] If the sum of all wheel pressures is equal to the vehicle gravity data, the front axle motor and the rear axle motor are controlled to rotate to drive the wheels to rotate and escape from the predicament.

[0014] In one possible implementation, the motor stop condition is that all wheel pressures are equal to zero and / or less than a preset calibration threshold; accordingly, if all wheel pressures meet the motor stop condition, the front axle motor and the rear axle motor are controlled to stop; if all wheel pressures are equal to zero and / or less than a preset calibration threshold, the front axle motor and the rear axle motor are controlled to stop.

[0015] In one possible implementation, the reciprocating motion mode first controls the front axle motor and the rear axle motor to rotate in the reverse low speed, and then controls the front axle motor and the rear axle motor to rotate in the forward low speed, including: controlling the front axle motor and the rear axle motor to rotate in the reverse low speed according to the low-speed rotation mode of switching the rotation direction at a calibrated frequency, and then controlling the front axle motor and the rear axle motor to rotate in the forward low speed.

[0016] In one possible implementation, the controlling of the front axle motor and the rear axle motor to switch the rotation direction at a calibrated frequency includes: determining at least one first rotation switching cycle based on the calibrated frequency; controlling the front axle motor to rotate in the reverse low speed during the nth first rotation switching cycle, and controlling the rear axle motor to rotate in the forward low speed, where n is a natural number greater than 0; controlling the front axle motor to rotate in the reverse low speed during the n+1th first rotation switching cycle, and controlling the rear axle motor to rotate in the forward low speed, where n+1 is less than or equal to the total number of rotation switching cycles.

[0017] In one possible implementation, the controlling of the front axle motor and the rear axle motor to switch the rotation direction at a calibrated frequency includes: determining a plurality of second speed switching cycles based on the calibrated frequency; controlling the front axle motor to rotate in the reverse low speed during the nth second rotation switching cycle, and controlling the rear axle motor to rotate in the reverse low speed, where n is a natural number greater than 0; controlling the front axle motor to rotate in the forward low speed during the n+1th second rotation switching cycle, and controlling the rear axle motor to rotate in the forward low speed, where n+1 is less than or equal to the total number of second rotation switching cycles.

[0018] In a possible implementation, after obtaining the wheel pressure of each wheel in real time, the method further includes: if all wheel pressures meet the motor operation conditions, returning to the step of controlling the suspension to extend to the maximum stretch state.

[0019] In one possible implementation, after controlling the suspension to extend to the maximum stretching state, it also includes: if the sum of all wheel pressures is less than the vehicle gravity data, returning to the step of controlling the front axle motor to rotate forward to drive the wheels to rotate forward, and controlling the rear axle motor to rotate reversely to drive the wheels to reverse.

[0020] In a possible implementation, controlling the suspension to retract also includes controlling the wheel to perform a left-right swinging reciprocating motion.

[0021] In a second aspect, the present application provides a vehicle escape control device, the vehicle comprising a vehicle body, a suspension mounted on the bottom of the vehicle body, a plurality of wheels connected to the suspension, a front axle motor mounted on the bottom of the vehicle body for driving the wheels, and a rear axle motor mounted on the bottom of the vehicle body for driving the wheels, the device comprising:

[0022] a suspension control module, configured to control the suspension to extend to a maximum extension state in response to a user's escape mode activation operation;

[0023] a drive control module, configured to control the front axle motor to rotate forward to drive the wheels to rotate forward, and control the rear axle motor to rotate backward to drive the wheels to rotate backward;

[0024] A pressure monitoring module is used to obtain the wheel pressure of each wheel in real time, and control the front axle motor and the rear axle motor to stop if all wheel pressures meet the motor stop condition;

[0025] The suspension control module is further configured to control the retraction of the suspension and control the front axle motor and the rear axle motor to rotate at a low speed until the suspension is retracted to a maximum retracted state;

[0026] The drive control module is further configured to control the front axle motor and the rear axle motor to stop, and control the suspension to extend to a maximum stretch state;

[0027] The drive control module is also used to control the front axle motor and the rear axle motor to rotate if the sum of all wheel pressures is equal to the vehicle gravity data, so as to drive the wheels to rotate and complete the escape.

[0028] In a third aspect, the present application provides a vehicle escape control device, comprising: at least one processor and a memory;

[0029] The memory stores computer-executable instructions;

[0030] The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the vehicle escape control method described in the first aspect above.

[0031] In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer-executed instruction is stored. When a processor executes the computer-executed instruction, the vehicle escape control method described in the first aspect above is implemented.

[0032] The present application provides a vehicle escape control method, device, equipment and storage medium, which controls the suspension to extend to the maximum stretching state, then controls the front axle motor to rotate forward to drive the wheels to rotate forward, and at the same time controls the rear axle motor to reverse and drive the wheels to reverse, so that the wheels drive the sand and soil to backfill under the center of the vehicle suspension, providing support for the suspension, until the wheel pressure obtained in real time meets the motor stop condition, and then controls the front axle motor and the rear axle motor to stop. Then control the suspension to retract, and control the front axle motor and the rear axle motor to rotate at a low speed to drive the sand and soil to backfill under the wheels until the suspension is retracted to the maximum contraction state. When the sum of all wheel pressures is equal to the vehicle gravity data, the front axle motor and the rear axle motor are controlled to rotate to drive the wheels to rotate to complete the escape. The influence of human factors on the entire escape process is reduced, saving more time and effort.

[0033] Still other aspects will become apparent upon reading and understanding the accompanying drawings and detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other implementation methods can be obtained based on these drawings without paying any creative work.

[0035] FIG1 is a schematic diagram of the hardware connections required for the vehicle escape control method provided by an embodiment of the present application;

[0036] FIG2 is a flow chart of a vehicle escape control method provided in an embodiment of the present application;

[0037] FIG3 is a schematic structural diagram of a vehicle escape control device provided in an embodiment of the present application;

[0038] FIG4 is a schematic structural diagram of a vehicle escape control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail with reference to the accompanying drawings.

[0040] It should be noted that, it is explicitly and implicitly understood by those skilled in the art that the embodiments described in the present invention can be combined with other embodiments without conflict. Unless otherwise defined, the technical terms or scientific terms involved in the present invention should have the usual meanings understood by people with ordinary skills in the technical field to which the present invention belongs. The words "one", "a", "a", "the" and the like involved in the present invention do not indicate a quantity limitation and can represent the singular or plural. The terms "include", "comprise", "have" and any variations thereof involved in the present invention are intended to cover non-exclusive inclusions; the terms "first", "second", "third" and the like involved in the present invention are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0041] At present, in order to achieve autonomous escape of vehicles, more and more vehicles are equipped with escape modes. When vehicles are driving on complex road conditions, in an optional implementation method, in addition to the manual escape method that relies on a lot of manpower and time, there is also a method of automatic escape using a differential lock. However, for vehicles that are driving on soft sand and are stuck, due to the strong fluidity of the sand, the use of a manual escape method will result in a lot of manpower and time, and may still make the vehicle unable to escape in the end. When using a differential lock for escape, due to the high fluidity and very softness of the sand, the wheels do not have enough grip and the vehicle still cannot escape.

[0042] The embodiments of the present application provide the following technical concepts: first, the vehicle's suspension and wheel rotation are used to raise the entire vehicle, and then the wheels are rotated at low speed to backfill the sand until the detected wheel pressure is equal to the vehicle's own gravity, thereby increasing the wheel's grip and finally driving the vehicle out of trouble. The entire process requires less human intervention, saving time and effort.

[0043] Figure 1 is a schematic diagram of the hardware connections required for the vehicle escape control method provided in an embodiment of the present application. As shown in Figure 1, it includes: a vehicle machine end 101, a suspension 102, a front axle motor 103, a rear axle motor 104 and multiple air spring pressure sensors 105.

[0044] The vehicle-side terminal 101 is used to issue control commands, collect wheel pressure collected by the air spring pressure sensor 105, and activate the vehicle's escape mode. The vehicle-side terminal 101 can be a driving computer, a vehicle controller, or a device equipped with a chip or processor of an electronic control unit (ECU). The suspension 102 is a device for raising or lowering the wheels. The suspension 102 can be an electronically controlled active suspension. The front axle motor 104 is used to drive the front wheels of the vehicle. The rear axle motor 104 is used to drive the rear wheels of the vehicle according to the control commands transmitted by the vehicle-side terminal 101. Both the front axle motor 103 and the rear axle motor 104 can be asynchronous induction motors or permanent magnet synchronous motors. The air spring pressure sensor 105 is used to monitor the wheel pressure in real time and transmit it to the vehicle-side terminal 101. The air spring pressure sensor can be a magnetic pressure sensor.

[0045] Figure 2 is a flow chart of the vehicle escape control method provided in an embodiment of the present application. The execution subject of this embodiment can be the vehicle terminal 101 in the embodiment shown in Figure 1, or it can be other computer-related equipment. There is no special limitation on this embodiment.

[0046] In this embodiment, the embodiment of the present application provides a vehicle escape control method, wherein the vehicle includes a vehicle body, a suspension installed at the bottom of the vehicle body, a plurality of wheels connected to the suspension, a front axle motor installed at the bottom of the vehicle body for driving the wheels, and a rear axle motor installed at the bottom of the vehicle body for driving the wheels.

[0047] As shown in FIG2 , the vehicle escape control method includes:

[0048] S201: In response to a user's escape mode activation operation, controlling the suspension to extend to a maximum extension state.

[0049] In this embodiment, the escape mode activation operation may be a process in which a user activates an automatic escape program by pressing a one-touch start button. The automatic escape program may be a pre-stored software program, for example, the automatic escape program may be a sand escape program. The suspension extension to the maximum extension state may be a position in which the bottom surface of the suspension moves downward to the maximum distance.

[0050] S202: Control the front axle motor to rotate forward to drive the wheels to rotate forward, and control the rear axle motor to rotate backward to drive the wheels to rotate backward.

[0051] In this embodiment, the front and rear axle motors constitute the vehicle's drive motor system. A special drive mode in which the front motor rotates forward while the rear motor rotates in reverse is employed. This special drive mode is not intended to propel the vehicle forward or backward, but rather to cause the wheels to pull sand toward the center of the vehicle's underbody, thereby causing the wheels to sink further into the sand pit.

[0052] S203: The wheel pressure of each wheel is obtained in real time. If all wheel pressures meet the motor stop condition, the front axle motor and the rear axle motor are controlled to stop.

[0053] In this embodiment, the wheel pressure of each wheel can be monitored in real time by a suspension pressure sensor installed on the suspension.

[0054] Specifically, in an optional embodiment of the present application, the motor stopping condition is that all wheel pressures are equal to zero and / or less than a preset calibration threshold. Accordingly, step S203 includes: if all wheel pressures are equal to zero and / or less than the preset calibration threshold, controlling the front axle motor and the rear axle motor to stop.

[0055] In this embodiment, for ease of understanding, the number of wheels of the vehicle is set to 4. When the wheel pressure of the four wheels is zero, it indicates that each wheel is in a floating state, and the sand gathered in the central area under the vehicle has completely supported the entire vehicle, and the next step of backfilling the sand under the wheels can be carried out.

[0056] The preset calibration threshold may be a pre-calibrated pressure value, and the preset calibration threshold may be different for different geological conditions. When the wheel pressures of all wheels acquired in real time are less than the preset calibration threshold, it indicates that the sand accumulated in the central area under the vehicle can support the entire vehicle for the next step of backfilling the sand under the wheels.

[0057] When the wheel pressure of all wheels is: equal to 0, less than a preset calibration threshold, or the wheel pressure of several wheels is zero and the wheel pressure of the remaining wheels is less than a preset calibration threshold, in one of these three situations, the front axle motor and the rear axle motor can be controlled to stop, that is, the operation of backfilling sand or other backfill materials into the central area under the vehicle is stopped.

[0058] S204: Control the suspension to retract, and first control the front axle motor and the rear axle motor to rotate in the reverse direction at a low speed in a reciprocating motion mode, and then control the front axle motor and the rear axle motor to rotate in the forward direction at a low speed until the suspension is retracted to the maximum contraction state.

[0059] In this embodiment, suspension retraction refers to the process of retracting the vehicle suspension to lower the lower surface of the vehicle chassis. The maximum retraction state may be when the suspension is retracted to the point where it cannot be retracted any further, or when the lower surface of the vehicle chassis cannot be lowered any further. The reciprocating motion pattern may involve first performing the first motion, then the second motion, then the first motion again, and so on.

[0060] In an optional embodiment of the present application, in step S204, the front axle motor and the rear axle motor are first controlled to rotate in the reverse low speed according to the reciprocating motion mode, and then the front axle motor and the rear axle motor are controlled to rotate in the forward low speed, including: according to the low-speed rotation mode of controlling the front axle motor and the rear axle motor to switch the rotation direction at a calibrated frequency, the front axle motor and the rear axle motor are first controlled to rotate in the reverse low speed, and then the front axle motor and the rear axle motor are controlled to rotate in the forward low speed.

[0061] In this embodiment, the calibration frequency refers to a pre-set fixed frequency, such as once every minute or once every ten minutes. The period corresponding to the calibration frequency can determine the time point for switching the rotation direction. Slow-speed rotation refers to rotation below the normal driving speed, so as to achieve the purpose of driving the sand and soil backfill under the wheels.

[0062] S205: Control the front axle motor and the rear axle motor to stop, and control the suspension to extend to the maximum stretch state.

[0063] In this embodiment, when the wheels retract to the limit position along with the suspension, the low-speed driven front and rear axle motors should stop running. At the same time, the suspension is controlled to extend to the maximum tension state, that is, the vehicle wheels are lowered to the lowest position again.

[0064] S206: If the sum of all wheel pressures is equal to the vehicle gravity data, the front axle motor and the rear axle motor are controlled to rotate to drive the wheels to rotate and complete the escape.

[0065] In this embodiment, if the sum of the wheel pressures acquired in real time equals the vehicle's gravity data, this indicates that the wheels have a stable foothold and can fully support the vehicle. At this point, the wheels can provide sufficient grip to escape when driving the vehicle forward or backward. Controlling the front and rear axle motors rotates the corresponding wheels, moving the vehicle forward or backward, and escaping the situation.

[0066] In summary, the vehicle escape method provided by the embodiment of the present application is to control the suspension to extend to the maximum stretching state, then control the front axle motor to rotate forward to drive the wheels to rotate forward, and at the same time control the rear axle motor to reverse and drive the wheels to reverse, so that the wheels drive the sand and soil to backfill under the center of the vehicle suspension, providing support for the suspension, until the wheel pressure obtained in real time meets the motor stop condition, and then control the front axle motor and the rear axle motor to stop. Then control the suspension to retract, and control the front axle motor and the rear axle motor to rotate at a low speed to drive the sand and soil to backfill under the wheels until the suspension is retracted to the maximum contraction state. When the sum of all wheel pressures is equal to the vehicle gravity data, the front axle motor and the rear axle motor are controlled to rotate to drive the wheels to rotate and complete the escape. The influence of human factors on the entire escape process is reduced, and more time and effort are saved.

[0067] Based on the above embodiment, in an optional embodiment of the present application, controlling the front axle motor and the rear axle motor to rotate at a low speed with a calibrated frequency to switch the rotation direction in step S204 includes:

[0068] S204a: Determine at least one first rotation switching period according to the calibration frequency.

[0069] In this embodiment, the first rotation switching period may be the inverse of the calibration frequency. For example, if the calibration frequency is once every 10 minutes, then one first rotation switching period is 10 minutes.

[0070] S204b: Control the front axle motor to rotate in the reverse direction at a low speed, and control the rear axle motor to rotate in the forward direction at a low speed during the nth first rotation switching cycle, where n is a natural number greater than 0.

[0071] S204c: Control the front axle motor to rotate in the reverse direction at a low speed, and control the rear axle motor to rotate in the forward direction at a low speed, during the n+1th first rotation switching cycle, where n+1 is less than or equal to the total number of rotation switching cycles.

[0072] In this embodiment, the process of backfilling the wheels with sand can be a repetitive process, sometimes requiring multiple backfilling cycles to achieve the desired escape. For example, during the first first rotation switching cycle, the front axle motor is controlled to rotate in the reverse direction at a low speed, while the rear axle motor is controlled to rotate in the forward direction at a low speed. During the second first rotation switching cycle, the front axle motor is controlled to rotate in the reverse direction at a low speed, while the rear axle motor is controlled to rotate in the forward direction at a low speed. This process is repeated, and the sand on both sides of the wheels is driven back to fill the wheels.

[0073] In summary, the vehicle escape control method provided in the embodiment of the present application also controls the front axle motor and the rear axle motor to simultaneously rotate in different directions in a cyclical low-speed manner, so as to drive the wheels faster and drive the sand on the front and rear sides of the wheels to be backfilled under the wheels, thereby improving the sand backfilling efficiency and reducing the time it takes for the vehicle to escape.

[0074] In an optional embodiment of the present application, controlling the front axle motor and the rear axle motor to rotate at a low speed with a calibrated frequency to switch the rotation direction in step S204 includes:

[0075] Step a: determining a plurality of second speed switching cycles according to the calibration frequency;

[0076] Step b: controlling the front axle motor to rotate in the reverse direction at a low speed, and controlling the rear axle motor to rotate in the reverse direction at a low speed, during the nth second rotation switching period, where n is a natural number greater than 0;

[0077] Step c: Control the front axle motor to rotate in the forward direction at a low speed during the n+1 second rotation switching cycle, and control the rear axle motor to rotate in the forward direction at a low speed, wherein n+1 is less than or equal to the total number of the second rotation switching cycles. In the present embodiment, the duration of the second rotation cycle may be the same as or different from the duration of the first rotation cycle, and both are pre-set duration values. The difference between steps a to c and steps S204a to S204c in the above embodiment is that the rotation directions of the front axle motor and the rear axle motor are the same during each second rotation cycle, for example: the front axle motor and the rear axle motor in the first second rotation cycle both rotate in the forward direction at a low speed, which corresponds to the forward mode of the vehicle, and the front axle motor and the rear axle motor in the second second rotation cycle both rotate in the reverse direction at a low speed, which corresponds to the reverse mode of the vehicle.

[0078] Based on the above embodiment, in an optional embodiment of the present application, after obtaining the wheel pressure of each wheel in real time in step S203, the following steps are further included:

[0079] Step A: If all wheel pressures meet the motor operating conditions, return to the step of controlling the suspension to extend to the maximum extension state.

[0080] In this embodiment, the motor operating conditions can be: all wheel pressures are non-zero; the wheel pressures of some wheels are zero while the wheel pressures of others are greater than a preset calibrated threshold; or the wheel pressures of all wheels are greater than a preset calibrated threshold. These conditions indicate that the sand accumulated in the center of the vehicle's underbody is insufficient to support the entire vehicle, and that the center of the vehicle's underbody needs to be backfilled with sand. Therefore, steps S201 through S203 are repeated until all wheel pressures meet the motor stop condition.

[0081] In summary, the vehicle escape control method provided in the embodiment of the present application also controls the front axle motor and the rear axle motor to drive the wheels to rotate reciprocally when the sand backfilled in the central area under the bottom of the vehicle is insufficient to support the entire vehicle, so as to backfill the sand into the central area under the bottom of the vehicle, thereby providing support for the vehicle, providing protection for subsequent vehicles to escape and increasing the success rate of escape.

[0082] In an optional embodiment of the present application, after obtaining the wheel pressure of each wheel in real time in step S203, the following steps are further included:

[0083] Step B: If the sum of all wheel pressures is less than the vehicle gravity data, return to the step of controlling the front axle motor to rotate forward to drive the wheels to rotate forward, and controlling the rear axle motor to rotate reversely to drive the wheels to rotate reversely.

[0084] In this embodiment, if the sum of the wheel pressures is less than the vehicle's gravity data, it indicates that one wheel's support point is unstable and the supporting force of all wheels is insufficient to support the entire vehicle. Driving the vehicle out of the jam will result in the vehicle getting stuck again. In this case, it is necessary to return to step S202, and this reciprocating cycle will increase the amount of sand backfilled under the wheels.

[0085] In an optional embodiment of the present application, when a faster sand backfilling speed is required, the sand backfilling operation can also be performed with the cooperation of the driver. For example, while step S204 is being performed, the driver assists in moving the sand under the wheels to increase the sand backfilling rate.

[0086] Based on the above embodiment, a vehicle escape control method provided as an optional embodiment of the present application, while controlling the suspension to retract in step S204, further includes:

[0087] Step C: Control the wheel to make a reciprocating motion of left and right swing.

[0088] In this embodiment, the vehicle can be controlled to perform the reciprocating motion of left and right swinging by controlling the reversing lever of the vehicle to drive the front wheels of the vehicle to rotate, thereby causing the vehicle to perform the reciprocating motion of left and right swinging.

[0089] In summary, the vehicle escape control method provided in the embodiment of the present application also controls the wheels to make reciprocating left and right swings while controlling the suspension to retract, so that the wheel rims drive the sand on the left and right sides of the wheels to flow under the wheels, thereby achieving the purpose of accelerating the backfilling of sand.

[0090] Figure 3 is a structural schematic diagram of a vehicle escape control device provided in an embodiment of the present application, wherein the vehicle includes a vehicle body, a suspension installed at the bottom of the vehicle body, a plurality of wheels connected to the suspension, a front axle motor installed at the bottom of the vehicle body for driving the wheels, and a rear axle motor installed at the bottom of the vehicle body for driving the wheels. The device includes: a suspension control module 31, a drive control module 32 and a pressure monitoring module 33.

[0091] The suspension control module 31 is configured to control the suspension to extend to a maximum extension state in response to the user's escape mode activation operation;

[0092] A drive control module 32 is configured to control the front axle motor to rotate forward to drive the wheels to rotate forward, and control the rear axle motor to rotate backward to drive the wheels to rotate backward;

[0093] The pressure monitoring module 33 is used to obtain the wheel pressure of each wheel in real time. If all wheel pressures meet the motor stop condition, the front axle motor and the rear axle motor are controlled to stop.

[0094] The suspension control module 31 is further used to control the retraction of the suspension and first controls the front axle motor and the rear axle motor to rotate in the reverse direction at a low speed in a reciprocating motion mode, and then controls the front axle motor and the rear axle motor to rotate in the forward direction at a low speed until the suspension is retracted to the maximum retraction state;

[0095] The drive control module 32 is further used to control the front axle motor and the rear axle motor to stop, and control the suspension to extend to a maximum extension state;

[0096] The drive control module 32 is also used to control the front axle motor and the rear axle motor to rotate if the sum of all wheel pressures is equal to the vehicle gravity data, so as to drive the wheels to rotate and complete the escape.

[0097] In an optional embodiment of the present application, the motor stop condition is that all wheel pressures are equal to zero and / or less than a preset calibration threshold. Accordingly, the drive control module 32 is specifically configured to control the front axle motor and the rear axle motor to stop if all wheel pressures are equal to zero and / or less than the preset calibration threshold.

[0098] In an optional embodiment of the present application, the drive control module 32 is specifically used to: first control the front axle motor and the rear axle motor to rotate in the reverse low speed, and then control the front axle motor and the rear axle motor to rotate in the forward low speed according to the low-speed rotation mode of controlling the front axle motor and the rear axle motor to switch the rotation direction at a calibrated frequency.

[0099] In an optional embodiment of the present application, the drive control module 32 is specifically used to: determine at least one first rotation switching cycle based on the calibration frequency; control the front axle motor to rotate in the reverse low speed during the nth first rotation switching cycle, and control the rear axle motor to rotate in the forward low speed, where n is a natural number greater than 0; control the front axle motor to rotate in the reverse low speed during the n+1th first rotation switching cycle, and control the rear axle motor to rotate in the forward low speed, where n+1 is less than or equal to the total number of rotation switching cycles.

[0100] In an optional embodiment of the present application, the drive control module 32 is specifically used to: determine multiple second speed switching cycles based on the calibration frequency; control the front axle motor to rotate in the reverse low speed during the nth second rotation switching cycle, and control the rear axle motor to rotate in the reverse low speed, where n is a natural number greater than 0; control the front axle motor to rotate in the forward low speed during the n+1th second rotation switching cycle, and control the rear axle motor to rotate in the forward low speed, where n+1 is less than or equal to the total number of second rotation switching cycles.

[0101] In an optional embodiment of the present application, after obtaining the wheel pressure of each wheel in real time, the suspension control module 31 is further used to: if all wheel pressures meet the motor operating conditions, return to the step of controlling the suspension to extend to the maximum stretching state.

[0102] In an optional embodiment of the present application, after controlling the suspension to extend to the maximum stretching state, the drive control module 32 is also used to: if the sum of all wheel pressures is less than the vehicle gravity data, return to the step of controlling the front axle motor to rotate forward to drive the wheels to rotate forward, and controlling the rear axle motor to rotate reversely to drive the wheels to reverse.

[0103] In an optional embodiment of the present application, while controlling the suspension to be retracted, the drive control module 32 is also used to control the wheels to perform a reciprocating motion of left and right swinging.

[0104] The vehicle escape control device provided in this embodiment can be used to implement the technical solution of the above-mentioned method embodiment. Its implementation principle and technical effects are similar and will not be described in detail in this embodiment.

[0105] FIG4 is a schematic diagram of the hardware structure of a vehicle escape control device provided in an embodiment of the present application. As shown in FIG4 , the device includes: at least one processor 401 and a memory 402 .

[0106] The memory 402 is used to store computer-executable instructions.

[0107] The processor 401 is configured to execute the computer-executable instructions stored in the memory 402 to implement the various steps involved in the above method embodiment. For details, please refer to the relevant description in the above method embodiment.

[0108] Optionally, the memory 402 may be independent or integrated with the processor 401 .

[0109] When the memory 402 is independently provided, the device further includes a bus 403 for connecting the memory 402 and the processor 401 .

[0110] An embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above-mentioned vehicle escape control method is implemented.

[0111] An embodiment of the present application also provides a computer program product, including a computer program, which implements the above vehicle escape control method when executed by a processor.

[0112] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the above modules is only a logical function division. In actual implementation, there may be other division methods, such as multiple modules 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, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0113] The modules described above as separate components may or may not be physically separate, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed across multiple network elements. Some or all of these modules may be selected to implement the solution of this embodiment according to actual needs.

[0114] In addition, the functional modules in various embodiments of the present invention may be integrated into a single processing unit, each module may exist physically separately, or two or more modules may be integrated into a single unit. The units composed of the above modules may be implemented in the form of hardware or hardware plus software functional units.

[0115] The above-mentioned integrated module implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) or a processor to perform some steps of the method of each embodiment of the present application.

[0116] It should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), or application-specific integrated circuits (ASICs). A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly implemented by a hardware processor or implemented by a combination of hardware and software modules in the processor.

[0117] The memory may include a high-speed RAM memory, and may also include non-volatile storage NVM, such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk.

[0118] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0119] The storage medium may be implemented by any type of volatile or non-volatile memory device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0120] An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a main control device.

[0121] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0122] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A vehicle escape control method, the vehicle comprising a vehicle body, a suspension mounted at the bottom of the vehicle body, a plurality of wheels connected to the suspension, a front axle motor mounted at the bottom of the vehicle body for driving the wheels, and a rear axle motor mounted at the bottom of the vehicle body for driving the wheels, the method comprising: In response to a user's escape mode activation operation, controlling the suspension to extend to a maximum extension state; Controlling the front axle motor to rotate forward to drive the wheels to rotate forward, and controlling the rear axle motor to rotate reversely to drive the wheels to rotate reversely; The wheel pressure of each wheel is obtained in real time, and if all the wheel pressures meet the motor stop condition, the front axle motor and the rear axle motor are controlled to stop; Controlling the suspension to be retracted, and first controlling the front axle motor and the rear axle motor to rotate in the reverse direction at a low speed in a reciprocating motion mode, and then controlling the front axle motor and the rear axle motor to rotate in the forward direction at a low speed, until the suspension is retracted to a maximum retracted state; Controlling the front axle motor and the rear axle motor to stop, and controlling the suspension to extend to a maximum stretching state; If the sum of all wheel pressures is equal to the vehicle gravity data, the front axle motor and the rear axle motor are controlled to rotate to drive the wheels to rotate and escape from the jam.

2. The method according to claim 1, wherein, The motor stop condition is that all wheel pressures are equal to zero and / or less than a preset calibration threshold; Correspondingly, if all wheel pressures meet the motor stop condition, the front axle motor and the rear axle motor are controlled to stop, including: If all wheel pressures are equal to zero and / or less than a preset calibration threshold, the front axle motor and the rear axle motor are controlled to stop.

3. The method according to claim 2, wherein The preset calibration threshold is associated with the geological conditions, and different geological conditions correspond to different preset calibration thresholds.

4. The method according to any one of claims 1 to 3, wherein The method of first controlling the front axle motor and the rear axle motor to rotate in the reverse direction at a low speed according to the reciprocating motion mode, and then controlling the front axle motor and the rear axle motor to rotate in the forward direction at a low speed, comprises: According to the low-speed rotation mode of controlling the front axle motor and the rear axle motor to switch the rotation direction at a calibrated frequency, the front axle motor and the rear axle motor are first controlled to rotate in the reverse low-speed direction, and then the front axle motor and the rear axle motor are controlled to rotate in the forward low-speed direction.

5. The method according to claim 4, wherein The method of controlling the front axle motor and the rear axle motor to rotate at a low speed with a calibrated frequency to switch the rotation direction includes: Determining at least one first rotation switching period according to the calibration frequency; In the nth first rotation switching cycle, the front axle motor is controlled to rotate in the reverse direction at a low speed, and the rear axle motor is controlled to rotate in the forward direction at a low speed, wherein n is a natural number greater than 0; The front axle motor is controlled to rotate in the reverse direction at a low speed, and the rear axle motor is controlled to rotate in the forward direction at a low speed during the n+1th first rotation switching cycle, wherein n+1 is less than or equal to the total number of rotation switching cycles.

6. The method according to claim 4, wherein, The method of controlling the front axle motor and the rear axle motor to rotate at a low speed with a calibrated frequency to switch the rotation direction includes: Determining a plurality of second speed switching cycles according to the calibration frequency; Controlling the front axle motor to rotate in the reverse direction at a low speed in the nth second rotation switching cycle, and controlling the rear axle motor to rotate in the reverse direction at a low speed, wherein n is a natural number greater than 0; The front axle motor is controlled to rotate in a forward low speed and the rear axle motor is controlled to rotate in a forward low speed during the n+1th second rotation switching cycle, wherein n+1 is less than or equal to the total number of the second rotation switching cycles.

7. The method according to any one of claims 1 to 6, wherein, After the wheel pressure of each wheel is obtained in real time, the method further includes: If all wheel pressures meet the motor operating conditions, the process returns to the step of controlling the suspension to extend to a maximum tension state.

8. The method according to claim 7, wherein The motor operating conditions include that wheel pressures are not zero, wheel pressures of some wheels are zero while wheel pressures of other wheels are greater than preset calibration thresholds, and wheel pressures of all wheels are greater than preset calibration thresholds.

9. The method according to any one of claims 1 to 8, wherein After controlling the suspension to extend to the maximum stretching state, the method further includes: If the sum of all wheel pressures is less than the vehicle gravity data, the process returns to the step of controlling the front axle motor to rotate forward to drive the wheels to rotate forward, and controlling the rear axle motor to rotate reversely to drive the wheels to rotate reversely.

10. The method according to any one of claims 1 to 9, wherein While controlling the suspension to be retracted, the method further includes: The wheel is controlled to perform a reciprocating motion of swinging left and right.

11. The method according to any one of claims 1 to 10, characterized in that, The method of controlling the suspension to be retracted and controlling the front axle motor and the rear axle motor to rotate in the reverse direction at a low speed in a reciprocating motion mode, and then controlling the front axle motor and the rear axle motor to rotate in the forward direction at a low speed until the suspension is retracted to a maximum retracted state, further includes: The sand backfilling operation is carried out with the cooperation of the driver.

12. A vehicle escape control device, the vehicle comprising a vehicle body, a suspension mounted at the bottom of the vehicle body, a plurality of wheels connected to the suspension, a front axle motor mounted at the bottom of the vehicle body for driving the wheels, and a rear axle motor mounted at the bottom of the vehicle body for driving the wheels, the device comprising: a suspension control module, for controlling the suspension to extend to a maximum extension state in response to a user's escape mode activation operation; A drive control module, used to control the front axle motor to rotate forward to drive the wheels to rotate forward, and control the rear axle motor to rotate reversely to drive the wheels to rotate reversely; A pressure monitoring module, used for obtaining the wheel pressure of each wheel in real time, and controlling the front axle motor and the rear axle motor to stop if all wheel pressures meet the motor stop condition; The suspension control module is further used to control the retraction of the suspension and control the front axle motor and the rear axle motor to rotate at a low speed until the suspension is retracted to a maximum retracted state; The drive control module is further used to control the front axle motor and the rear axle motor to stop, and control the suspension to extend to a maximum stretch state; The drive control module is also used to control the front axle motor and the rear axle motor to rotate if the sum of all wheel pressures is equal to the vehicle gravity data, so as to drive the wheels to rotate and complete the escape.

13. A vehicle escape control device, comprising: at least one processor and memory; The memory stores computer-executable instructions; The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the vehicle escape control method as described in any one of claims 1 to 11.

14. A computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when a processor executes the computer-executable instructions, the vehicle escape control method according to any one of claims 1 to 11 is implemented.

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