Vehicle control method, vehicle control system, vehicle and storage medium

Abstract

A vehicle control method, comprising: when current state information is first state information, in response to braking information of a vehicle, controlling target wheels to rotate in the opposite direction of the traveling direction of the vehicle, so as to control the vehicle to realize braking on the basis of wheel reverse rotation, wherein the first state information represents that the vehicle is currently off the ground due to floating in a liquid.

Description

Vehicle control method, vehicle control system, vehicle, and storage medium

[0001] Priority information

[0002] This application claims priority to and the benefit of the filing date of Chinese Patent Application No. 202411045953X filed on July 31, 2024, and is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of vehicle control, in particular to a vehicle control method, a vehicle control system, a vehicle, and a computer readable storage medium. BACKGROUND

[0004] Currently, with the frequent occurrence of rainstorms and floods, the scenario of vehicle wading is increasing. When the vehicle drives into a place with deep water, due to the buoyancy of water, the normal pressure between the vehicle and the ground is significantly reduced, which will cause the friction between the ground and the tire to be significantly reduced, and thus the reliability of the vehicle braking is greatly reduced, which will eventually adversely affect the driving safety of the vehicle. In the more extreme case, the vehicle will completely separate from the ground due to floating in deep water, and the braking means in the related art will be completely ineffective in this case. SUMMARY

[0005] The present application provides a vehicle control method, a vehicle control system, a vehicle, and a computer readable storage medium to solve at least one technical problem in the background art.

[0006] The vehicle control method according to an embodiment of the present application comprises the following steps:

[0007] In the case where the current state information is first state information, in response to the braking information of the vehicle, the target wheel is controlled to rotate in the opposite direction of the direction of travel of the vehicle, so as to control the vehicle to realize braking based on wheel reversal.

[0008] In this way, the present application can control the target wheel of the vehicle to reverse in the case where it is detected that the vehicle is currently in a floating off-ground state, so as to offset a part of the movement of the vehicle due to its own inertia when floating in the liquid by the action between the wheel and the liquid, and thus realize braking for the vehicle when it is off the ground due to floating, and reduce the probability of the vehicle being completely out of control in the liquid.

[0009] In some embodiments, the method further comprises:

[0010] obtaining current height information of a suspension of the vehicle, and driving environment information of the vehicle, wherein the driving environment information comprises water depth information in a current driving environment of the vehicle;

[0011] determining the current state information of the vehicle according to the height information and the driving environment information.

[0012] In this way, the application can determine whether the vehicle is in the floating-off-ground state based on the current state of the vehicle suspension and the current environment around the vehicle.

[0013] In some embodiments, the determining the current state information of the vehicle according to the height information and the driving environment information comprises:

[0014] In a case where the height information satisfies a first preset condition and the water depth information satisfies a second preset condition, the current state information of the vehicle is determined as the first state information.

[0015] In this way, the application can determine whether the vehicle is in the floating-off-ground state based on the above data through different numerical conditions.

[0016] In some embodiments, the method further comprises:

[0017] obtaining a brake pedal state of the vehicle;

[0018] determining the brake information according to the brake pedal state.

[0019] In this way, the application can determine the brake information based on the state of the brake pedal of the vehicle, so as to determine the first state information of the vehicle.

[0020] In some embodiments, the determining the brake information according to the brake pedal state comprises:

[0021] In a case where the brake pedal state satisfies a third preset condition, the brake information is determined, wherein the third preset condition represents that the brake pedal is stepped on by a user.

[0022] In this way, the application can specifically determine the brake information based on the condition satisfied by the brake pedal state.

[0023] In some embodiments, in a case where the current state information is the first state information, the target wheel is controlled to rotate in the opposite direction of the driving direction of the vehicle in response to the brake information of the vehicle, so as to control the vehicle to brake based on the wheel reverse rotation, comprising:

[0024] In the case that the current state information is the first state information, in response to the braking information of the vehicle, the braking device corresponding to the target wheel is controlled to keep a non-working state, and the target wheel is controlled to rotate in the opposite direction of the traveling direction of the vehicle, so as to control the vehicle to realize braking based on wheel reverse rotation.

[0025] In this way, the application can control the braking device corresponding to each target wheel to keep a non-working state when the vehicle is floating, thereby avoiding interference with wheel reverse rotation braking.

[0026] In some embodiments, in the case that the current state information is the first state information, in response to the braking information of the vehicle, the target wheel is controlled to rotate in the opposite direction of the traveling direction of the vehicle, so as to control the vehicle to realize braking based on wheel reverse rotation, including:

[0027] In the case that the current state information is the first state information, in response to the braking information of the vehicle, the moving speed, braking state and running state of the current vehicle are obtained;

[0028] According to the moving speed, braking state and / or running state, the current state information of the vehicle is updated;

[0029] In the case that the current state information is the second state information, the braking device corresponding to the target wheel is controlled to keep a non-working state, and the target wheel is controlled to rotate in the opposite direction of the traveling direction of the vehicle, so as to control the vehicle to realize braking based on wheel reverse rotation, wherein the second state information represents that the current vehicle can support the target wheel reverse rotation to realize braking in the case that the current vehicle is off the ground due to floating in the liquid.

[0030] In this way, the application can further evaluate the current self-state of the vehicle in the case that the vehicle is in a floating off-ground state, and control wheel reverse rotation braking in the case that the current state of the vehicle supports reverse rotation.

[0031] In some embodiments, in the case that the current state information is the second state information, the braking device corresponding to the target wheel is controlled to keep a non-working state, and the target wheel is controlled to rotate in the opposite direction of the traveling direction of the vehicle, so as to control the vehicle to realize braking based on wheel reverse rotation, including:

[0032] According to the second state information, in response to the brake pedal being continuously depressed within a preset braking depth range, according to the moving speed, braking state and / or running state, and a preset torque calculation parameter, a target output torque is determined;

[0033] In a case that the brake pedal is continuously depressed in the preset brake depth range, the brake pressure of the target wheel is shielded to control the brake device corresponding to the target wheel to keep a non-working state;

[0034] In a case that the brake pressure is detected to be shielded, the target wheel is controlled to rotate in a direction opposite to a vehicle traveling direction according to the target output torque to control the vehicle to realize braking based on wheel reverse rotation.

[0035] Thus, the application can directly control the wheel motor to reverse in a case that the vehicle is currently floating off the ground and the current state supports wheel reverse rotation braking, and realize braking by shielding the brake pressure in the brake system.

[0036] In some embodiments, the method further comprises:

[0037] In a case that the vehicle is braking based on wheel reverse rotation and the current state of the vehicle is third state information, the vehicle is controlled to unload the target output torque on the target wheel, wherein the third state information represents that the vehicle is currently re-touching the ground or the vehicle does not currently support wheel reverse rotation to realize braking.

[0038] Thus, the application can also unload the torque for wheel reverse rotation braking in a case that the vehicle has currently escaped or the current state of the vehicle no longer supports wheel reverse rotation braking, thereby avoiding the wheel rotating for braking suddenly becoming driving, and reducing the probability of the vehicle suddenly losing control when the vehicle touches the ground or the state changes during wheel reverse rotation braking.

[0039] In some embodiments, the method further comprises:

[0040] Obtaining wheel speed of the vehicle, moving speed of the vehicle, and current height information of the suspension of the vehicle;

[0041] Determining the third state information according to the wheel speed, the moving speed, and / or the current height information of the suspension.

[0042] Thus, the application can determine whether the vehicle appears a state change that should stop reverse rotation braking according to the current wheel speed, the actual moving speed, and the state of the suspension.

[0043] In some embodiments, the method further comprises:

[0044] determine the third state information in a case where the wheel speed and the moving speed of the vehicle satisfy a fourth preset condition within a first preset time length; and / or

[0045] determine the third state information in a case where the height information satisfies a fifth preset condition.

[0046] Thus, the application can determine whether the vehicle has a state change that should stop the reverse rotation braking according to the quantitative relationship between the wheel speed and the moving speed of the vehicle, or according to the height value of the vehicle suspension.

[0047] In some embodiments, the method further comprises:

[0048] controlling the vehicle to unload a target output torque on the target wheel in a case where the target wheel is controlled to rotate in the opposite direction of the moving direction of the vehicle and the rotation duration of the target wheel exceeds a second preset time length.

[0049] Thus, the application can also stop the wheel reverse rotation braking process by unloading the torque based on the running time, to avoid reverse driving caused by wheel reverse rotation.

[0050] In some embodiments, the method further comprises:

[0051] determining a reference direction according to the current moving speed of the vehicle and the current gear of the vehicle, to control the wheels of the vehicle to rotate in the opposite direction of the reference direction to achieve braking, in response to a gear switching operation of a user.

[0052] Thus, the application can also determine the actual rotation direction of the wheels in the wheel reverse rotation braking process based on the relationship between the moving direction corresponding to the gear and the actual moving direction of the vehicle before controlling the wheel reverse rotation braking, by taking the current gear of the vehicle and the actual moving speed of the vehicle into consideration.

[0053] In some embodiments, the method further comprises:

[0054] controlling the vehicle to unload a target output torque on the target wheel in a case where the target wheel is controlled to rotate in the opposite direction of the moving direction of the vehicle, in response to a gear switching operation of a user.

[0055] Thus, the application can also unload the target torque when the user makes a gear switching action during the control of the wheel reverse rotation braking, to ensure the control of the vehicle by the driver and avoid the vehicle out of control unexpectedly by the driver.

[0056] In some embodiments, the target wheels include a plurality of front wheels, a plurality of rear wheels, a plurality of wheels having a diagonal positional relationship, or all wheels of the vehicle.

[0057] The vehicle control system in the embodiments of the present application includes:

[0058] The processing module is configured to, in response to braking information of the vehicle, control the target wheels to rotate in the opposite direction of the direction in which the vehicle travels, to control the vehicle to brake based on wheel reversal, when the current state information is first state information, wherein the first state information represents that the vehicle is currently off the ground due to floating in the liquid.

[0059] The vehicle control system further includes a transceiver module configured to obtain the current state information and the braking information.

[0060] The vehicle in the embodiments of the present application includes a memory and a processor, and the memory stores a computer program. When the computer program is executed by the processor, the above-mentioned method is implemented.

[0061] The computer readable storage medium in the embodiments of the present application stores a computer program. When the computer program is executed by one or more processors, the above-mentioned method is implemented.

[0062] Additional aspects and advantages of the embodiments of the present application will be in part apparent and in part pointed out hereinafter in the description of the embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0063] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the description of the embodiments of the present application, taken in conjunction with the following drawings in which:

[0064] FIG. 1 is a flowchart of a vehicle control method in the embodiments of the present application;

[0065] FIG. 2 is a flowchart of a vehicle control method in the embodiments of the present application;

[0066] FIG. 3 is a flowchart of a vehicle control method in the embodiments of the present application;

[0067] FIG. 4 is a flowchart of a vehicle control method in the embodiments of the present application;

[0068] FIG. 5 is a schematic diagram of an application scenario of a vehicle control method in the embodiments of the present application;

[0069] FIG. 6 is a flowchart of a vehicle control method in the embodiments of the present application;

[0070] FIG. 7 is a flowchart of a vehicle control method in the embodiments of the present application;

[0071] FIG. 8 is a flowchart of a vehicle control method according to an embodiment of the present application. DETAILED DESCRIPTION

[0072] Embodiments of the present application will be described in detail below with reference to the drawings, in which the same or similar components have the same or similar reference labels throughout the several views. The embodiments described below are examples in which the embodiments of the present application are explained, and are merely for the purpose of explaining the embodiments of the present application and should not be understood as limiting the embodiments of the present application.

[0073] Referring to FIG. 1, a vehicle control method according to an embodiment of the present application includes the following steps:

[0074] 01: in a case where the current state information is first state information, in response to brake information of the vehicle, controlling a target wheel to rotate in a direction opposite to a traveling direction of the vehicle, to control the vehicle to brake based on wheel reversal,

[0075] wherein the first state information represents that the vehicle is currently off the ground due to floating in a liquid.

[0076] A vehicle control system according to an embodiment of the present application can implement the vehicle control method described above. Specifically, the vehicle control system includes a processing module configured to, in a case where the current state information is first state information, in response to brake information of the vehicle, control a target wheel to rotate in a direction opposite to a traveling direction of the vehicle, to control the vehicle to brake based on wheel reversal. In addition, the vehicle control system further includes a transceiver module configured to obtain the current state information and the brake information.

[0077] A vehicle according to an embodiment of the present application includes the vehicle control system described above, and further includes a memory and a processor. The memory stores a computer program, and the processor is configured to, in a case where the current state information is first state information, in response to brake information of the vehicle, control a target wheel to rotate in a direction opposite to a traveling direction of the vehicle, to control the vehicle to brake based on wheel reversal.

[0078] Specifically, as described in the background, when the vehicle enters a deep water area, the positive pressure between the vehicle and the ground will decrease due to the effect of buoyancy, causing the braking effect of the vehicle to decrease, and in an extreme case, the vehicle may even float off the ground, causing the braking effect of the vehicle to completely fail.

[0079] To solve the above problems and avoid the complete failure of the vehicle braking when the vehicle floats in the liquid such as water, the present application proposes a vehicle control method, the main purpose of which is to control the braking of the vehicle when the vehicle floats in the liquid such as water, and to avoid the complete loss of control of the vehicle when the vehicle floats in the liquid.

[0080] Exemplarily, the vehicle control method described above is generally implemented by a vehicle control system provided on the vehicle, which includes a data acquisition module, a vehicle control module, and a wheel motor. The vehicle control module can be a vehicle control unit (VCU) or other components capable of implementing vehicle software and hardware control. The data acquisition module includes a plurality of sensors, such as a water depth sensor, a suspension height sensor, an IMU sensor, a vision sensor, a brake pressure sensor, etc., which are mainly used to parameterize the current state of the vehicle, such as floating state, moving speed, driving gear, brake pedal state, etc.

[0081] The vehicle control module can detect whether the vehicle is currently in a floating-off-ground state in the liquid such as water based on all or part of the plurality of groups of data acquired by the data acquisition module. If it is detected that the vehicle is currently in a floating-off-ground state (corresponding to the first state information), and the vehicle currently generates brake information such as a signal of a user stepping on a brake pedal, the vehicle control module controls the wheel motor of each target wheel based on the current state of the vehicle, so that each target wheel rotates in the opposite direction of the direction of travel of the vehicle. The interaction between the counter-rotating wheel and the liquid such as water offsets a part of the movement of the vehicle in the liquid due to its own inertia when floating, thereby achieving braking in the floating-off-ground state of the vehicle, so that the vehicle can reduce the moving speed relative to the ground as much as possible, and reduce the risk of vehicle out of control.

[0082] In this way, the application can control the target wheels of the vehicle to reverse when it is detected that the vehicle is currently in a floating-off-ground state, so as to offset a part of the movement of the vehicle in the liquid due to its own inertia when floating in the liquid through the interaction between the wheel and the liquid, and further achieve braking for the vehicle when the vehicle is off the ground due to floating, thereby reducing the probability of the vehicle completely out of control in the liquid.

[0083] Please refer to FIG. 2. In some embodiments, the vehicle control method described above further includes:

[0084] 0011: acquiring current height information of the suspension of the vehicle, and driving environment information of the vehicle,

[0085] The driving environment information includes water depth information in the current driving environment of the vehicle;

[0086] 0012: determining the current state information of the vehicle according to the height information and the driving environment information.

[0087] In some embodiments, the transceiving module is further configured to acquire current height information of the suspension of the vehicle, and driving environment information of the vehicle, and determine the current state information of the vehicle according to the height information and the driving environment information.

[0088] In some embodiments, the processor is further configured to acquire current height information of the suspension of the vehicle, and driving environment information of the vehicle, and determine the current state information of the vehicle according to the height information and the driving environment information.

[0089] Specifically, on the basis of the above embodiments, for the determination method of the floating-off-the-ground state of the vehicle, since the force state of the suspension system of the vehicle is fundamentally different from the normal state of the vehicle on the ground in the case of the vehicle floating off the ground, which results in a large difference in the height information of the suspension system of the vehicle relative to its baseline between the vehicle floating and the normal case. In addition, when the vehicle floats in water, the data received by the water depth sensor arranged on the vehicle will also have a large difference from the normal driving process of the vehicle. The above parameters that have a large difference between the vehicle floating off the ground and the normal driving process of the vehicle can be used to determine whether the vehicle is currently in a floating-off-the-ground state.

[0090] Therefore, for example, in order to determine whether the vehicle is currently in a floating-off-the-ground state, the data acquisition module acquires the current state of the vehicle suspension through the suspension height sensor, the suspension attitude sensor, and other sensors for monitoring the attitude of the suspension, and acquires the current driving environment of the vehicle through the water depth sensor and other sensors that can acquire the state of the surrounding environment of the vehicle. Finally, the vehicle control module determines whether the vehicle is currently in a floating-off-the-ground state according to the above information acquired by the data acquisition module, so as to control the execution of the wheel reverse rotation braking in the following.

[0091] In some examples, the current state information of the vehicle suspension used to determine whether the vehicle is currently in a floating-off-the-ground state is generally the height information of the vehicle suspension relative to its baseline. The above height information can describe the extension degree of the current vehicle suspension. In the case of the vehicle completely off the ground, the extension degree of the vehicle suspension will increase because there is no ground support force, and the relative height of the vehicle suspension as a whole relative to the vehicle chassis will increase.

[0092] In addition, in some other examples, the driving environment information for determining whether the vehicle is currently in the floating-off-ground state is generally the water depth of the driving environment around the vehicle. Since the vehicle is determined only by the relative height information of the vehicle suspension, it is likely that the scene will be wrong, such as the suspension extension of the vehicle is currently increased and decreased due to road bumps. Then, in the case of knowing the nameplate parameters of each hardware on the vehicle, the water depth can easily determine whether the vehicle is currently in the floating state in the liquid in combination with the above-mentioned nameplate parameters. Therefore, when the vehicle control module determines whether the vehicle is currently in the floating-off-ground state, the above-mentioned data can be used to determine.

[0093] In this way, the present application can determine whether the vehicle is currently in the floating-off-ground state based on the current state of the vehicle suspension and the current environment around the vehicle.

[0094] In some embodiments, step 0012 comprises:

[0095] In the case that the current height information of the vehicle suspension meets the first preset condition, and the water depth information meets the second preset condition, the current state information of the vehicle is determined as the first state information.

[0096] In some embodiments, the transceiver module is further configured to determine the current state information of the vehicle as the first state information in the case that the current height information of the vehicle suspension meets the first preset condition, and the water depth information meets the second preset condition.

[0097] In some embodiments, the processor is further configured to determine the current state information of the vehicle as the first state information in the case that the current height information of the vehicle suspension meets the first preset condition, and the water depth information meets the second preset condition.

[0098] Specifically, on the basis of the above-mentioned embodiments, for example, on the basis of the data acquisition module acquiring the height information of the vehicle suspension in the above-mentioned examples, and the water depth information in the vehicle form environment, it is further determined whether the vehicle is currently in the floating-off-ground state.

[0099] Exemplarily, based on the feature of the height information of the vehicle suspension, when the height information of the vehicle suspension is greater than or equal to a preset relative height threshold (corresponding to the height information of the vehicle suspension currently satisfying a first preset condition), it indicates that the vehicle may have been in a floating off-ground state, and the water depth information of the environment around the vehicle is further verified. If the water depth information is greater than or equal to a preset water depth threshold (corresponding to the water depth information satisfying a second preset condition) on the basis of the above, it indicates that the vehicle is currently floating off the ground in water or the like. At this time, the vehicle control module determines that the vehicle is currently in a floating off-ground state according to the verification results of the two sets of numerical conditions, so as to control the vehicle to perform wheel reverse rotation braking subsequently.

[0100] Thus, the application can determine whether the vehicle is currently in a floating off-ground state through different numerical conditions respectively based on the above data.

[0101] In some embodiments, the vehicle control method further includes:

[0102] Obtaining a brake pedal state of the vehicle;

[0103] Determining brake information according to the brake pedal state.

[0104] In some embodiments, the transceiver module is further configured to obtain the brake pedal state of the vehicle, and to determine the brake information according to the brake pedal state.

[0105] In some embodiments, the processor is further configured to obtain the brake pedal state of the vehicle, and to determine the brake information according to the brake pedal state.

[0106] Specifically, as for the obtaining of the brake information, exemplarily, the current state of the brake pedal is detected by a brake pressure sensor in the data acquisition module.

[0107] Thus, the application can determine the brake information based on the state of the brake pedal of the vehicle, so as to determine the first state information of the vehicle.

[0108] In some embodiments, the step of determining the brake information according to the brake pedal state includes:

[0109] In the case where the brake pedal state satisfies a third preset condition, the brake information is determined, wherein the third preset condition represents that the brake pedal is stepped on by a user.

[0110] In some embodiments, the transceiver module is further configured to determine the brake information in the case where the brake pedal state satisfies a third preset condition, wherein the third preset condition represents that the brake pedal is stepped on by a user.

[0111] In some embodiments, the processor is further configured to determine the braking information when the brake pedal state satisfies a third preset condition, wherein the third preset condition represents that the brake pedal is stepped on by the user.

[0112] Specifically, based on the above embodiments, for example, if it is detected that the brake pedal is stepped on by the user (corresponding to the case that the brake pedal state satisfies the third preset condition), it indicates that the current vehicle has braking demand, so that the braking information of the vehicle is determined, otherwise it indicates that the current vehicle does not have braking demand, so that the braking information of the vehicle is not determined.

[0113] In this way, the application can determine the braking information based on the condition satisfied by the brake pedal state.

[0114] In some embodiments, step 01 comprises:

[0115] In the case that the current state information is the first state information, in response to the braking information of the vehicle, the brake device corresponding to the target wheel is controlled to remain in a non-working state, and the target wheel is controlled to rotate in the opposite direction of the traveling direction of the vehicle, so as to control the vehicle to realize braking based on the wheel reversal.

[0116] In some embodiments, the processing module is further configured to, in the case that the current state information is the first state information, in response to the braking information of the vehicle, control the brake device corresponding to the target wheel to remain in a non-working state, and control the target wheel to rotate in the opposite direction of the traveling direction of the vehicle, so as to control the vehicle to realize braking based on the wheel reversal.

[0117] In some embodiments, the processor is further configured to, in the case that the current state information is the first state information, in response to the braking information of the vehicle, control the brake device corresponding to the target wheel to remain in a non-working state, and control the target wheel to rotate in the opposite direction of the traveling direction of the vehicle, so as to control the vehicle to realize braking based on the wheel reversal.

[0118] Specifically, based on the above embodiments, in the case that the current state information of the vehicle has represented that the vehicle is currently in the floating-off-ground state, the user generates the braking information of the vehicle by stepping on the brake pedal or the like. At this time, in order to enable the target wheel to be reversely rotated for realizing actual braking effect, it is necessary to avoid the implementation of the conventional braking of the brake device corresponding to the target wheel within a certain range. If the brake device implements the conventional braking, it will hinder the reverse rotation of the target wheel or even lock the target wheel, thereby causing the reverse rotation of the target wheel to be not smooth and the braking effect to be not ideal, and finally it may lead to serious consequences.

[0119] Therefore, in some examples, when the current state information of the vehicle has represented that the vehicle is currently in the floating-off-ground state, and the user has generated the vehicle braking information by stepping on the brake pedal or the like, the control module of the vehicle controls the braking device corresponding to each target wheel to remain in the non-working state, avoids the braking device corresponding to each target wheel to implement the conventional braking on the target wheel, and provides the condition for the vehicle to implement the wheel reverse rotation in the floating-off-ground state.

[0120] In this way, the application can control the braking device corresponding to each target wheel to remain in the non-working state when the vehicle is floating, and avoid interference with the wheel reverse rotation braking.

[0121] Referring to FIG. 3, in some embodiments, step 01 includes:

[0122] 011: In the case where the current state information is the first state, in response to the braking information of the vehicle, the moving speed, the braking state, and the running state of the current vehicle are obtained;

[0123] 012: According to the moving speed, the braking state, and / or the running state, the current state information of the vehicle is updated;

[0124] 013: In the case where the current state information is the second state information, the braking device corresponding to the target wheel is controlled to remain in the non-working state, and the target wheel is controlled to rotate in the opposite direction of the vehicle travel direction, so as to control the vehicle to implement the braking based on the wheel reverse rotation,

[0125] The second state information represents that the vehicle can currently support the target wheel reverse rotation to implement the braking in the case where the vehicle is currently off the ground due to floating in the liquid.

[0126] In some embodiments, the processing module is further configured to, in the case where the current state information is the first state, in response to the braking information of the vehicle, obtain the moving speed, the braking state, and the running state of the current vehicle, and update the current state information of the vehicle according to the moving speed, the braking state, and / or the running state, and control the braking device corresponding to the target wheel to remain in the non-working state, and control the target wheel to rotate in the opposite direction of the vehicle travel direction, so as to control the vehicle to implement the braking based on the wheel reverse rotation, in the case where the current state information is the second state information.

[0127] In some embodiments, the processor is further configured to, in response to the braking information of the vehicle, acquire the moving speed, braking state and running state of the current vehicle when the current state information is the first state, and update the current state information of the vehicle according to the moving speed, braking state and / or running state, and control the braking device corresponding to the target wheel to remain in the non-working state and control the target wheel to rotate in the opposite direction of the traveling direction of the vehicle to control the vehicle to brake based on the wheel reversal when the current state information is the second state information.

[0128] Specifically, on the basis of the above-mentioned embodiments, in addition to the vehicle itself being in the floating-off-ground state, whether the vehicle currently needs to brake and whether the current running state of the vehicle can support the execution of the wheel reversal braking are also necessary prerequisites for controlling the vehicle to perform the wheel reversal braking.

[0129] Therefore, on the basis of the above-mentioned embodiments, when it has been determined that the vehicle is currently in the floating-off-ground state, before starting the wheel reversal braking control, it is also necessary to determine whether there is a current braking demand and whether the current state of the vehicle can support the wheel reversal braking process according to a plurality of parameters of the vehicle itself. The plurality of parameters exemplarily include the current moving speed of the vehicle, the running state of the braking system and whether there is a fault in the current running state of the vehicle that can affect the wheel reversal braking process. In general, the above-mentioned parameters can generally describe whether the current state of the vehicle can support the wheel reversal braking process. It should be noted that, since the vehicle is currently in the floating-off-ground state, the rotation speed of the wheel cannot correctly describe the moving speed of the vehicle. Therefore, in the above-mentioned case, the moving speed of the vehicle is generally obtained by positioning the vehicle through the IMU sensor or satellite positioning device in the data acquisition module, and the actual moving speed of the vehicle is calculated according to the above-mentioned positioning combined with time.

[0130] In the above case, when the vehicle control module has detected that the vehicle is in the floating-off-ground state, the current state of the vehicle can be determined according to the plurality of parameters described above, and when it is determined that the current vehicle has a braking demand and there is no fault that can affect the process of wheel reverse braking, that is, the current state of the vehicle can support the process of wheel reverse braking (corresponding to the current state of the vehicle being updated to the second state), the vehicle control module will calculate the target output torque that can enable the vehicle to achieve braking in the floating-off-ground state based on the current state of the vehicle according to the method provided in the above embodiment, and send the torque to the corresponding wheel motor of each wheel, so that the wheel motor operates according to the target output torque, thereby controlling the wheel motor, and the wheel rotates in the opposite direction of the vehicle traveling direction according to the target output torque, and the interaction between the reverse rotating wheel and the liquid such as water offsets a part of the movement of the vehicle due to its inertia when floating in the liquid, thereby achieving braking in the floating-off-ground state of the vehicle, and reducing the risk of vehicle out of control.

[0131] Thus, the application can further evaluate the current state of the vehicle in the floating-off-ground state, and control the wheel reverse braking when the current state of the vehicle supports braking by reverse rotation.

[0132] Referring to FIG. 4, in some embodiments, step 013 comprises:

[0133] 0131: According to the second state information, in response to the brake pedal being continuously depressed within the preset braking depth range, the target output torque is determined according to the moving speed, the braking state and / or the running state, and the preset torque calculation parameter;

[0134] 0132: In the case that the brake pedal is continuously depressed within the preset braking depth range, the brake pressure of the target wheel is shielded to control the braking device corresponding to the target wheel to remain in a non-working state;

[0135] 0133: In the case that the brake pressure is shielded, the target wheel is controlled to rotate in the opposite direction of the vehicle traveling direction according to the target output torque, so as to control the vehicle to achieve braking based on wheel reverse rotation.

[0136] In some embodiments, the processing module is further configured to determine, according to the second state information, the target output torque according to the moving speed, the braking state and / or the running state, and the preset torque calculation parameter, in response to the brake pedal being continuously depressed within the preset braking depth range, and to shield the brake pressure of the target wheel to control the braking device corresponding to the target wheel to remain in a non-working state in the case that the brake pedal is continuously depressed within the preset braking depth range, and to control the target wheel to rotate in the opposite direction of the traveling direction of the vehicle according to the target output torque to control the vehicle to realize braking based on the wheel reverse rotation in the case that it is detected that the brake pressure is shielded.

[0137] In some embodiments, the processing module is further configured to determine, according to the second state information, the target output torque according to the moving speed, the braking state and / or the running state, and the preset torque calculation parameter, in response to the brake pedal being continuously depressed within the preset braking depth range, and to shield the brake pressure of the target wheel to control the braking device corresponding to the target wheel to remain in a non-working state in the case that the brake pedal is continuously depressed within the preset braking depth range, and to control the target wheel to rotate in the opposite direction of the traveling direction of the vehicle according to the target output torque to control the vehicle to realize braking based on the wheel reverse rotation in the case that it is detected that the brake pressure is shielded.

[0138] Specifically, on the basis of the above-mentioned embodiments, when the vehicle control module determines that the vehicle is currently in the floating-off-ground state, the vehicle has braking demand, and there is no fault that will affect the wheel reverse rotation braking process, exemplarily, at this time the vehicle control module sends a control signal to the vehicle braking module (hereinafter referred to as IPB system for convenience of description, IPB, Integrated Power Brake, intelligent integrated brake) in the vehicle, and the IPB system, after receiving the relevant signal, in order to ensure that the wheel reverse rotation braking is realized by depressing the brake pedal, rather than the conventional braking, in some examples, when the user depresses the brake pedal within the preset braking depth range, the IPB system shields the brake pressure generated due to the user depressing the brake pedal in the conventional braking process within the above-mentioned braking depth range in the entire vehicle braking system component range, thereby controlling the braking device corresponding to the target wheel to remain in a non-working state to avoid its interference with the target wheel reverse rotation.

[0139] On this basis, when the vehicle control module detects through the data acquired by the brake pressure sensor in the data acquisition module that the current user is continuously stepping on the brake pedal, the vehicle control module simultaneously starts to calculate the target output torque required for the current wheel reverse brake process according to the preset torque calculation parameters, and simultaneously receives the monitoring data of the brake depth range of the IPB system in real time. The monitoring data generally includes the current state of the brake system and the brake system pressure value reflecting the brake depth range.

[0140] When the detection data of the brake depth of the IPB system is maintained within the above-mentioned brake depth range, the vehicle control module can confirm that the current IPB system supports wheel reverse braking, and the vehicle control module further detects whether the IPB system successfully shields the brake pressure in the entire brake system component range of the vehicle. When the IPB system successfully shields the brake pressure in the entire brake system component range of the vehicle, the user steps on the brake pedal within the above-mentioned brake depth range, and the brake disc of the vehicle is not clamped by the IPB system, so that the wheel can rotate normally, thereby supporting the execution of wheel reverse braking.

[0141] Regarding the above-mentioned two-step detection, the purpose of detecting the detection data of the brake depth of the IPB system is to determine the current support of the IPB system for wheel reverse braking, to avoid the situation that the IPB system state error causes the wheel reverse braking to be unable to start normally, or even causes a safety threat to other components. The detection of whether the IPB system successfully shields the brake pressure is to enable the wheel motors to normally execute reverse rotation according to the calculated target output torque, thereby ensuring the effect of wheel reverse braking.

[0142] In the case where the vehicle control module confirms that the current IPB system supports wheel reverse braking, and whether the IPB system successfully shields the brake pressure in the entire brake system component range of the vehicle, the vehicle control module will issue the calculated target output torque to each wheel motor. After each wheel motor receives the above-mentioned target output torque, it executes rotation according to the torque, thereby driving the wheel to realize reverse braking.

[0143] It should be noted that the main purpose of setting the above-mentioned brake depth range is to retain the normal brake pressure demand of the IPB system in response to the user, thereby retaining the emergency braking capability of the wheel motor. When the wheel reverse braking appears an unexpected situation, the user can stop the wheel reverse braking process by stepping on the brake pedal beyond the above-mentioned brake depth range, thereby avoiding the safety threat to the vehicle and the user caused by the unexpected situation.

[0144] In addition, the torque calculation parameters generally include a torque loading time, a braking depth, and a current moving speed of the vehicle, and the target output torque is negatively correlated with the torque loading time and positively correlated with the braking depth and the current moving speed of the vehicle.

[0145] Specifically, referring to FIG. 5, exemplary data interaction relationships among components for implementing brake control of a four-wheel family car are taken as an example, the vehicle control module is a vehicle control unit controller (i.e., a VCM controller), each wheel corresponds to a set of wheel-end brake mechanisms and a wheel-end motor, and each set of brake mechanisms is controlled by an IPB controller in an IPB system. Wherein FL represents a left front wheel, RL represents a right front wheel, FR represents a left rear wheel, and RR represents a right rear wheel. The hardware structure shown in FIG. 5 can implement the control of the wheel motor in the above-mentioned embodiments, thereby realizing wheel reverse rotation braking. It should be noted that FIG. 5 only schematically shows the data interaction relationship among the right front wheel-end brake mechanism, the right front wheel-end motor, the IPB controller, and the VCU controller, and the left front wheel, the left rear wheel, and the right rear wheel have the same situation as the right front wheel.

[0146] In this way, the application can directly control the wheel motor to reverse by shielding the brake pressure in the brake system when the vehicle is currently floating off the ground and the current state supports wheel reverse rotation braking, thereby realizing braking.

[0147] Referring to FIG. 6, in some embodiments, the vehicle control method further includes:

[0148] 02: In a case where the vehicle is currently braking based on wheel reverse rotation and the current state of the vehicle is third state information, controlling the vehicle to unload the target output torque on the target wheel,

[0149] Wherein the third state information represents that the vehicle is currently re-touching the ground or the vehicle does not currently support wheel reverse rotation to realize braking.

[0150] In some embodiments, the processing module is further configured to, in a case where the vehicle is currently braking based on wheel reverse rotation and the current state of the vehicle is third state information, control the vehicle to unload the target output torque on the target wheel.

[0151] In some embodiments, the processor is further configured to, in a case where the vehicle is currently braking based on wheel reverse rotation and the current state of the vehicle is third state information, control the vehicle to unload the target output torque on the target wheel.

[0152] Specifically, on the basis of the above-mentioned embodiments, the vehicle is affected by environmental factors when it is floating, especially in off-road environments, and the underwater environment cannot be accurately explored. During the reverse braking process, the wheels may touch the ground or touch protruding stones, etc. In addition, during the landing process, the vehicle changes from a floating state to a non-floating state, i.e., the wheels change from a suspended state to a non-suspended state. In these two scenarios, if the driver steps on the brake pedal or after the driver steps on the brake pedal, the vehicle enters the above-mentioned two scenarios. Since the wheels on the ground are loaded with a large reverse torque, the vehicle may instantaneously deviate, lose control, and move in the opposite direction, i.e., the wheels that are being reversed instantaneously change the motion state of the vehicle due to the ground contact, which may cause a more serious unexpected loss of control and thus increase the safety risk.

[0153] Similarly, in the case where the vehicle is currently performing the wheel reverse braking process, if the vehicle's software and hardware have a fault that cannot continue to support the wheel reverse braking, or the user stops stepping on the brake pedal to withdraw the braking demand, or the user steps on the brake pedal beyond the above-mentioned braking depth range, or the current moving speed of the vehicle is 0, etc., the current state of the vehicle can no longer support the execution of the wheel reverse braking process. If the wheels continue to rotate according to the above-mentioned target output torque at this time, for the user and the vehicle user system, the vehicle is already in a state of loss of control, which also has a large safety risk.

[0154] In particular, for the case where the moving speed of the vehicle has returned to zero, if the above-mentioned reverse braking process is continued, the effect of the wheel rotation at this time is driving rather than braking, which will further cause serious consequences. Therefore, in the case where the vehicle is currently performing the wheel reverse braking process, if the vehicle control module detects that the wheels of the current vehicle have re-contacted the ground or the vehicle cannot support the continuation of the wheel reverse process, the vehicle control module immediately sends an instruction to each wheel motor to control each wheel motor to unload the above-mentioned target output torque, thereby stopping the wheel reverse braking process.

[0155] In this way, the present application can determine whether the vehicle has a state change that should stop the reverse braking during the reverse braking process according to the current wheel speed, the actual moving speed, and the state of the suspension of the vehicle.

[0156] Referring to FIG. 7, in some embodiments, step 02 further includes:

[0157] 0021: obtaining the wheel speed of the vehicle, the moving speed of the vehicle, and the current height information of the suspension of the vehicle;

[0158] 0022: determining the third state information according to the wheel speed, the moving speed, and / or the current height information of the suspension.

[0159] In some implementations, the processing module is further configured to acquire information on the vehicle's wheel speed, vehicle speed, and current suspension height, and to determine third state information based on the wheel speed, vehicle speed, and / or current suspension height.

[0160] In some implementations, the processor acquires information about the vehicle's wheel speed, vehicle speed, and current suspension height, and determines third state information based on the wheel speed, speed, and / or current suspension height.

[0161] Specifically, based on the above implementation method, in order to determine when the vehicle touches the ground and avoid loss of control at the moment of contact, it is also necessary to obtain the vehicle's own state parameters. Since the correlation between wheel speed and vehicle speed is weak when the vehicle is floating off the ground, but becomes strongly correlated when the vehicle touches the ground due to the instantaneous friction between the ground and the wheels, the quantitative relationship between wheel speed and vehicle speed can describe whether the vehicle is currently in contact with the ground. Furthermore, the height information of the vehicle's suspension system relative to its baseline will show a significant abrupt change before and after the wheels touch the ground; therefore, the height information of the vehicle's suspension can also describe whether the vehicle is currently in contact with the ground.

[0162] Therefore, based on the above situation, for example, when the vehicle control module detects whether the vehicle is touching the ground, it generally makes a judgment based on parameters obtained by the data acquisition module, including the vehicle's moving speed, wheel speed, and vehicle suspension height information, and finally determines whether the vehicle is currently touching the ground. Based on the above determination result, it further controls the wheel motor to unload the target output torque, thereby stopping the wheel reversal braking process.

[0163] Thus, this application can determine whether the vehicle has undergone a change in state that should stop reverse braking during the reverse braking process based on the vehicle's current wheel speed, actual movement speed, and suspension status.

[0164] Referring to Figure 8, in some embodiments, step 0022 includes:

[0165] 0023: If the wheel rotation speed and vehicle speed meet the fourth preset condition within a first preset time period, determine the third state information; and / or

[0166] 0024: If the altitude information meets the fifth preset condition, determine the third state information.

[0167] In some embodiments, the processing module is further configured to determine third state information when the wheel rotation speed and the vehicle's moving speed meet a fourth preset condition within a first preset time period, and to determine third state information when the height information meets a fifth preset condition.

[0168] In some embodiments, the processor is further configured to determine third state information when the wheel rotation speed and the vehicle's moving speed meet a fourth preset condition within a first preset time period, and to determine third state information when the height information meets a fifth preset condition.

[0169] Specifically, based on the above implementation methods and the examples in the above implementation methods, determining whether the vehicle is currently in contact with the ground can be achieved using the following two examples:

[0170] (1) As described in the above embodiments, since there is an instantaneous correlation between the wheel speed and the vehicle's speed before and after the vehicle floats off the ground, in order to ensure the accuracy of determining the vehicle's ground contact status, it is necessary to determine relatively accurately whether a correlation has been established between the wheel speed and the vehicle's speed. Therefore, exemplarily, the vehicle control module detects the wheel speed and the vehicle's speed obtained by the data acquisition module. When the difference between the wheel speed and the vehicle's speed remains within a preset value range and lasts for a preset duration (corresponding to the wheel speed and the vehicle's speed satisfying the fourth preset condition within the first preset duration), the vehicle control module can determine that the vehicle has currently touched the ground. It should be noted that the vehicle control module needs to be able to determine whether the vehicle has currently touched the ground in a timely and accurate manner within the aforementioned preset duration. The actual length of the preset duration can be adjusted according to the actual situation of the vehicle, and this application does not impose a specific limitation.

[0171] (2) As described in the above embodiments, the height information of the vehicle suspension relative to its baseline will also experience significant instantaneous changes before and after the vehicle floats off the ground. However, in order to ensure the accuracy of determining the vehicle's ground contact status, it is necessary to determine relatively accurately whether the change in the vehicle suspension height information indicates that the vehicle has touched the ground rather than indicating other conditions. Therefore, for example, the vehicle control module detects the height information of the vehicle suspension obtained by the data acquisition module. When the height information of the vehicle suspension drops to or below a preset height threshold and lasts for a preset duration (corresponding to the height information meeting the fifth preset condition), the vehicle control module can determine that the vehicle has currently touched the ground. It should be noted that the vehicle control module needs to be able to determine whether the vehicle has currently touched the ground in a timely and accurate manner within the aforementioned preset duration. The actual length of the preset duration can be adjusted according to the actual situation of the vehicle, and this application does not impose specific limitations.

[0172] It should be noted that the execution order of steps 0023 and 0024 shown in Figure 8 is only a schematic diagram of the process. The actual execution order can be adjusted according to the actual situation and is not limited. The execution order shown in Figure 8 should not be interpreted as a limitation.

[0173] Thus, this application can determine whether a vehicle has undergone a change in state that requires stopping reverse braking based on the quantitative relationship between wheel rotation speed and vehicle speed, or based on the height value of the vehicle suspension.

[0174] In some embodiments, the vehicle control method further includes:

[0175] In response to the user's gear shifting operation, a reference direction is determined based on the vehicle's current speed and gear, and the vehicle's wheels are controlled to rotate in the opposite direction of the reference direction to achieve braking.

[0176] In some implementations, the processing module is also configured to, in response to a user's gear shifting operation, determine a reference direction based on the vehicle's current speed and current gear, in order to control the vehicle's wheels to rotate in the opposite direction of the reference direction to achieve braking.

[0177] In some implementations, the processor is also configured to, in response to a user's gear shifting operation, determine a reference direction based on the vehicle's current speed and current gear, and control the vehicle's wheels to rotate in the opposite direction of the reference direction to achieve braking.

[0178] Specifically, based on the above implementation method, if the positioning signal of the vehicle's current location is poor and cannot be accurately located, then the vehicle's speed is also difficult to measure, and thus it is impossible to determine when the vehicle's speed is 0.

[0179] Therefore, specifically, in situations where the vehicle's current position cannot be accurately located, resulting in the inability to accurately determine the vehicle's speed, in order to relatively accurately stop the wheel reversal braking process, for example, the vehicle control module, while calculating the target output torque, also calculates an execution duration for wheel reversal braking based on the target output torque, and sends this duration along with the target output torque to the wheel motors. Upon receiving the data, the wheel motors rotate within the aforementioned execution duration according to the target output torque to achieve wheel reversal braking. When the execution duration exceeds the specified range, each wheel motor unloads torque to stop rotating, thereby stopping the wheel reversal braking process.

[0180] Thus, this application can also stop the wheel reversal braking process by unloading torque based on the running time, so as to avoid the wheel reversal causing reverse drive to the vehicle.

[0181] In some embodiments, the vehicle control method further includes;

[0182] When the target wheel is rotated in the opposite direction to the vehicle's direction of travel, the vehicle is controlled to unload the target output torque from the target wheel in response to the user's gear shifting operation.

[0183] In some implementations, the processing module is also configured to, in response to a user's gear shifting operation, control the vehicle to unload the target output torque from the target wheel when the target wheel is rotated in the opposite direction to the vehicle's direction of travel.

[0184] In some implementations, the processor is also configured to, in response to a user's gear shifting operation, control the vehicle to unload the target output torque from the target wheel when the target wheel is rotated in the opposite direction to the vehicle's direction of travel.

[0185] Specifically, based on the above implementation method, since the execution of the wheel reversal braking process is logically different from the conventional braking control method of the vehicle, the user may still be unfamiliar with the vehicle reversal braking when operating the vehicle in a floating state. As a result, the user may abnormally intervene in the wheel reversal braking due to objective misoperation such as shifting gears, which may cause the vehicle to lose control and pose a greater safety risk.

[0186] Therefore, to avoid the above situation, in some instances, if the vehicle control module detects a gear shift before sending the target output torque to the wheel motor to initiate the wheel reversal braking process, it should determine whether the vehicle's speed and the direction of movement corresponding to the gear before and after the shift are consistent based on the speedometer reading on the vehicle's dashboard after the shift. This will ensure that the wheel motor rotates in the correct direction according to the target output torque, avoiding sudden torque changes due to the user shifting gears, or situations where the torque loading does not match the actual demand, further reducing the probability of vehicle loss of control and lowering safety risks.

[0187] For example, the above judgment process is generally as follows:

[0188] If the speedometer reading exceeds 0 after shifting gears, it indicates that the vehicle's current direction of movement is consistent with the direction of travel corresponding to the new gear. Conversely, if the speedometer reading does not exceed 0 after shifting gears, it indicates that the vehicle's current direction of movement is consistent with the direction of travel corresponding to the previous gear.

[0189] Thus, before controlling the wheel to reverse brake, this application can also determine the relationship between the driving direction corresponding to the gear and the actual driving direction of the vehicle based on the current gear position and the actual driving speed of the vehicle, thereby further determining the actual rotation direction of the wheel during the wheel reversal braking process.

[0190] In some embodiments, the vehicle control method further includes:

[0191] When the vehicle's wheels are rotated in the opposite direction to the vehicle's direction of travel, the vehicle is controlled to unload the target output torque in response to the user's gear shifting operation.

[0192] In some implementations, the vehicle control module is also configured to control the vehicle to unload the target output torque in response to a user's gear shifting operation when the wheels of the vehicle are rotated in the opposite direction to the vehicle's direction of travel.

[0193] In some implementations, the processor is also configured to control the vehicle to unload the target output torque in response to a user's gear shifting operation when the wheels of the vehicle are rotated in the opposite direction to the direction of travel.

[0194] Specifically, based on the above implementation methods, in some other examples, if the vehicle control module has already sent the target output torque to the wheel motors and initiated the wheel reversal braking process, and the user performs a gear shift at this time, the gear shift operation will objectively directly affect the output torque range of the wheels, which may directly lead to difficulties, contradictions, or even errors in the execution of the wheel reversal braking process, thereby causing the vehicle to lose control. From the user's subjective perspective, the intention of shifting gears during the wheel reversal braking process is generally to shift gears rather than to brake; that is, the user may intend to take over the control of the vehicle by shifting gears to deal with the situation where the vehicle floats off the ground. Therefore, in the above situation, the vehicle control module directly controls each wheel motor to unload the target output torque and stop rotating, thereby terminating the wheel reversal braking process and returning control of the vehicle to the user.

[0195] It is important to note that in the above-mentioned situation, that is, when the wheel reversal braking process is interfered with by other actions and becomes abnormal, the vehicle can promptly remind the user through voice, screen pop-up, etc., so that the user can clearly confirm the current status of the vehicle when it is in an emergency state of floating off the ground, so that the user can control the vehicle to get out of danger in time.

[0196] Thus, this application can also unload the target torque mentioned above when the user makes a gear shifting action during the process of controlling the wheel to reverse braking, ensuring the driver's control of the vehicle and avoiding unexpected loss of control of the vehicle.

[0197] In some implementations, the target wheel includes multiple front wheels, multiple rear wheels, multiple wheels in a diagonal position relationship, or all wheels of the vehicle.

[0198] Specifically, in some examples, taking a family car with 7 seats or less as an example, the wheels consist of four sets: left front wheel, left rear wheel, right front wheel, and right rear wheel. During the process of braking by reversing the target wheels, the target wheels can be a set consisting of the left and right front wheels, the left and right rear wheels, the left and right rear wheels, or the right and left rear wheels. In addition to some of the wheels forming the target wheel set, all wheels can also be used. The specific sets of wheels used can be adjusted according to the actual situation.

[0199] The computer-readable storage medium in the embodiments of this application stores a computer program that, when executed by one or more processors, implements the above-described method.

[0200] In the description of this specification, the references to terms such as "some embodiments," "in one example," "exemplarily," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0201] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0202] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A vehicle control method in which, The method comprises: in the case that the current state information is first state information, in response to the brake information of the vehicle, controlling a target wheel to rotate in the opposite direction of the traveling direction of the vehicle, so as to control the vehicle to realize braking based on wheel reversal.

2. The method of claim 1, wherein, The method further comprises: obtaining current height information of a suspension of the vehicle, and traveling environment information of the vehicle, wherein the traveling environment information comprises water depth information in a current traveling environment of the vehicle; determining the current state information of the vehicle according to the height information and the traveling environment information.

3. The method of claim 2, wherein, The determination of the current state information of the vehicle according to the height information and the traveling environment information comprises: in the case that the height information satisfies a first preset condition and the water depth information satisfies a second preset condition, determining that the current state information of the vehicle is the first state information.

4. The method according to any one of claims 1 to 3, wherein, The method further comprises: obtaining a brake pedal state of the vehicle; determining the brake information according to the brake pedal state.

5. The method of claim 4, wherein, The determination of the brake information according to the brake pedal state comprises: in the case that the brake pedal state satisfies a third preset condition, determining the brake information, wherein the third preset condition represents that the brake pedal is stepped on by a user.

6. The method according to any one of claims 1 to 5, wherein, The control of the target wheel to rotate in the opposite direction of the traveling direction of the vehicle in the case that the current state information is the first state information in response to the brake information of the vehicle, so as to control the vehicle to realize braking based on wheel reversal, comprises: in the case that the current state information is the first state information, in response to the brake information of the vehicle, controlling a brake device corresponding to the target wheel to remain in a non-working state, and controlling the target wheel to rotate in the opposite direction of the traveling direction of the vehicle, so as to control the vehicle to realize braking based on wheel reversal.

7. The method according to any one of claims 1-5, wherein, The control of the target wheel to rotate in the opposite direction of the traveling direction of the vehicle in the case that the current state information is the first state information in response to the brake information of the vehicle, so as to control the vehicle to realize braking based on wheel reversal, comprises: in the case that the current state information is the first state information, in response to the brake information of the vehicle, obtaining a current moving speed, a brake state and an operating state of the vehicle; updating the current state information of the vehicle according to the moving speed, the brake state and / or the operating state; in the case that the current state information is second state information, controlling a brake device corresponding to the target wheel to remain in a non-working state, and controlling the target wheel to rotate in the opposite direction of the traveling direction of the vehicle, so as to control the vehicle to realize braking based on wheel reversal, wherein the second state information represents that the vehicle can support the target wheel to reverse in the case that the vehicle is currently off the ground due to floating in liquid, so as to realize braking.

8. The method of claim 7, wherein, When the current state information is the second state information, controlling the braking device corresponding to the target wheel to remain in a non-operating state, and controlling the target wheel to rotate in the opposite direction of the vehicle's travel direction, so as to control the vehicle to achieve braking based on wheel reversal, includes: Based on the second state information, in response to the brake pedal being continuously depressed within a preset braking depth range, the target output torque is determined based on the moving speed, the braking state and / or the operating state, and preset torque calculation parameters. When the brake pedal is continuously depressed within the preset braking depth range, the braking pressure of the target wheel is shielded to control the braking device corresponding to the target wheel to remain in a non-operating state. If the braking pressure is detected to be blocked, the target wheel is controlled to rotate in the opposite direction of the vehicle's travel direction according to the target output torque, so as to control the vehicle to brake based on wheel reversal.

9. The method of any one of claims 1-8, wherein, The method further includes: When the vehicle is braking based on wheel reversal and the current state of the vehicle is the third state information, the vehicle is controlled to unload the target output torque on the target wheel, wherein the third state information indicates that the vehicle is currently touching the ground again or that the vehicle does not currently support wheel reversal for braking.

10. The method of claim 9, wherein, The step of controlling the vehicle to unload the target output torque from the target wheel when the vehicle is braking based on wheel reversal and the vehicle's current state is the third state information, further includes: The vehicle's wheel rotation speed, vehicle speed, and current suspension height information are obtained. The third state information is determined based on the wheel rotation speed, the moving speed, and / or the current height information of the suspension.

11. The method of claim 10, wherein, The step of determining the third state information based on the wheel rotation speed, the moving speed, and / or the current suspension height information includes: If the wheel rotation speed and the vehicle's moving speed meet a fourth preset condition within a first preset time period, the third state information is determined; and / or If the height information meets the fifth preset condition, the third state information is determined.

12. The method of any one of claims 1-11, wherein, The method further includes: When the target wheel is controlled to rotate in the opposite direction of the vehicle's travel direction, and the rotation of the target wheel lasts for a duration exceeding a second preset duration, the vehicle is controlled to unload the target output torque from the target wheel.

13. The method of any one of claims 1-12, wherein, The method further includes: In response to the user's gear shifting operation, a reference direction is determined based on the vehicle's current speed and current gear, and the vehicle's wheels are controlled to rotate in the opposite direction of the reference direction to achieve braking.

14. The method of any one of claims 1-13, wherein, The method further includes: When the target wheel is controlled to rotate in the opposite direction to the vehicle's direction of travel, the vehicle is controlled to unload the target output torque from the target wheel in response to the user's gear shifting operation.

15. The method of any one of claims 1-14, wherein, The target wheels include multiple front wheels, multiple rear wheels, multiple wheels in a diagonal position relationship, or all wheels of the vehicle.

16. A vehicle control system, wherein, The vehicle control system includes: The processing module is configured to, in response to the braking information of the vehicle, control the target wheel to rotate in the opposite direction of the traveling direction of the vehicle to control the vehicle to brake based on wheel reverse rotation, when the current state information is first state information, wherein the first state information represents that the vehicle is currently off the ground due to floating in the liquid. The vehicle control system further comprises a transceiving module configured to obtain the current state information and the braking information.

17. A vehicle, wherein, The vehicle comprises a memory and a processor, and the memory stores a computer program, and the computer program, when executed by the processor, implements the method according to any one of claims 1-15.

18. A computer readable storage medium, wherein, The computer readable storage medium stores a computer program, and the computer program, when executed by one or more processors, implements the method according to any one of claims 1-15.

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