Vehicle body stability control method, system and apparatus, and device, medium and vehicle

Abstract

A vehicle body stability control method, system and apparatus, and a device, a medium and a vehicle, which relate to the field of complete vehicles. The method comprises: acquiring a first control signal of a vehicle; on the basis of the first control signal, determining a target control signal of the vehicle; on the basis of the target control signal, determining a current driving state of the vehicle; and on the basis of the current driving state, executing a first operation on the vehicle.

Description

A vehicle stability control method, system, device, equipment, medium, and vehicle

[0001] Cross-reference to related applications

[0002] This disclosure is based on and claims priority to Chinese Patent Application No. 202411975294.X, filed on December 30, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of complete vehicles, and in particular to a vehicle stability control method, system, device, equipment, medium, and vehicle. Background Technology

[0004] In the current field of vehicle control, the vehicle stability system, as a safety system, only allows occupants to activate and deactivate specific functions of the system via a system function switch. Therefore, situations may arise where occupants cannot promptly adjust activated system functions, leading to safety hazards. Summary of the Invention

[0005] This disclosure provides a vehicle stability control method, system, device, equipment, medium, and vehicle to solve problems in related technologies, achieve automatic control of vehicle stability, and improve vehicle safety during driving.

[0006] A first aspect of this disclosure provides a vehicle stability control method, the method comprising: acquiring a first control signal of a vehicle; determining a target control signal of the vehicle based on the first control signal; determining the current driving state of the vehicle based on the target control signal; and performing a first operation on the vehicle based on the current driving state.

[0007] In some embodiments, the first control signal includes at least one of the following: braking signal, wheel speed signal, steering signal, vehicle attitude signal, throttle signal, parking gear signal, and torque signal.

[0008] In some embodiments, a target control signal for the vehicle is determined based on a first control signal: in response to the signal strength of the first control signal being greater than a preset threshold, the first control signal is determined as the target control signal.

[0009] In some embodiments, determining the current driving state of the vehicle based on a target control signal includes: in response to the target control signal including a braking signal, wheel speed signal, steering signal, and vehicle attitude signal, determining the current driving state as an anti-lock braking system (ABS) state based on the target control signal; wherein, performing a first operation on the vehicle based on the current driving state includes: determining whether a first indication signal exists based on the ABS state, the first indication signal being used to indicate that the vehicle is driving on an off-road surface; if the first indication signal exists, increasing the braking force of the vehicle to a first preset value, or decreasing the braking force to a second preset value; if the first indication signal does not exist, increasing the braking force to a third preset value, or decreasing the braking force to a fourth preset value, wherein the first preset value is greater than the third preset value, and the second preset value is less than the fourth preset value.

[0010] In some embodiments, determining the current driving state of the vehicle based on a target control signal includes: in response to the target control signal including a throttle signal, wheel speed signal, steering signal, and vehicle posture signal, determining the current driving state as a road start-up state based on the target control signal; wherein, performing a first operation on the vehicle based on the current driving state includes: determining the adhesion type of the vehicle's wheels contacting the road surface based on the road start-up state, the adhesion type including at least: low adhesion type and split high-low adhesion type; if the adhesion type is low adhesion type, increasing the vehicle's first output torque to a fifth preset value, or decreasing the first output torque to a sixth preset value, until the vehicle starts successfully; if the adhesion type is split high-low adhesion type, performing at least one of the following start-up operations until the vehicle starts successfully: increasing the vehicle's second output torque to a seventh preset value; decreasing the second output torque to an eighth preset value; using the vehicle's steering wheel to adjust the direction of the wheels located on the low adhesion road surface, wherein the adjustment angle of the steering wheel is less than or equal to a ninth preset value.

[0011] In some embodiments, determining the current driving state of the vehicle based on a target control signal includes: in response to the target control signal including a parking gear signal, determining the current driving state as an automatic parking state based on the target control signal; wherein, performing a first operation on the vehicle based on the current driving state includes: parking the vehicle based on the automatic parking state.

[0012] In some embodiments, determining the current driving state of the vehicle based on a target control signal includes: in response to the target control signal including a braking signal and a vehicle posture signal, determining the current driving state as an uphill parking state based on the target control signal and a received second indication signal, wherein the second indication signal is used to indicate a parking requirement; wherein, performing a first operation on the vehicle based on the current driving state includes: performing parking on the vehicle based on the uphill parking state.

[0013] In some embodiments, the method further includes: based on the uphill parking state, if a target control signal of type throttle signal is obtained within a first preset time, determining the current driving state as an uphill start state; based on the uphill start state, determining the third output torque of the vehicle; if the force corresponding to the third output torque is greater than the parking force in the parking state, then releasing the parking.

[0014] In some embodiments, determining the current driving state of the vehicle based on the target control signal includes: in response to the target control signal including the vehicle posture signal, torque signal and wheel speed signal, determining the current driving state as a hill descent state based on the target control signal; wherein, performing a first operation on the vehicle based on the current driving state includes: increasing the fourth output torque of the vehicle to a tenth preset value, or decreasing the fourth output torque to a tenth preset value.

[0015] A second aspect of this disclosure provides a vehicle stability control system, comprising: a controller, a state unit, and an actuator; wherein the state unit is used to acquire a first control signal of the vehicle; the controller is used to determine a target control signal of the vehicle based on the first control signal; and to determine the current driving state of the vehicle based on the target control signal; and the actuator is used to perform a first operation on the vehicle based on the current driving state.

[0016] A third aspect of this disclosure provides a vehicle stability control device, characterized in that the device includes: an acquisition module for acquiring a first control signal of a vehicle; a first determination module for determining a target control signal of the vehicle based on the first control signal; a second determination module for determining the current driving state of the vehicle based on the target control signal; and an execution module for performing a first operation on the vehicle based on the current driving state.

[0017] A fourth aspect of this disclosure provides an electronic device comprising: a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program stored in the memory to cause the electronic device to perform the methods described in the first aspect of this disclosure.

[0018] A fifth method embodiment of this disclosure provides a computer-readable storage medium in which a computer program, when executed by a processor, performs the method described in the first aspect embodiment of this disclosure.

[0019] A sixth aspect of this disclosure provides a vehicle including electronic equipment as described in the fourth aspect.

[0020] In summary, the vehicle stability control method proposed in this disclosure includes: acquiring a first control signal of the vehicle; determining a target control signal of the vehicle based on the first control signal; determining the current driving state of the vehicle based on the target control signal; and performing a first operation on the vehicle based on the current driving state. This method improves the accuracy of judging the current driving state by determining the target control signal from the first control signal, thus eliminating interference signals in the first control signal. Furthermore, by performing the first operation on the vehicle based on the current driving state, it ensures vehicle stability, achieving automatic control of vehicle stability and improving vehicle safety during driving.

[0021] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0022] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure, and are not intended to unduly limit this disclosure.

[0023] Figure 1 is a schematic diagram of a vehicle stability control system provided in an embodiment of this disclosure;

[0024] Figure 2 is a schematic flowchart of a vehicle stability control method provided in an embodiment of this disclosure;

[0025] Figure 3 is a schematic flowchart of another vehicle stability control method provided in the embodiments of this disclosure;

[0026] Figure 4 is a schematic flowchart of another vehicle stability control method provided in an embodiment of this disclosure;

[0027] Figure 5 is a flowchart illustrating another vehicle stability control method provided in an embodiment of this disclosure;

[0028] Figure 6 is a schematic flowchart of another vehicle stability control method provided in an embodiment of this disclosure;

[0029] Figure 7 is a schematic flowchart of another vehicle stability control method provided in an embodiment of this disclosure;

[0030] Figure 8 is a schematic diagram of a vehicle stability control system provided in an embodiment of this disclosure;

[0031] Figure 9 is a structural schematic diagram of a vehicle stability control device provided in an embodiment of this disclosure;

[0032] Figure 10 is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0033] Embodiments of this disclosure are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this disclosure, and should not be construed as limiting this disclosure.

[0034] In the current field of vehicle control, the vehicle stability system, as a safety system, only allows occupants to activate and deactivate specific functions of the system via a system function switch. Therefore, situations may arise where occupants cannot promptly adjust activated system functions, leading to safety hazards.

[0035] Therefore, in order to solve the problems existing in the related technologies, this disclosure provides a vehicle stability control method, system, device, equipment, medium and vehicle to solve the problems in the related technologies, realize automatic control of vehicle stability and improve the safety of vehicle driving.

[0036] Figure 1 is a schematic diagram of the architecture of a vehicle stability control system according to an embodiment of the present disclosure. As shown in Figure 1, the vehicle stability control system 100 includes: a state unit 110, a controller 120, and an actuator 130.

[0037] In some embodiments, the state device 110 is connected to the controller 120; the controller 120 is connected to the actuator 130.

[0038] In some embodiments, the stater 110 is used to acquire the first control signal of the vehicle.

[0039] In some instances, controller 120 is used to determine a target control signal for the vehicle based on a first control signal; and to determine the current driving state of the vehicle based on the target control signal.

[0040] In some embodiments, actuator 130 is used to perform a first operation on the vehicle based on the current driving state.

[0041] In some embodiments, the vehicle stability control system 100 further includes the vehicle's driving system 160 and the chassis system 150.

[0042] Furthermore, the controller 120 may include an acceleration sensor 121.

[0043] Furthermore, the state device 110 may include at least one of the following: a steering module 111, a braking module 112, a power module 113, and a displacement sensing module 114.

[0044] In some embodiments, the vehicle stability control system 100 may further include a central control display screen 140, wherein the central control display screen 140 may be used to display the current driving status and the vehicle's current relevant parameters (such as output torque, road surface adhesion parameters, vehicle speed, remaining fuel or battery power, etc.).

[0045] Furthermore, the central control display screen 140 may include virtual buttons 141, which are used to manually switch the current driving state of the vehicle so that the actuator 130 can perform a first operation.

[0046] In some embodiments, the vehicle stability control system 100 may further include a constant power supply 170 for supplying power to the controller.

[0047] In some embodiments, the vehicle stability control system 100 may further include a mode switch 180, which switches the current driving state of the vehicle via a physical button to cause the actuator 130 to perform a first operation.

[0048] In some embodiments, the vehicle stability control system 100 may further include a combination instrument 190, wherein the combination instrument 190 is used to display the current driving status of the vehicle and the vehicle's current relevant parameters (such as output torque, road adhesion parameters, vehicle speed, remaining fuel or battery power, etc.).

[0049] In some embodiments, actuator 130 includes brake 131 and motor 132, wherein brake 131 and motor 132 are used to perform a first operation.

[0050] It is understood that the stability control system 100 described in the embodiments of this disclosure is for the purpose of more clearly illustrating the technical solutions of the embodiments of this disclosure, and does not constitute a limitation on the technical solutions proposed in the embodiments of this disclosure. As those skilled in the art will know, with the evolution of system architecture and the emergence of new business scenarios, the technical solutions proposed in the embodiments of this disclosure are also applicable to similar technical problems.

[0051] The following embodiments of this disclosure can be applied to the stability control system 100 shown in FIG1, or to some of its components, but are not limited thereto. The components shown in FIG1 are illustrative. The stability control system 100 may include all or some of the components in FIG1, or may include other components other than those in FIG1. ​​The number and form of each component are arbitrary. The connection relationship between the components is illustrative. The components may be unconnected or connected. The connection can be in any way, either direct or indirect, wired or wireless.

[0052] Figure 2 is a flowchart of a vehicle stability control method proposed in this disclosure, which includes steps 201-204.

[0053] Step 201: Obtain the first control signal of the vehicle.

[0054] In some embodiments, the first control signal refers to a signal generated by the vehicle during driving to change the driving state of the vehicle.

[0055] In some embodiments, the first control signal may include at least one of the following: braking signal, wheel speed signal, steering signal, vehicle attitude signal, throttle signal, parking gear signal, and torque signal.

[0056] In some embodiments, the braking signal is used to indicate the magnitude of the vehicle's braking force; the wheel speed signal is used to indicate the speed of the vehicle's wheels; the steering signal is used to indicate the steering direction and steering magnitude of the vehicle body; the vehicle attitude signal is used to indicate the magnitude of the vehicle's yaw angle; the throttle signal is used to indicate the control status of the engine; the parking gear signal is used to indicate that the vehicle is in P gear; and the torque signal is used to indicate the output torque of the vehicle's engine.

[0057] In some embodiments, the first control signal may further include: a steering angle signal and / or a steering speed signal.

[0058] In some embodiments, the steering angle signal is used to indicate the steering angle of the steering wheel or tires; the steering speed signal is used to indicate the steering speed of the steering wheel or tires.

[0059] In some embodiments, the device performing the method of this disclosure can acquire the first control signal of the vehicle through sensors located in various parts of the vehicle, or through various state devices in the vehicle (e.g., braking module, power module, etc.). This disclosure does not limit the method of acquiring the first control signal.

[0060] In other words, the first control signal of the vehicle can be obtained from the aforementioned state device 110, or it can be obtained from other devices. This disclosure does not limit the device that performs this method.

[0061] Step 202: Determine the target control signal for the vehicle based on the first control signal.

[0062] In some embodiments, a target control signal can be determined based on the signal strength of the first control signal to eliminate interference signals in the first control signal, thereby ensuring the accuracy of the determined current driving state.

[0063] Furthermore, when the signal strength of the first control signal is greater than a preset threshold, the first control signal is determined as the target control signal.

[0064] For example, taking the first control signal as including a braking signal and a steering signal, and the preset threshold as 10 as an example, when the signal strength of the obtained braking signal is 11 and the signal strength of the steering signal is 2, the braking signal can be identified as the target control signal and the steering signal can be identified as an interference signal and eliminated.

[0065] In some embodiments, the target control signal of the vehicle may be determined by the controller 120 described above, or by other devices. This disclosure does not limit the device that performs this method.

[0066] Step 203: Determine the current driving state of the vehicle based on the target control signal.

[0067] In some embodiments, the current driving state of the vehicle can be determined based on the signal type contained in the target control signal.

[0068] In some embodiments, the signal type contained in the target control signal can be combined with the time when the target control signal is received to determine the current driving state of the vehicle.

[0069] In some embodiments, the current driving state of the vehicle may include: anti-lock braking system (ABS), road start-up state, automatic parking state, uphill parking state, uphill start-up state, and hill descent control state.

[0070] In some embodiments, the automatic parking state can be the same as the uphill parking state.

[0071] In some embodiments, the current driving state of the vehicle may be determined by the controller 120 or by other devices. This disclosure does not limit the device that performs this method.

[0072] Step 204: Based on the current driving state, perform the first operation on the vehicle.

[0073] In some embodiments, the same or different first operations are performed on the vehicle depending on the different current driving states in order to keep the vehicle driving stable.

[0074] For specific details, please refer to the embodiments shown in Figures 3 to 8, which will not be repeated here.

[0075] In summary, the vehicle stability control method proposed in this disclosure includes: acquiring a first control signal of the vehicle; determining a target control signal of the vehicle based on the first control signal; determining the current driving state of the vehicle based on the target control signal; and performing a first operation on the vehicle based on the current driving state. This method improves the accuracy of judging the current driving state by determining the target control signal from the first control signal, thus eliminating interference signals in the first control signal. Furthermore, by performing the first operation on the vehicle based on the current driving state, it ensures vehicle stability, achieving automatic control of vehicle stability and improving vehicle safety during driving.

[0076] Figure 3 is a flowchart of a vehicle stability control method proposed in this disclosure. Based on the embodiment shown in Figure 2, steps 203 and 204 are further explained. The method includes steps 301-304.

[0077] Step 301: When the target control signal includes braking signal, wheel speed signal, steering signal and vehicle attitude signal, the current driving state is determined to be anti-lock braking state based on the target control signal.

[0078] When the target control signal includes braking signal, wheel speed signal, steering signal and vehicle attitude signal, it indicates that the vehicle's braking and speed have changed significantly, and the vehicle is turning (possibly drifting). At the same time, the vehicle body is yawing (or the yaw angle is large). Therefore, based on the target control signal, it can be determined that the vehicle's wheels are about to lock up. In order to avoid the vehicle slipping due to wheel lockup, the current driving state can be set to anti-lock braking state.

[0079] Step 302: Based on the anti-lock status, determine whether a first indication signal exists.

[0080] In some embodiments, due to differences in road surface materials and road conditions, in order to ensure the effectiveness of anti-lock braking, it is necessary to determine the first operation to be adopted based on the first indication signal.

[0081] In some instances, the first indication signal is used to indicate that the vehicle is traveling on an off-road surface, where the off-road surface refers to a surface that meets preset judgment conditions.

[0082] For example, if the depression or protrusion on the road surface is greater than 7 centimeters, the road surface is classified as an off-road road surface; for example, if there are bumps on the road surface for 5 consecutive meters, the road surface is classified as an off-road road surface.

[0083] In some embodiments, the first indication signal may be issued by a sensor in the vehicle, i.e., when the sensor in the vehicle detects that the current road surface is an off-road surface and the vehicle is about to lock up, the first indication signal is issued.

[0084] In some embodiments, the first indication signal may also be generated by the occupant by manually turning on a physical switch or clicking a virtual button. This disclosure does not limit the device that sends the first indication signal.

[0085] Step 303: If a first indication signal is present, increase the vehicle's braking force to a first preset value, or decrease the braking force to a second preset value.

[0086] In some embodiments, when a first indication signal is present, it indicates that the vehicle is on an off-road surface, and a significant change in the vehicle's braking force is required to prevent the wheels from locking up.

[0087] In some embodiments, if a first indication signal is present, the braking force of the vehicle is increased to a first preset value, or the braking force is decreased to a second preset value.

[0088] Step 304: If there is no first indication signal, increase the braking force to the third preset value, or decrease the braking force to the fourth preset value.

[0089] In some embodiments, when there is no first indication signal, it indicates that the vehicle is on a non-off-road surface, meaning that the current road surface is in better condition than an off-road surface. In this case, it is not necessary to make significant changes to the vehicle's braking force to prevent the wheels from locking up.

[0090] In some embodiments, if there is no first indication signal, the braking force is increased to a third preset value, or the braking force is decreased to a fourth preset value, wherein the first preset value is greater than the third preset value and the second preset value is less than the fourth preset value.

[0091] In summary, the vehicle stability control method proposed in this disclosure includes: responding to a target control signal, including a braking signal, wheel speed signal, steering signal, and vehicle attitude signal, determining that the current driving state is an anti-lock braking state; based on the anti-lock braking state, determining whether a first indication signal exists, the first indication signal indicating that the vehicle is traveling on an off-road surface; if the first indication signal exists, increasing the vehicle's braking force to a first preset value, or decreasing the braking force to a second preset value; if the first indication signal does not exist, increasing the braking force to a third preset value, or decreasing the braking force to a fourth preset value, wherein the first preset value is greater than the third preset value, and the second preset value is less than the fourth preset value. This method, through the target control signal, determines that the vehicle is in an anti-lock braking state, and then, based on the presence or absence of the first indication signal, determines the road conditions to execute anti-lock braking operations corresponding to the road conditions, achieving personalized vehicle stability control and improving vehicle driving safety.

[0092] Figure 4 is a flowchart of a vehicle stability control method proposed in this disclosure. Based on the embodiment shown in Figure 2, steps 203 and 204 are further explained. The method includes steps 401-404.

[0093] Step 401: In response to the target control signals, including throttle signal, wheel speed signal, steering signal and vehicle posture signal, the current driving state is determined to be the road start state based on the target control signals.

[0094] In some embodiments, in response to the target control signal including the throttle signal, wheel speed signal, steering signal and vehicle attitude signal, it indicates that the signal strength of the throttle signal and wheel speed signal increases from zero (or a small value) to greater than a preset threshold, and the vehicle is steering and yawing. Therefore, based on the target control signal, it can be determined that the vehicle is ready to start, thereby determining the current driving state as the road start state.

[0095] Step 402: Based on the road surface starting state, determine the adhesion type of the vehicle's wheels in contact with the road surface.

[0096] In some embodiments, different vehicle wheels may contact different road surfaces, and the torque required for a vehicle to start on surfaces with different traction levels varies. Therefore, it is necessary to determine the type of traction that the wheels are in contact with on the road surface.

[0097] In some embodiments, the adhesion type may include: low adhesion type and split high-low adhesion type, wherein the split high-low adhesion type refers to the road surface that the wheel contacts has both low adhesion road surface and high adhesion road surface. For example, the road surface that the front wheel contacts is a low adhesion road surface and the road surface that the rear wheel contacts is a high adhesion road surface. In this case, the adhesion type can be determined as split high-low adhesion type.

[0098] In some alternative embodiments, the road surface is determined to be a high-adhesion road surface in response to the road surface adhesion being greater than or equal to a preset adhesion; the road surface is determined to be a low-adhesion road surface in response to the road surface adhesion being less than the preset adhesion.

[0099] In some alternative embodiments, the adhesion type can also be determined based on the material and / or condition of the road surface. For example, in response to a dry asphalt road surface, the road surface can be determined as a high adhesion type; in response to an icy cement road surface, the road surface can be determined as a low adhesion type.

[0100] Step 403: If the adhesion type is low adhesion, increase the vehicle's first output torque to the fifth preset value, or decrease the first output torque to the sixth preset value, until the vehicle starts successfully.

[0101] In some embodiments, if the adhesion type is low adhesion, it means that the vehicle needs a large adhesion force to start successfully.

[0102] In some embodiments, the first output torque of the vehicle may be increased to a fifth preset value, or the first output torque may be decreased to a sixth preset value, until the vehicle starts successfully.

[0103] Step 404: If the attachment type is a split high-low attachment type, execute at least one of the starting operations until the vehicle starts successfully.

[0104] In some embodiments, if the adhesion type is a split high-low adhesion type, it means that some wheels of the vehicle need greater adhesion to start successfully.

[0105] In some embodiments, at least one of the following starting operations may be performed until the vehicle starts successfully: increasing the vehicle's second output torque to a seventh preset value; decreasing the second output torque to an eighth preset value; and using the vehicle's steering wheel to adjust the direction of the wheels located on the low-friction surface, wherein the adjustment angle of the steering wheel is less than or equal to a ninth preset value.

[0106] The seventh preset value may be the same as or different from the fifth preset value, and the eighth preset value may be the same as or different from the sixth preset value. This disclosure does not limit this.

[0107] The ninth preset value is, for example, an angle such as 120° or 100°, which is not limited in this disclosure.

[0108] In some embodiments, by adjusting the steering wheel angle, the wheels of the vehicle located on the low-friction surface can be moved away from the low-friction surface.

[0109] In summary, the vehicle stability control method proposed in this disclosure includes: responding to a target control signal, including a throttle signal, wheel speed signal, steering signal, and vehicle attitude signal, determining that the current driving state is a road start-up state; based on the road start-up state, determining the adhesion type of the vehicle's wheels contacting the road surface; if the adhesion type is a low adhesion type, increasing the vehicle's first output torque to a fifth preset value, or decreasing the first output torque to a sixth preset value, until the vehicle starts successfully; if the adhesion type is a split high-low adhesion type, executing at least one of the starting operations, until the vehicle starts successfully. This method, through a target control signal, determines that the vehicle is in a road start-up state, and then, based on the adhesion type of the wheels contacting the road surface, determines the road conditions to execute starting operations corresponding to the road conditions, achieving personalized vehicle stability control and improving vehicle driving safety.

[0110] Figure 5 is a schematic flowchart of a vehicle stability control method proposed in this disclosure. Based on the embodiment shown in Figure 2, steps 203 and 204 are further explained; the method includes steps 501 and 502.

[0111] Step 501: In response to the target control signal, including the parking gear signal, determine the current driving state as automatic parking state based on the target control signal.

[0112] In some embodiments, since a parking gear signal is only generated when the vehicle is in P gear, in response to the target control signal including the parking gear signal, the current driving state can be determined to be an automatic parking state based on the target control signal.

[0113] Step 502: Based on the automatic parking status, the vehicle is put into parking mode.

[0114] In summary, the vehicle stability control method proposed in this disclosure includes: determining the current driving state as an automatic parking state in response to a target control signal, including a parking gear signal; and performing parking on the vehicle based on the automatic parking state. This method, by determining the target control signal, including the parking gear signal, thereby judging that the vehicle is preparing to park and performing parking on the vehicle, achieves automatic identification and control of the vehicle state.

[0115] Figure 6 is a flowchart illustrating a vehicle stability control method proposed in this disclosure. Based on the embodiment shown in Figure 2, steps 203 and 204 are further explained; the method includes steps 601-605.

[0116] Step 601: In response to the target control signal, including the braking signal and the vehicle attitude signal, the current driving state is determined to be an uphill parking state based on the target control signal and the received second indication signal.

[0117] In some embodiments, in response to a target control signal including a braking signal and a vehicle attitude signal, the driving state of the vehicle can be determined to be an uphill parking state based on the target control signal and a second indication signal received from the road.

[0118] In some embodiments, the second indication signal is used to indicate a parking requirement for the vehicle.

[0119] In some embodiments, the vehicle's control module can determine the current driving state as an uphill parking state based on the indication information corresponding to the braking signal and the vehicle posture signal, and generate a second indication signal.

[0120] In some embodiments, a second indication signal may be emitted by a sensor in the vehicle. For example, in response to a sensor detecting that the vehicle is going uphill and that the vehicle is rolling backward, the sensor generates a second indication signal.

[0121] In some embodiments, the signal may also be generated by the occupant manually turning on a physical switch or clicking a virtual button. This disclosure does not limit the device that sends the first indication signal.

[0122] Step 602: Based on the uphill parking status, park the vehicle.

[0123] Step 603: Based on the uphill parking state, if a target control signal of type throttle signal is obtained within the first preset time, the current driving state is determined to be the uphill start state.

[0124] In some embodiments, in response to the vehicle being in an uphill parking state and a target control signal of type throttle signal being acquired within a first preset time, indicating that the occupants are preparing to start on the uphill, the current driving state can be determined as an uphill start state.

[0125] Step 604: Determine the vehicle's third output torque based on the uphill start condition.

[0126] In some embodiments, since the vehicle is on an uphill slope, in order to avoid the vehicle rolling back significantly when starting, it is necessary to determine the vehicle's third output torque.

[0127] Step 605: If the force corresponding to the third output torque is greater than the parking force when in the parking state, then release the parking brake.

[0128] In some embodiments, if the force corresponding to the third output torque is greater than the parking force in the parking state, it means that the vehicle will not roll back when starting, so the parking can be released.

[0129] In summary, the method proposed in this disclosure includes: responding to a target control signal, including a braking signal and a vehicle posture signal; determining the current driving state as an uphill parking state based on the target control signal and a received second indication signal; parking the vehicle based on the uphill parking state; determining the current driving state as an uphill start state if a target control signal of type throttle signal is acquired within a first preset time based on the uphill parking state; determining the vehicle's third output torque based on the uphill start state; and releasing the parking force if the force corresponding to the third output torque is greater than the parking force in the parking state. This method, by combining the target control signal with the acquisition time of the target control signal, allows for real-time judgment of changes in the vehicle state to execute corresponding first operations, achieving linkage between different current vehicle states, realizing automatic control of vehicle stability, and improving vehicle driving safety.

[0130] Figure 7 is a schematic flowchart of a vehicle stability control method proposed in this disclosure. Based on the embodiment shown in Figure 2, steps 203 and 204 are further explained. Figure 7 may include steps 701 and 702.

[0131] Step 701: In response to the target control signal, including the vehicle attitude signal, torque signal and wheel speed signal, determine the current driving state as hill descent state based on the target control signal.

[0132] In some embodiments, in response to the target control signal including the vehicle attitude signal, torque signal and wheel speed signal, it can be determined whether the vehicle meets the requirements of the hill descent control state. If it does, the current driving state is determined to be the hill descent control state.

[0133] Step 702: Increase the vehicle's fourth output torque to the tenth preset value, or decrease the fourth output torque to the tenth preset value.

[0134] In some instances, to prevent vehicles from traveling too fast downhill, the output torque of the vehicle can be increased or decreased to maintain a stable speed.

[0135] In some embodiments, the fourth output torque of the vehicle may be increased to a tenth preset value, or the fourth output torque may be decreased to a tenth preset value.

[0136] In summary, the method proposed in this disclosure includes: responding to a target control signal, including a vehicle attitude signal, a torque signal, and a wheel speed signal; determining, based on the target control signal, that the current driving state is a hill descent control state; and increasing or decreasing the vehicle's fourth output torque to a tenth preset value. This method, by determining that the vehicle is in a hill descent control state, adjusts the vehicle's output torque to maintain stable vehicle speed, thereby improving vehicle driving safety.

[0137] In summary, the method disclosed herein improves the accuracy of judging the current driving state by determining the target control signal from the first control signal and eliminating interference signals in the first control signal; furthermore, it performs a first operation on the vehicle based on the current driving state to ensure vehicle body stability, thereby achieving automatic control of vehicle body stability and improving vehicle driving safety.

[0138] Figure 8 is a system architecture diagram of a vehicle stability control system proposed in this disclosure.

[0139] In some embodiments, the vehicle stability control system 100 includes a state device 110, a controller 120, and an actuator 130.

[0140] Among them, state unit 110 is used to acquire the first control signal of the vehicle;

[0141] Controller 120 is used to determine the target control signal for the vehicle based on the first control signal;

[0142] The current driving state of the vehicle is determined based on the target control signal;

[0143] Actuator 130 is used to perform a first operation on the vehicle based on the current driving state.

[0144] In summary, the vehicle stability control system proposed in this disclosure includes: a controller, a state unit, and an actuator; wherein, the state unit is used to acquire a first control signal of the vehicle; the controller is used to determine a target control signal of the vehicle based on the first control signal; and to determine the current driving state of the vehicle based on the target control signal; the actuator is used to perform a first operation on the vehicle based on the current driving state. The system of this disclosure can determine the target control signal from the first control signal, eliminate interference signals in the first control signal, and improve the accuracy of judging the current driving state; furthermore, it performs a first operation on the vehicle based on the current driving state to ensure vehicle stability, thus achieving automatic control of vehicle stability and improving vehicle safety during driving.

[0145] Figure 9 is a structural schematic diagram of a vehicle stability control device 900 provided in an embodiment of this disclosure. The vehicle stability control device 900 includes:

[0146] Acquisition module 910 is used to acquire the first control signal of the vehicle;

[0147] The first determining module 920 is used to determine the target control signal of the vehicle based on the first control signal;

[0148] The second determining module 930 is used to determine the current driving state of the vehicle based on the target control signal;

[0149] The execution module 940 is used to perform a first operation on the vehicle based on the current driving state.

[0150] In some embodiments, the first control signal includes at least one of the following: braking signal, wheel speed signal, steering signal, vehicle attitude signal, throttle signal, parking gear signal, and torque signal.

[0151] In some embodiments, the second determining module 930 is further configured to determine the first control signal as the target control signal in response to the signal strength of the first control signal being greater than a preset threshold.

[0152] In some embodiments, the second determining module 930 is further configured to determine the current driving state as an anti-lock braking state based on the target control signal, in response to the target control signal including the braking signal, wheel speed signal, steering signal and vehicle attitude signal.

[0153] In some embodiments, the second determining module 930 is further configured to, in response to the target control signal including the throttle signal, wheel speed signal, steering signal and vehicle posture signal, determine the current driving state as a road start state based on the target control signal.

[0154] In some embodiments, the second determining module 930 is further configured to determine, in response to a target control signal including a parking gear signal, that the current driving state is an automatic parking state based on the target control signal.

[0155] In some embodiments, the second determining module 930 is further configured to, in response to a target control signal including a braking signal and a vehicle posture signal, determine the current driving state as an uphill parking state based on the target control signal and the received second indication signal, wherein the second indication signal is used to indicate a parking requirement.

[0156] In some embodiments, the second determining module 930 is further configured to determine the current driving state as an uphill start state if a target control signal of type throttle signal is obtained within a first preset time based on the uphill parking state.

[0157] In some embodiments, the second determining module 930 is further configured to determine the current driving state as a hill descent state based on the target control signal, in response to the target control signal including the vehicle posture signal, torque signal and wheel speed signal.

[0158] In some embodiments, the execution module 940 is further configured to determine, based on the anti-lock braking state, whether a first indication signal exists, the first indication signal being used to indicate that the vehicle is traveling on an off-road surface; if the first indication signal exists, the braking force of the vehicle is increased to a first preset value, or the braking force is decreased to a second preset value; if the first indication signal does not exist, the braking force is increased to a third preset value, or the braking force is decreased to a fourth preset value, wherein the first preset value is greater than the third preset value, and the second preset value is less than the fourth preset value.

[0159] In some embodiments, the execution module 940 is further configured to determine the adhesion type of the vehicle's wheels contacting the road surface based on the road surface starting state, the adhesion type including at least: low adhesion type and split high-low adhesion type; if the adhesion type is low adhesion type, increase the vehicle's first output torque to a fifth preset value, or decrease the first output torque to a sixth preset value, until the vehicle starts successfully; if the adhesion type is split high-low adhesion type, perform at least one of the following starting operations until the vehicle starts successfully: increase the vehicle's second output torque to a seventh preset value; decrease the second output torque to an eighth preset value; use the vehicle's steering wheel to adjust the direction of the wheels located on the low adhesion road surface, wherein the adjustment angle of the steering wheel is less than or equal to a ninth preset value.

[0160] In some embodiments, the execution module 940 is further configured to perform parking on the vehicle based on the automatic parking status.

[0161] In some embodiments, the execution module 940 is further configured to perform parking on the vehicle based on the uphill parking status.

[0162] In some embodiments, the execution module 940 is further configured to determine the third output torque of the vehicle based on the uphill start state; if the force corresponding to the third output torque is greater than the parking force in the parking state, then the parking is released.

[0163] In some embodiments, the execution module 940 is further configured to increase the fourth output torque of the vehicle to a tenth preset value, or decrease the fourth output torque to a tenth preset value.

[0164] In summary, the vehicle stability control device 900 disclosed herein includes: an acquisition module 910 for acquiring a first control signal of the vehicle; a first determination module 920 for determining a target control signal of the vehicle based on the first control signal; a second determination module 930 for determining the current driving state of the vehicle based on the target control signal; and an execution module 940 for performing a first operation on the vehicle based on the current driving state. The device of this disclosure, by determining the target control signal from the first control signal, eliminates interference signals in the first control signal, improving the accuracy of judging the current driving state; and by performing a first operation on the vehicle based on the current driving state to ensure vehicle stability, it achieves automatic control of vehicle stability and improves vehicle safety during driving.

[0165] Since the apparatus provided in this disclosure corresponds to the methods provided in the above-described embodiments, the implementation methods are also applicable to the apparatus provided in the embodiments of this disclosure, and will not be described in detail in the embodiments of this disclosure.

[0166] The methods and apparatus provided in the embodiments of this disclosure have been described above. To implement the functions of the methods provided in the embodiments of this disclosure, the electronic device may include a hardware structure and software modules, and may implement the above functions in the form of a hardware structure, software modules, or a hardware structure plus software modules. One of the above functions may be executed in the form of a hardware structure, software modules, or a hardware structure plus software modules.

[0167] Figure 10 is a schematic diagram of the structure of an electronic device 1000 provided in an embodiment of this disclosure. The electronic device 1000 can be a network device, a terminal device, a chip, chip system, or processor that supports the implementation of the above methods in a network device, or a chip, chip system, or processor that supports the implementation of the above methods in a terminal device. This device can be used to implement the methods described in the above method embodiments; for details, please refer to the descriptions in the above method embodiments.

[0168] Electronic device 1000 may include one or more processors 1001. Processor 1001 may be a general-purpose processor or a dedicated processor, such as a baseband processor or a central processing unit (CPU). The baseband processor can be used to process communication protocols and communication data, while the CPU can be used to control electronic devices (e.g., base stations, baseband chips, terminal devices, terminal device chips, DUs or CUs, etc.), execute computer programs, and process data from the computer programs.

[0169] In some embodiments, the electronic device 1000 may further include one or more memories 1002, on which a computer program 1004 may be stored, and the processor 1001 executes the computer program 1004 to cause the electronic device 1000 to perform the methods described in the above method embodiments.

[0170] In some embodiments, the memory 1002 may also store data. The electronic device 1000 and the memory 1002 may be configured separately or integrated together.

[0171] In some embodiments, the electronic device 1000 may further include a transceiver 1005 and an antenna 1006. The transceiver 1005 may be referred to as a transceiver unit, transceiver, or transceiver circuit, etc., and is used to implement transceiver functions. The transceiver 1005 may include a receiver and a transmitter. The receiver may be referred to as a receiver or receiving circuit, etc., and is used to implement a receiving function; the transmitter may be referred to as a transmitter or transmitting circuit, etc., and is used to implement a transmitting function.

[0172] In some embodiments, the electronic device 1000 may further include one or more interface circuits 1007. The interface circuits 1007 are used to receive code instructions and transmit them to the processor 1001. The processor 1001 executes the code instructions to cause the electronic device 1000 to perform the methods described in the above method embodiments.

[0173] In one implementation, the processor 1001 may include a transceiver for implementing receiving and transmitting functions. For example, the transceiver may be a transceiver circuit, an interface, or an interface circuit. The transceiver circuit, interface, or interface circuit for implementing receiving and transmitting functions may be separate or integrated. The aforementioned transceiver circuit, interface, or interface circuit can be used for reading and writing code / data, or it can be used for transmitting or relaying signals.

[0174] In one implementation, processor 1001 may store computer program 1003, which runs on processor 1001 and causes electronic device 1000 to perform the methods described in the above method embodiments. Computer program 1003 may be embedded in processor 1001, in which case processor 1001 may be implemented in hardware.

[0175] In one implementation, the electronic device 1000 may include circuitry capable of performing the functions of transmitting, receiving, or communicating as described in the aforementioned method embodiments. The processor and transceiver described in this disclosure can be implemented on integrated circuits (ICs), analog ICs, radio frequency integrated circuits (RFICs), mixed-signal ICs, application-specific integrated circuits (ASICs), printed circuit boards (PCBs), electronic devices, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal-oxide-semiconductor (CMOS), n-metal-oxide-semiconductor (NMOS), p-type metal-oxide-semiconductor (PMOS), bipolar junction transistors (BJTs), bipolar CMOS (BiCMOS), silicon-germanium (SiGe), gallium arsenide (GaAs), etc.

[0176] The electronic devices described in the above embodiments may be network devices or terminal devices, but the scope of the electronic devices described in this disclosure is not limited thereto, and the structure of the electronic devices may not be limited to FIG. 10. The electronic device may be a standalone device or part of a larger device. For example, the electronic device may be:

[0177] (1) Independent integrated circuit IC, or chip, or chip system or subsystem;

[0178] (2) A collection of one or more ICs, in some embodiments of which the collection of ICs may also include storage components for storing data and computer programs;

[0179] (3) ASIC, such as modem;

[0180] (4) Modules that can be embedded in other devices;

[0181] (5) Receivers, terminal equipment, smart terminal equipment, cellular phones, wireless equipment, handheld devices, mobile units, vehicle-mounted equipment, network equipment, cloud equipment, artificial intelligence equipment, etc.

[0182] (6) Others, etc.

[0183] Embodiments of this disclosure also provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to perform the methods described in the above embodiments of this disclosure.

[0184] Embodiments of this disclosure also propose a vehicle that includes the system described in the above embodiments.

[0185] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this disclosure can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented in hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can implement the functionality using various methods for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this disclosure.

[0186] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0187] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," 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 the present invention. 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.

[0188] Any process or method description 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 the invention 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 functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0189] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processing module, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (control method), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic device, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0190] It should be understood that various parts of the embodiments of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0191] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium. When executed, the program includes one or a combination of the steps of the method embodiments.

[0192] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc.

[0193] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A vehicle stability control method, the method comprising: Obtain the vehicle's first control signal; Based on the first control signal, the target control signal of the vehicle is determined; Based on the target control signal, the current driving state of the vehicle is determined; Based on the current driving state, a first operation is performed on the vehicle.

2. The method according to claim 1, wherein the first control signal comprises at least one of the following: Braking signal, wheel speed signal, steering signal, vehicle attitude signal, throttle signal, parking gear signal, and torque signal.

3. The method according to claim 1, characterized in that, The target control signal for the vehicle is determined based on the first control signal: In response to the signal strength of the first control signal being greater than a preset threshold, the first control signal is determined as the target control signal.

4. The method according to claim 2, wherein determining the current driving state of the vehicle based on the target control signal includes: In response to the target control signal, including the braking signal, the wheel speed signal, the steering signal, and the vehicle attitude signal, the current driving state is determined to be an anti-lock braking state based on the target control signal; The first operation performed on the vehicle based on the current driving state includes: Based on the anti-lock braking status, it is determined whether a first indication signal exists, the first indication signal being used to indicate that the vehicle is traveling on an off-road surface; If the first indication signal is present, the braking force of the vehicle is increased to a first preset value, or the braking force is decreased to a second preset value; If the first indication signal is not present, the braking force is increased to a third preset value, or the braking force is decreased to a fourth preset value, wherein the first preset value is greater than the third preset value, and the second preset value is less than the fourth preset value.

5. The method according to claim 2, wherein determining the current driving state of the vehicle based on the target control signal includes: In response to the target control signal, including the throttle signal, the wheel speed signal, the steering signal, and the vehicle posture signal, the current driving state is determined to be a road start state based on the target control signal; The first operation performed on the vehicle based on the current driving state includes: Based on the road surface starting state, the adhesion type of the vehicle's wheels in contact with the road surface is determined, and the adhesion type includes at least: low adhesion type and split high-low adhesion type; If the adhesion type is the low adhesion type, increase the first output torque of the vehicle to the fifth preset value, or decrease the first output torque to the sixth preset value, until the vehicle starts successfully; If the attachment type is the split high-low attachment type, perform at least one of the following starting operations until the vehicle starts successfully: Increase the vehicle's second output torque to a seventh preset value; Reduce the second output torque to the eighth preset value; Using the vehicle's steering wheel, the direction of the wheels located on the low-friction surface is adjusted, wherein the adjustment angle of the steering wheel is less than or equal to a ninth preset value.

6. The method according to claim 2, wherein determining the current driving state of the vehicle based on the target control signal includes: In response to the target control signal, including the parking gear signal, the current driving state is determined to be an automatic parking state based on the target control signal; The first operation performed on the vehicle based on the current driving state includes: Based on the automatic parking status, the vehicle is put into parking mode.

7. The method according to claim 2, wherein determining the current driving state of the vehicle based on the target control signal includes: In response to the target control signal, including the braking signal and the vehicle posture signal, based on the target control signal and the received second indication signal, the current driving state is determined to be an uphill parking state, and the second indication signal is used to indicate parking requirements; The first operation performed on the vehicle based on the current driving state includes: Based on the uphill parking status, the vehicle is put into parking mode.

8. The method according to claim 7, further comprising: Based on the uphill parking state, if a target control signal of the type of the throttle signal is obtained within a first preset time, the current driving state is determined to be the uphill start state. Based on the uphill start state, the third output torque of the vehicle is determined; If the force corresponding to the third output torque is greater than the parking force in the parking state, then the parking is released.

9. The method according to claim 2, wherein determining the current driving state of the vehicle based on the target control signal includes: In response to the target control signal, including the vehicle posture signal, the torque signal, and the wheel speed signal, the current driving state is determined to be a hill descent state based on the target control signal. The first operation performed on the vehicle based on the current driving state includes: Increase the fourth output torque of the vehicle to a tenth preset value, or decrease the fourth output torque to a tenth preset value.

10. A vehicle stability control system, the system comprising: Controllers, state units, and actuators; The state controller is used to acquire the first control signal of the vehicle. The controller is configured to determine the target control signal for the vehicle based on the first control signal; Based on the target control signal, the current driving state of the vehicle is determined; The actuator is used to perform a first operation on the vehicle based on the current driving state.

11. A vehicle stability control device, the device comprising: The acquisition module is used to acquire the vehicle's first control signal; The first determining module is used to determine the target control signal of the vehicle based on the first control signal; The second determining module is used to determine the current driving state of the vehicle based on the target control signal; An execution module is used to perform a first operation on the vehicle based on the current driving state.

12. An electronic device, the electronic device comprising a processor and a memory, wherein, The memory stores a computer program, and the processor executes the computer program stored in the memory to cause the electronic device to perform the method as described in any one of claims 1-9.

13. A non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the method as described in any one of claims 1-9.

14. A vehicle comprising electronic equipment as claimed in any one of claims 12.

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