Vehicle recovery method and apparatus, controller, vehicle, medium, and product
Patent Information
- Application Number
- PCT/CN2026/071203
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-02-20
- Filing Date
- 2026-01-07
- Publication Date
- 2026-08-27
Smart Images
Figure CN2026071203_27082026_PF_FP_ABST
Abstract
Description
Vehicle extrication methods, devices, controllers, vehicles, media and products
[0001] This invention claims priority to Chinese Patent Application No. 202510199109.0, filed on February 20, 2025, entitled "Vehicle Extrication Method, Apparatus, Controller, Vehicle, Medium and Product", the entire contents of which are incorporated herein by reference. Technical Field
[0002] This application relates to the field of automotive technology, and in particular to a vehicle extrication method, device, controller, vehicle medium, and product, wherein the medium is a computer-readable storage medium, and the product is a computer program product. Background Technology
[0003] Vehicles may become stuck and unable to move due to terrain or other reasons while driving, which may affect users' travel plans and driving experience. Therefore, it is very important to know how to get vehicles out of trouble. Summary of the Invention
[0004] This application provides a vehicle extrication method, device, controller, vehicle, medium, and product that enable vehicles to extricate themselves from difficult situations under different entrapment modes.
[0005] To achieve the above objectives, according to a first aspect of this application, a method for vehicle extrication is provided, comprising:
[0006] The vehicle's entrapment mode is determined based on the entrapped wheel; and
[0007] According to the trapped mode, the vehicle's wheels are controlled to perform corresponding escape operations to get the vehicle out of trouble.
[0008] Optionally, controlling the vehicle's wheels to perform corresponding traction-avoidance operations according to the entrapment mode includes:
[0009] In response to the trapped mode being a single-wheel trapped mode, the trapped wheel is controlled to rotate in the opposite direction of the trapped wheel.
[0010] Optionally, controlling the vehicle's wheels to perform corresponding traction-avoidance operations according to the entrapment mode includes:
[0011] In response to the trapped mode being a single-wheel trapped mode, the first wheel coaxial with the trapped wheel is controlled to rotate in the opposite direction of the trapped wheel.
[0012] Optionally, in response to the single-wheel entrapment mode being a single-wheel entrapment mode, the extrication operation further includes:
[0013] Control at least one second wheel that is not on the same axis as the trapped wheel to rotate in the opposite direction to the rotation direction of the first wheel.
[0014] Optionally, the method further includes:
[0015] In response to the trapped wheel being the front wheel of the vehicle, at least one second wheel that is not on the same axle as the trapped wheel is controlled to rotate in the opposite direction to the rotation direction of the first wheel.
[0016] Optionally, the single-wheel entrapment mode includes a single-wheel entrapment mode, wherein the entrapped wheels include the front wheel and the rear wheel on the same side of the vehicle.
[0017] Optionally, controlling the vehicle's wheels to perform corresponding traction-avoidance operations according to the entrapment mode includes:
[0018] In response to the trapped mode being an opposing wheel trapped mode, at least one front wheel of the vehicle is controlled to rotate in the direction opposite to the trapped front wheel.
[0019] Optionally, controlling the vehicle's wheels to perform corresponding traction-avoidance operations according to the entrapment mode includes:
[0020] In response to the trapped mode being an opposing wheel trapped mode, at least one rear wheel of the vehicle is controlled to rotate in the direction opposite to the trapped front wheel.
[0021] Optionally, controlling the vehicle's wheels to perform corresponding traction-avoidance operations according to the entrapment mode includes:
[0022] In response to the trapped mode being a coaxial wheel trapped mode, the two trapped wheels on the same axis are controlled to rotate in different directions.
[0023] Optionally, in response to the two coaxial trapped wheels being rear wheels, the left rear wheel of the vehicle is controlled to turn to the right, and the right rear wheel of the vehicle is controlled to turn to the left.
[0024] Optionally, the rotation of the rear wheels of the vehicle is independent of that of the front wheels of the vehicle.
[0025] Optionally, the method further includes:
[0026] The trapped wheel of the vehicle is determined based on the first driving association information of each wheel of the vehicle.
[0027] Optionally, the first driving-related information includes at least one of the wheel slip ratio, the wheel load, and the audio generated by the wheel.
[0028] Optionally, determining the trapped wheel of the vehicle based on the first driving association information of each wheel includes:
[0029] In response to the slip ratio of the wheel being greater than a preset slip ratio threshold, the wheel is determined to be a trapped wheel.
[0030] Optionally, determining the trapped wheel of the vehicle based on the first driving association information of each wheel includes:
[0031] In response to the load on the wheel being less than a preset load threshold, the wheel is determined to be a trapped wheel.
[0032] Optionally, the method further includes:
[0033] The vehicle's entrapment mode is determined based on the entrapped wheel.
[0034] Optionally, the method further includes:
[0035] The vehicle's entrapment status is detected based on the vehicle's second driving association information.
[0036] Optionally, the second driving-related information includes at least one of the vehicle speed, accelerator pedal depth, vehicle yaw rate, and the position information of the trapped wheel.
[0037] Optionally, detecting the trapped state of the vehicle based on the vehicle's second driving association information includes:
[0038] In response to the vehicle speed being less than a preset vehicle speed threshold, it is determined that the vehicle is in a trapped state.
[0039] Optionally, detecting the trapped state of the vehicle based on the vehicle's second driving association information includes:
[0040] In response to the accelerator pedal depth being greater than a preset accelerator pedal depth threshold, it is determined that the vehicle is in a trapped state.
[0041] Optionally, detecting the trapped state of the vehicle based on the vehicle's second driving association information includes:
[0042] In response to the vehicle body yaw rate being less than a preset vehicle body yaw rate threshold, it is determined that the vehicle is in a trapped state.
[0043] Optionally, the method further includes:
[0044] After controlling the vehicle's wheels to perform the corresponding extrication operation according to the trapped mode, the vehicle's second driving association information is obtained.
[0045] Optionally, after detecting whether the vehicle is in a trapped state based on the second driving association information, the method further includes:
[0046] Return to the step of determining the vehicle's entrapment mode based on the entrapped wheel.
[0047] According to a second aspect of this application, a vehicle traction device is provided, comprising:
[0048] A device for determining the entrapment mode of a vehicle based on the entrapped wheel;
[0049] A control device is used to control the wheels of the vehicle to perform corresponding traction operations according to the entrapment mode, so as to enable the vehicle to get out of trouble.
[0050] According to a third aspect of this application, a controller is provided, including a memory and a processor; the memory stores computer instructions, and the processor is configured to execute the computer instructions in the memory to perform any of the vehicle extrication methods provided in the embodiments of this application.
[0051] According to a fourth aspect of this application, a vehicle is provided, including the vehicle traction device provided in the embodiments of this application, or the controller provided in the embodiments of this application.
[0052] According to a fifth aspect of this application, a computer-readable storage medium is provided for storing computer instructions that are loaded by a processor to execute any of the vehicle extrication methods provided in the embodiments of this application.
[0053] According to a sixth aspect of this application, a computer program product is provided, the computer program product including computer instructions, the computer instructions being loaded by a processor to execute any of the vehicle extrication methods provided in the embodiments of this application.
[0054] This application embodiment determines the vehicle's entrapment mode based on the entrapment wheel; controls the vehicle's wheels to perform corresponding entrapment operations according to the entrapment mode, so as to enable the vehicle to get out of trouble, thereby enabling the vehicle to get out of trouble in different entrapment modes. Attached Figure Description
[0055] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0056] Figure 1 is a flowchart of a vehicle extrication method provided in an embodiment of this application;
[0057] Figure 2 is a schematic diagram of a wheel entanglement mode and the corresponding escape operation provided in an embodiment of this application;
[0058] Figure 3 is a schematic diagram of a wheel entanglement mode and the corresponding escape operation provided in an embodiment of this application;
[0059] Figure 4 is a schematic diagram of a wheel entanglement mode and the corresponding escape operation provided in an embodiment of this application;
[0060] Figure 5 is a schematic diagram of a wheel entanglement mode and the corresponding escape operation provided in an embodiment of this application;
[0061] Figure 6 is a schematic diagram of the vehicle extrication system provided in an embodiment of this application;
[0062] Figure 7 is a schematic diagram of the vehicle escaping device provided in an embodiment of this application;
[0063] Figure 8 is a schematic diagram of the controller provided in an embodiment of this application. Detailed Implementation
[0064] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0065] This application provides a vehicle traction method, apparatus, vehicle, and computer-readable storage medium. The vehicle traction apparatus can be integrated into the vehicle.
[0066] The following sections provide detailed descriptions of each example. It should be noted that the order in which the embodiments are described is not intended to limit the preferred order of the embodiments.
[0067] This embodiment will be described from the perspective of a vehicle traction device, which can be integrated into the vehicle.
[0068] This application provides a method for vehicle extrication from difficult situations, as shown in Figure 1. The specific process of this method is as follows:
[0069] Step S101: Determine the vehicle's entrapment mode based on the entrapped wheel.
[0070] Among them, a stuck wheel is a wheel in a vehicle that is stuck in an obstacle and cannot turn or spins freely. For example, a wheel that is stuck in a mud pit, sand, snowdrift, rock or other obstacle and cannot turn normally is a stuck wheel.
[0071] Different wheels of a vehicle can be stuck in different ways, which can correspond to different entrapment modes. For example, a mapping relationship between stuck wheels and entrapment modes can be preset. Based on the mapping relationship and the stuck wheels of the vehicle, the entrapment mode of the vehicle can be determined.
[0072] Step S102: Control the vehicle's wheels to perform corresponding escaping operations according to the entrapment mode, so that the vehicle can get out of trouble.
[0073] The vehicle's wheels are controlled according to the stuck mode to perform corresponding escape operations, so that the vehicle can drive out of the stuck place and successfully get out of trouble.
[0074] In some embodiments, the entrapment mode may include a single-wheel entrapment mode, which refers to at least one of one or more wheels on one side of the vehicle being entrapped. In some implementations, the single-wheel entrapment mode refers to one wheel of the vehicle being entrapped, as shown in Figure 2, where the wheel with the dashed border is the entrapped wheel of the vehicle. In some implementations, the single-wheel entrapment mode includes a single-wheel dual-wheel entrapment mode, where the entrapped wheels include the front and rear wheels on the same side of the vehicle. The single-wheel dual-wheel entrapment mode may be shown in Figure 3, where the wheel with the dashed border is the entrapped wheel of the vehicle.
[0075] When the vehicle is stuck in a single-wheel stuck mode, the step "controlling the vehicle's wheels to perform corresponding extrication operations according to the stuck mode" may include:
[0076] In response to the entrapment mode being a single-wheel entrapment mode, the entrapped wheel is controlled to rotate in the direction opposite to the entrapped wheel. And / or, in response to the entrapment mode being a single-wheel entrapment mode, the first wheel coaxial with the entrapped wheel is controlled to rotate in the direction opposite to the entrapped wheel.
[0077] If the stuck wheel is the left front wheel, the first wheel on the same axle as the stuck wheel is the right front wheel, and the opposite direction of the stuck wheel is the right direction; if the stuck wheel is the left rear wheel, the first wheel on the same axle as the stuck wheel is the right rear wheel, and the opposite direction of the stuck wheel is the left direction.
[0078] For example, as shown in Figures 2 and 3, where the arrows indicate the vehicle's orientation, Figure 2 shows a single wheel of the vehicle stuck on one side. The wheel with the dashed border in Figure 2 is the stuck wheel of the vehicle. The stuck wheel and the first wheel, which is coaxial with the stuck wheel, rotate in the opposite direction of the stuck wheel.
[0079] Figure 3 shows two wheels stuck on one side of the vehicle. The wheels with dashed borders are the stuck wheels of the vehicle. For each stuck wheel, the stuck wheel and the first wheel coaxial with the stuck wheel rotate in the opposite direction of the stuck wheel.
[0080] When the stuck mode is a single-wheel stuck mode, controlling the stuck wheel and / or the first wheel coaxial with the stuck wheel to rotate to the opposite side of the stuck wheel can reduce the contact area between the wheel and the stuck wheel and increase the contact area between the wheel and the surrounding drivable ground, so as to get the vehicle out of trouble.
[0081] In some embodiments, in response to the single-wheel entrapment mode being a single-wheel entrapment mode, the entrapment operation further includes:
[0082] Control at least one second wheel that is not on the same axle as the trapped wheel to rotate in the opposite direction to the rotation direction of the first wheel.
[0083] The vehicle includes a first wheel that is not on the same axle as the stuck wheel, and a second wheel that is not on the same axle as the stuck wheel. For the second wheel, at least one second wheel can be controlled to rotate in the opposite direction to the rotation direction of the first wheel, so as to increase the turning performance of the vehicle and improve the success rate and efficiency of the vehicle getting out of trouble.
[0084] In some implementations, when the single-wheel entrapment mode is a single-wheel entrapment mode and the entrapped wheel is the front wheel of the vehicle, at least one second wheel that is not on the same axle as the entrapped wheel is controlled to rotate in the opposite direction to the rotation direction of the first wheel.
[0085] For example, as shown on the left side of Figure 2, the vehicle's left front wheel is stuck. The left and right front wheels of the vehicle are controlled to turn to the right, and the two rear wheels of the vehicle are controlled to turn to the right (i.e., in the opposite direction of the front wheel's rotation).
[0086] In some implementations, when the single-wheel entrapment mode is a single-wheel entrapment mode and the entrapped wheel is the rear wheel of the vehicle, the rear wheel is controlled not to follow the front wheel's rotation, but to turn to the opposite side of the entrapped rear wheel.
[0087] At least one second wheel, which is not on the same axle as the trapped wheel, rotates in the opposite direction to the rotation of the first wheel.
[0088] In some embodiments, the entrapment mode may include an opposing wheel entrapment mode. In response to the entrapment mode being an opposing wheel entrapment mode, the step "controlling the vehicle's wheels to perform corresponding extrication operations according to the entrapment mode" may include:
[0089] In response to the trapped mode being the opposite wheel trapped mode, control at least one front wheel of the vehicle to turn in the direction opposite to the trapped front wheel.
[0090] In some embodiments, in response to the entrapment mode being an opposing wheel entrapment mode, the step "controlling the vehicle's wheels to perform corresponding entrapment operations according to the entrapment mode" may include:
[0091] In response to the trapped mode being the opposite wheel trapped mode, control at least one rear wheel of the vehicle to turn in the opposite direction to the trapped front wheel.
[0092] The opposite wheel entrapment mode can be illustrated as shown in Figure 4, where the wheels with dashed borders are the entrapped wheels of the vehicle.
[0093] When the entrapment mode is the opposite wheel entrapment mode, control at least one front wheel of the vehicle to turn in the opposite direction of the entrapped front wheel.
[0094] Alternatively, if the entrapment mode is the opposite wheel entrapment mode, control at least one rear wheel of the vehicle to turn in the opposite direction to the entrapped front wheel.
[0095] Alternatively, in the case of an opposing wheel entrapment mode, at least one front wheel of the vehicle is controlled to turn in the direction opposite to the entrapped front wheel, and at least one rear wheel of the vehicle is controlled to turn in the direction opposite to the entrapped front wheel. For example, as shown in Figure 4, if the right front wheel and left rear wheel of the vehicle are entrapped, both front wheels of the vehicle turn to the left, and both rear wheels also turn to the left; if the left front wheel and rear wheel of the vehicle are entrapped, both front wheels of the vehicle turn to the right, and both rear wheels also turn to the right.
[0096] Controlling at least one front wheel of the vehicle and turning it towards the opposite side of the stuck front wheel can reduce the contact area between the front wheel and the stuck area, increase the contact area between the front wheel and the surrounding drivable ground, and improve the success rate of wheel detachment.
[0097] Control at least one rear wheel of the vehicle to turn in the opposite direction to the stuck front wheel, thereby increasing the vehicle's cornering performance to obtain the optimal cornering torque and improve the success rate and efficiency of the vehicle getting out of trouble.
[0098] In some embodiments, the entrapment mode may include a coaxial wheel entrapment mode. In response to the entrapment mode being a coaxial wheel entrapment mode, the step "controlling the vehicle's wheels to perform corresponding extrication operations according to the entrapment mode" may include:
[0099] In response to the trapped mode being a coaxial wheel trapped mode, the two trapped wheels on the same axle are controlled to rotate in different directions.
[0100] Among them, the coaxial wheel entrapment mode refers to the entrapment of two wheels on the same axle of the vehicle, such as the two front wheels or the two rear wheels.
[0101] When the entrapment mode is the coaxial wheel entrapment mode, control the two coaxial entrapment wheels to rotate in different directions. After rotation, the two coaxial entrapment wheels can be "outward" or "inward".
[0102] In some embodiments, when both rear wheels of a vehicle are stuck, the vehicle's stuck mode can be determined to be a coaxial wheel stuck mode. In response to the two stuck wheels being rear wheels, as shown in Figure 5, the left rear wheel of the vehicle can be controlled to turn to the right and the right rear wheel to turn to the left. The wheels with dashed borders in Figure 5 are the stuck wheels of the vehicle.
[0103] Controlling the vehicle's left rear wheel to turn right and the right rear wheel to turn left is equivalent to the vehicle's two rear wheels making an "inward" turn, which increases the contact area between the stuck rear wheel and the stuck ground, counteracts the left and right swaying, and generates forward or backward driving force to get the vehicle out of trouble. The vehicle's direction of movement is the direction in which it leaves the stuck ground.
[0104] In some embodiments, the rotation of the rear wheels of a vehicle is independent of that of the front wheels.
[0105] Understandably, getting out of trouble can include controlling the rotation of the wheels. Each time the wheels are rotated, they can be rotated to a preset angle or to a position where they can no longer rotate. Getting out of trouble can also include controlling the rotation of the wheels to generate driving force, controlling the vehicle to move forward or backward, and thus getting the wheels out of trouble.
[0106] In some embodiments, the stuck wheel of the vehicle in step 101 can be specified by the user. For example, the user can get out of the vehicle to check the stuck situation. After determining the stuck wheel, the user can input information indicating the stuck wheel of the vehicle through a graphical user interface, such as displaying the wheels of the vehicle for the user to select the stuck wheel. The stuck wheel of the vehicle is determined according to the user's input.
[0107] In some implementations, it can also be determined whether a wheel is a stuck wheel based on the first driving association information of the wheel. That is, in some embodiments, the vehicle extrication method provided in this application may further include:
[0108] Based on the first driving association information of each wheel of the vehicle, the trapped wheel of the vehicle is determined.
[0109] Based on the first driving association information, it is determined whether each wheel is a stuck wheel. For example, the first driving association information of each wheel of the vehicle can be obtained and input into a deep learning model. The deep learning model can determine whether a wheel is a stuck wheel based on the first driving association information. The deep learning model can be a pre-trained model that can determine whether a wheel is a stuck wheel based on the first driving association information.
[0110] The first driving-related information can be a sequence of information about the wheels during the vehicle's movement, such as the internal air pressure of the wheels at different times and the tire deformation.
[0111] In some embodiments, the first driving-related information includes at least one of wheel slip ratio, wheel load, and audio generated by the wheel.
[0112] Since the sounds emitted by a wheel when it is stuck and when it is not stuck are different, it is possible to determine whether a wheel is stuck based on the audio produced by the wheel.
[0113] In some embodiments, the first driving association information includes the wheel slip ratio and / or the wheel load, and the step "determining the trapped wheel of the vehicle based on the first driving association information" may include:
[0114] If the wheel slip ratio is greater than a preset slip ratio threshold, the wheel is identified as a trapped wheel.
[0115] In some embodiments, the step "determining the trapped wheel of the vehicle based on the first driving association information" may include:
[0116] If the load on the wheel is less than a preset load threshold, the wheel is identified as a trapped wheel.
[0117] For example, for each wheel, if the wheel's slip ratio is greater than a preset slip ratio threshold, the wheel can be identified as a stuck wheel.
[0118] Alternatively, for each wheel, if the load on the wheel is less than a preset load threshold, the wheel is identified as a trapped wheel.
[0119] Alternatively, for each wheel, if the wheel's slip ratio is greater than a preset slip ratio threshold and the wheel's load is less than a preset load threshold, then the wheel is identified as a trapped wheel.
[0120] In some embodiments, the load on the wheel may include the vertical static reaction force of the road surface in the wheel contact area, which is calculated by the following formula, where Fz represents the load on the tire, P represents the tire internal air pressure, Fz0 represents the tire static load, γ represents the tire lateral slip angle, Δh represents the tire deformation, and k1, k2, k3, and k4 are coefficients.
[0121] Fz=(k1×P-k2×Fz0)×(1-k3×γ)-k4×P×Δh
[0122] The data needed to calculate the load on the wheels can be obtained from wheel parameters and vehicle sensors.
[0123] In some embodiments, when a vehicle is stuck, the vehicle's entrapment mode can be determined based on the stuck wheel.
[0124] Whether a wheel is stuck can be determined based on information input by the user. For example, the user can input information indicating whether the vehicle is stuck through the vehicle's graphical user interface or buttons on the vehicle, and the vehicle's status can be determined based on the user's input.
[0125] In some embodiments, determining whether a vehicle is trapped can also be achieved through the following steps:
[0126] The vehicle's entrapment status is detected based on the vehicle's second driving-related information.
[0127] The vehicle is detected as being trapped based on the second driving association information. For example, the second driving association information of the vehicle can be obtained and input into a deep learning model. The deep learning model can then determine whether a wheel is trapped based on the second driving association information. The deep learning model can be a pre-trained model that can determine whether a vehicle is trapped based on the second driving association information.
[0128] The second driving-related information can be the time sequence information of the vehicle during the driving process, such as the vehicle's speed, acceleration, and steering wheel angle changes at different times.
[0129] In some embodiments, the second driving-related information includes at least one of the following: vehicle speed, accelerator pedal depth, vehicle yaw rate, and position information of the trapped wheel.
[0130] In some embodiments, the second driving-related information includes at least one of vehicle speed, accelerator pedal depth, and vehicle yaw rate, and the step "detecting the vehicle's trapped state based on the second driving-related information" may include:
[0131] The vehicle is determined to be in a trapped state when its speed is less than a preset speed threshold.
[0132] In some embodiments, the step "detecting the vehicle's entrapment state based on the second driving association information" may include: determining that the vehicle is in an entrapment state in response to the accelerator pedal depth being greater than a preset accelerator pedal depth threshold.
[0133] In some embodiments, the step "detecting the vehicle's entrapment state based on the second driving association information" may include: determining that the vehicle is in an entrapment state in response to the vehicle body yaw rate being less than a preset vehicle body yaw rate threshold.
[0134] For example, the vehicle can be identified as being trapped if the vehicle speed is less than a preset speed threshold; or if the accelerator pedal depth is greater than a preset accelerator pedal depth threshold; or if the vehicle body yaw rate is less than a preset vehicle body yaw rate threshold.
[0135] For example, a vehicle can be determined to be trapped if its speed is less than a preset speed threshold and its accelerator pedal depth is greater than a preset accelerator pedal depth threshold; or, if its speed is less than a preset speed threshold and its body yaw rate is less than a preset body yaw rate threshold; or, if its accelerator pedal depth is greater than a preset accelerator pedal depth threshold and its body yaw rate is less than a preset body yaw rate threshold.
[0136] For example, if the vehicle speed is less than a preset speed threshold, the accelerator pedal depth is greater than a preset accelerator pedal depth threshold, and the vehicle yaw rate is less than a preset vehicle yaw rate threshold, the vehicle is determined to be in a trapped state.
[0137] In some embodiments, after performing step 102 "controlling the vehicle's wheels to perform corresponding escaping operations according to the entrapment mode", the following step can be performed: obtaining the vehicle's second driving association information to determine whether the vehicle can escape entrapment after controlling the vehicle's wheels to perform the corresponding escaping operations.
[0138] In some implementations, after controlling the vehicle's wheels to perform the corresponding traction operation, if the vehicle cannot get out of trouble, that is, after controlling the vehicle's wheels to perform the corresponding traction operation, and if it is determined that the vehicle is in a trapped state, the process returns to step 101: determining the vehicle's traction mode based on the trapped wheels, so as to continue controlling the wheel rotation to enable the vehicle to get out of trouble.
[0139] In some implementations, after controlling the vehicle's wheels to perform the corresponding traction maneuver, if the vehicle is successfully freed, the operation of controlling the wheel rotation to free the vehicle can be stopped.
[0140] In some implementations, the vehicle traction method provided in this application embodiment can be executed after the user activates the vehicle's traction function.
[0141] As can be seen from the above, the embodiments of this application determine the vehicle's entrapment mode based on the entrapment wheel; and control the vehicle's wheels to perform corresponding entrapment operations according to the entrapment mode, so as to enable the vehicle to get out of trouble, thereby enabling the vehicle to get out of trouble in different entrapment modes.
[0142] To facilitate better implementation of the vehicle extrication method provided in the embodiments of this application, specific examples are provided below for further explanation.
[0143] After detecting that the vehicle's traction control function is activated, information such as vehicle speed, accelerator pedal depth, yaw rate, wheel speed of each wheel, and load is obtained.
[0144] The vehicle is determined to be in a trapped state based on its speed, accelerator pedal depth, and yaw rate. For example, if the vehicle speed is less than a preset speed threshold, the accelerator pedal depth is greater than a preset accelerator pedal depth threshold, and the vehicle yaw rate is less than a preset vehicle yaw rate threshold, the vehicle is determined to be in a trapped state.
[0145] When a vehicle is stuck, for each wheel, if the wheel's slip ratio is greater than a preset slip ratio threshold and the wheel's load is less than a preset load threshold, then the wheel is identified as a stuck wheel.
[0146] The vehicle's entrapment mode is determined based on the vehicle's entrapment status. Multiple entrapment modes can be preset, such as single-wheel entrapment mode, single-side dual-wheel entrapment mode, opposing wheel entrapment mode, and dual rear wheel entrapment mode.
[0147] In single-wheel entrapment mode, the vehicle has only one entrapped wheel. For example, the single-wheel entrapment mode can be as shown in Figure 2. In the vehicle on the left side of Figure 2, the entrapped wheel is the left front wheel, and in the vehicle on the right side of Figure 2, the entrapped wheel is the left rear wheel.
[0148] In the single-sided dual-wheel entrapment mode, the two wheels on one side of the vehicle are the entrapped wheels. For example, the single-sided dual-wheel entrapment mode can be as shown in Figure 3. In the vehicle on the left side of Figure 3, the entrapped wheels are the two wheels on the left side of the vehicle, and in the vehicle on the right side of Figure 3, the entrapped wheels are the two wheels on the right side of the vehicle.
[0149] In the opposing wheel entrapment mode, the two entrapped wheels of the vehicle are diagonally opposite each other. For example, the opposing wheel entrapment mode can be as shown in Figure 4. In the vehicle on the left side of Figure 4, the entrapped wheels are the right front wheel and the left rear wheel. In the vehicle on the right side of Figure 4, the entrapped wheels are the left front wheel and the right rear wheel.
[0150] In the dual rear wheel entrapment mode, the two rear wheels of the vehicle are the entrapped wheels. For example, the dual rear wheel entrapment mode can be shown in Figure 5.
[0151] After determining the vehicle's entrapment mode, the vehicle's wheels can be controlled to perform corresponding traction maneuvers to extricate the vehicle from the predicament. The corresponding traction maneuvers for each entrapment mode are as follows:
[0152] The single-wheel entrapment mode can also include two modes: single front wheel entrapment and single rear wheel entrapment. For the single front wheel entrapment mode, the evacuation operation is shown in Figure 2. The front wheels of the vehicle are controlled to steer towards the unentrapped side and rotate by a preset angle. The rear wheels are steered in the opposite direction to the front wheels by a preset angle, increasing the vehicle's cornering performance and obtaining optimal cornering torque. For the single rear wheel entrapment mode, the evacuation operation is also shown in Figure 2. The rear wheels are controlled to not follow the front wheels' rotation, and the unentrapped side of the rear wheels is controlled to rotate by a preset angle. This increases the contact area between the evacuated vehicle and the surrounding ground while controlling the rear wheels to move in the direction of detachment from the entrapped ground.
[0153] In the single-sided dual-wheel stuck mode, the escape operation can be as shown in Figure 3. The front and rear wheels of the vehicle can be controlled to rotate at a preset angle to the unstuck side, the vehicle will make a crab-like movement, and the direction of the wheel movement can be controlled to be the direction of getting off the stuck ground.
[0154] In the opposite wheel stuck mode, the escape operation can be as shown in Figure 4. The front wheels can be controlled to rotate a preset angle toward the unstuck wheel, and the rear wheels can be controlled to rotate a preset angle toward the stuck wheel. The vehicle makes a crab-like movement and uses the diagonally unstuck wheels to get out of the stuck position.
[0155] In the dual rear wheel entrapment mode, execute the entrapment action shown in Figure 5. Control the rear wheels to not follow the front wheels in rotation, and make the rear wheels turn in an "inward" shape to increase the contact area between the entrapped rear wheels and the entrapped ground. At the same time, counteract the left and right swaying and control the rear wheels to generate forward driving force. The direction of vehicle movement is the direction of getting out of the entrapped ground.
[0156] After performing the extrication operation, check again whether the vehicle is stuck. If the wheels are no longer stuck, the vehicle is considered successfully extricated; otherwise, the vehicle is not stuck and the extrication operation can continue.
[0157] This application embodiment sets up multiple entrapment modes and adopts corresponding entrapment operations according to the entrapment mode of the wheels, which can make the vehicle entrapment control strategy more optimized and more comprehensive and reasonable.
[0158] To facilitate better implementation of the vehicle traction method provided in this application embodiment, a vehicle traction system is also provided in one embodiment. The meanings of the terms used are the same as in the vehicle traction method described above, and specific implementation details can be found in the description of the method embodiment.
[0159] As shown in Figure 6, the vehicle escaping system can include a status collection module, a entrapment status judgment module, an entrapment mode judgment module, and an escaping execution module.
[0160] The status collection module is used to acquire information related to the vehicle's driving status, including vehicle speed, accelerator pedal depth, vehicle yaw rate, and wheel speed and load of the four wheels.
[0161] The vehicle entrapment status determination module uses relevant information acquired by the status collection module to determine whether the vehicle is in an entrapment state, in order to decide whether to perform an escape operation and whether the vehicle has successfully escaped. For example, it can compare the vehicle speed with a preset speed threshold, the accelerator pedal depth with a preset accelerator pedal depth threshold, and the vehicle yaw rate with a preset vehicle yaw rate threshold. If the vehicle speed is less than the preset speed threshold, the accelerator pedal depth is greater than the preset accelerator pedal depth threshold, and the vehicle yaw rate is less than the preset vehicle yaw rate threshold, the vehicle is determined to be in an entrapment state.
[0162] The entrapment mode determination module is used to determine whether wheel slippage has occurred based on the slip ratio and load of each vehicle, thereby identifying the entrapment wheel and determining the entrapment mode. For example, for each wheel, the wheel slip ratio can be compared with a preset slip ratio threshold, and the wheel load can be compared with a preset load threshold. If the wheel slip ratio is greater than the preset slip ratio threshold and the wheel load is less than the preset load threshold, the wheel is determined to be the entrapment wheel.
[0163] The traction control module is used to control the front and / or rear wheels to perform corresponding preset traction actions based on the confirmed traction mode. For details on determining the traction mode of the wheels and the traction actions to be performed, please refer to the relevant content above; it will not be repeated here.
[0164] To facilitate better implementation of the vehicle traction method provided in the embodiments of this application, a vehicle traction device is also provided in some embodiments. The meanings of the terms used are the same as in the above-described vehicle traction method, and specific implementation details can be found in the descriptions of the method embodiments.
[0165] The vehicle traction device can be integrated into the vehicle, as shown in Figure 7. The vehicle traction device may include: a determining device 301 and a control device 302, as detailed below:
[0166] The determining device 301 is used to determine the vehicle's entrapment mode based on the entrapped wheel of the vehicle.
[0167] Control device 302 is used to control the wheels of the vehicle to perform corresponding traction operations according to the traction mode, so as to enable the vehicle to get out of trouble.
[0168] In some embodiments, the control unit 302 may also be used for:
[0169] When the entrapment mode is a single-wheel entrapment mode, control the entrapped wheel and / or the first wheel coaxial with the entrapped wheel to rotate to the opposite side of the entrapped wheel.
[0170] In some embodiments, when the single-wheel entrapment mode is a single-wheel entrapment mode, the control unit 302 can also be used to:
[0171] Control at least one second wheel that is not on the same axle as the trapped wheel to rotate in the opposite direction to the rotation direction of the first wheel.
[0172] In some embodiments, the control unit 302 may also be used for:
[0173] When the trapped wheel is the front wheel of the vehicle, at least one second wheel that is not on the same axle as the trapped wheel is controlled to rotate in the opposite direction to the rotation direction of the first wheel.
[0174] In some embodiments, the entrapment mode includes a single-sided dual-wheel entrapment mode, wherein the entrapped wheels include the front and rear wheels on the same side of the vehicle.
[0175] In some embodiments, the control unit 302 may also be used for:
[0176] When the entrapment mode is the opposite wheel entrapment mode, control at least one front wheel of the vehicle to turn in the direction opposite to the entrapped front wheel;
[0177] And / or, control at least one rear wheel of the vehicle to turn in the direction of rotation of the front wheels.
[0178] In some embodiments, the control unit 302 may also be used for:
[0179] When the trapped mode is the coaxial wheel trapped mode, control the two trapped wheels on the same axle to rotate in different directions.
[0180] In some embodiments, when the two trapped wheels on the same axle are rear wheels, the left rear wheel turns to the right and the right rear wheel turns to the left.
[0181] In some embodiments, the rear wheels do not follow the rotation of the vehicle's front wheels.
[0182] In some embodiments, the vehicle traction device further includes:
[0183] The first acquisition unit is used to acquire the first driving association information of each wheel of the vehicle;
[0184] The first entrapment determination unit is used to determine whether each wheel is an entrapped wheel based on the first driving association information.
[0185] In some embodiments, the first driving-related information includes at least one of wheel slip ratio and audio generated by the loaded wheel.
[0186] In some embodiments, the first trapped determination unit may also be used for:
[0187] For each wheel, if the wheel's slip ratio is greater than a preset slip ratio threshold and / or the wheel's load is less than a preset load threshold, the wheel is identified as a trapped wheel.
[0188] In some embodiments, the determining unit 301 is further configured to:
[0189] When a vehicle is stuck, the stuck mode is determined based on the stuck wheel.
[0190] In some embodiments, the vehicle traction device further includes:
[0191] The second acquisition unit is used to acquire the vehicle's second driving association information;
[0192] The second entrapment determination unit is used to detect whether the vehicle is in an entrapment state based on the second driving association information.
[0193] In some embodiments, the second driving-related information includes at least one of the following: vehicle speed, accelerator pedal depth, vehicle yaw rate, and position information.
[0194] In some embodiments, the second trapped determination unit is further configured to:
[0195] The vehicle is determined to be in a trapped state if the vehicle speed is less than a preset vehicle speed threshold, the accelerator pedal depth is greater than a preset accelerator pedal depth threshold, and / or the vehicle yaw rate is less than a preset vehicle yaw rate threshold.
[0196] In some embodiments, the second acquisition unit is further configured to:
[0197] After controlling the vehicle's wheels to perform the corresponding extrication operation according to the entrapment mode, the vehicle's second driving-related information is obtained.
[0198] In some embodiments, the second trapped determination unit is further configured to:
[0199] If the vehicle is determined to be stuck, return to the step of determining the vehicle's stuck mode based on the stuck wheel.
[0200] As can be seen from the above, in this embodiment of the application, the determining unit 301 determines the vehicle's entrapment mode based on the entrapment wheel of the vehicle; the control unit 302 controls the vehicle's wheels to perform corresponding entrapment operations based on the entrapment mode, so that the vehicle can get out of trouble, thereby enabling the vehicle to get out of trouble in different entrapment modes.
[0201] This application also provides a controller, as shown in Figure 8, which illustrates the structural diagram of the controller involved in this application embodiment. Specifically:
[0202] The controller may include components such as a processor 1001 with one or more processing cores, a memory 1002 with one or more computer-readable storage media, a power supply 1003, and an input unit 1004. Those skilled in the art will understand that the controller structure shown in FIG8 does not constitute a limitation on the controller, and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:
[0203] The processor 1001 is the control center of the controller, connecting various parts of the controller via various interfaces and lines. It executes software programs and / or modules stored in the memory 1002, and calls data stored in the memory 1002, to perform various functions of the controller and process data, thereby providing overall monitoring of the controller. In some implementations, the processor 1001 may include one or more processing cores; for example, the processor 1001 may integrate an application processor and a modem processor, where the application processor mainly handles the operating system, user interface, and computer instructions, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into the processor 1001.
[0204] The memory 1002 can be used to store software programs and modules. The processor 1001 executes various functional applications and data processing by running the instructions and modules stored in the memory 1002. The memory 1002 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, computer programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the controller, etc. In addition, the memory 1002 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 1002 may also include a memory controller to provide the processor 1001 with access to the memory 1002.
[0205] The controller also includes a power supply 1003 that supplies power to the various components. For example, the power supply 1003 can be logically connected to the processor 1001 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 1003 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.
[0206] The controller may also include an input unit 1004, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.
[0207] Although not shown, the controller may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 1001 in the controller loads the executable files corresponding to the processes of one or more computer instructions into the memory 1002 according to the following instructions, and the processor 1001 executes the computer instructions stored in the memory 1002 to realize various functions, as follows:
[0208] The vehicle's entrapment mode is determined based on the entrapped wheel.
[0209] The vehicle's wheels are controlled according to the stuck mode to perform corresponding extrication operations, thereby enabling the vehicle to get out of trouble.
[0210] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.
[0211] As can be seen from the above, in this embodiment of the application, the controller determines the vehicle's entrapment mode based on the entrapment wheel; and controls the vehicle's wheels to perform corresponding entrapment operations according to the entrapment mode, so as to enable the vehicle to get out of trouble, thereby enabling the vehicle to get out of trouble in different entrapment modes.
[0212] According to some aspects of the embodiments of this application, a vehicle is provided, which includes a controller, etc., and the vehicle can execute the vehicle extrication methods provided in various optional implementations of the above embodiments through the controller. The vehicle may be a gasoline-powered vehicle, a plug-in hybrid electric vehicle, or a new energy vehicle, etc., and this application does not specifically limit it.
[0213] According to some aspects of embodiments of this application, a computer program product or computer program is provided, which includes computer instructions stored in a computer-readable storage medium. A vehicle's processor reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the vehicle to perform the methods provided in the various optional implementations described above.
[0214] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by computer instructions, or by controlling related hardware with computer instructions. The computer instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.
[0215] Therefore, embodiments of this application provide a computer-readable storage medium storing computer instructions that can be loaded by a processor to execute any of the vehicle extrication methods provided in embodiments of this application.
[0216] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.
[0217] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.
[0218] Since the computer instructions stored in the computer-readable storage medium can execute any of the vehicle escaping methods provided in the embodiments of this application, the beneficial effects that any of the vehicle escaping methods provided in the embodiments of this application can achieve can be realized. For details, please refer to the previous embodiments, which will not be repeated here.
[0219] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0220] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.
[0221] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.
[0222] The foregoing has provided a detailed description of a vehicle extrication method, apparatus, vehicle, and computer-readable storage medium provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.
Claims
1. A method for getting a vehicle out of trouble, comprising: The vehicle's entrapment mode is determined based on the entrapped wheel. as well as According to the trapped mode, the vehicle's wheels are controlled to perform corresponding escape operations to get the vehicle out of trouble.
2. The method according to claim 1, wherein, The step of controlling the vehicle's wheels to perform corresponding extrication operations according to the trapped mode includes: In response to the trapped mode being a single-wheel trapped mode, the trapped wheel is controlled to rotate in the opposite direction of the trapped wheel.
3. The method according to claim 1 or 2, wherein, The step of controlling the vehicle's wheels to perform corresponding extrication operations according to the trapped mode includes: In response to the trapped mode being a single-wheel trapped mode, the first wheel coaxial with the trapped wheel is controlled to rotate in the opposite direction of the trapped wheel.
4. The method according to claim 2 or 3, wherein, In response to the single-wheel entrapment mode being a single-wheel entrapment mode, the extrication operation further includes: Control at least one second wheel that is not on the same axis as the trapped wheel to rotate in the opposite direction to the rotation direction of the first wheel.
5. The method according to claim 4, wherein, The method further includes: In response to the trapped wheel being the front wheel of the vehicle, at least one second wheel that is not on the same axle as the trapped wheel is controlled to rotate in the opposite direction to the rotation direction of the first wheel.
6. The method according to claim 2 or 3, wherein, The single-wheel entrapment mode includes a single-wheel entrapment mode, wherein the entrapped wheels include the front wheel and the rear wheel on the same side of the vehicle.
7. The method according to claim 1, wherein, The step of controlling the vehicle's wheels to perform corresponding extrication operations according to the trapped mode includes: In response to the trapped mode being an opposing wheel trapped mode, control at least one front wheel of the vehicle to turn in the direction opposite to the trapped front wheel.
8. The method according to claim 1 or 7, wherein, The step of controlling the vehicle's wheels to perform corresponding extrication operations according to the trapped mode includes: In response to the trapped mode being an opposing wheel trapped mode, control at least one rear wheel of the vehicle to rotate in the direction opposite to the trapped front wheel.
9. The method according to claim 1, wherein, The step of controlling the vehicle's wheels to perform corresponding extrication operations according to the trapped mode includes: In response to the trapped mode being a coaxial wheel trapped mode, the two trapped wheels on the same axis are controlled to rotate in different directions.
10. The method according to claim 9, wherein, In response to the two coaxial wheels being the rear wheels, the left rear wheel of the vehicle is controlled to turn to the right, and the right rear wheel of the vehicle is controlled to turn to the left.
11. The method according to claim 10, wherein, The rotation of the rear wheels of the vehicle is independent of that of the front wheels.
12. The method according to any one of claims 1-11, wherein, The method further includes: Based on the first driving association information of each wheel of the vehicle, the stuck wheel of the vehicle is determined.
13. The method according to claim 12, wherein, The first driving-related information includes at least one of the wheel slip ratio, the wheel load, and the audio generated by the wheel.
14. The method according to claim 13, wherein, The step of determining the trapped wheel of the vehicle based on the first driving association information of each wheel includes: In response to the slip ratio of the wheel being greater than a preset slip ratio threshold, the wheel is determined to be a trapped wheel.
15. The method according to claim 13 or 14, wherein, The step of determining the trapped wheel of the vehicle based on the first driving association information of each wheel includes: In response to the load on the wheel being less than a preset load threshold, the wheel is determined to be a trapped wheel.
16. The method according to any one of claims 1-11, wherein, The method further includes: The vehicle's entrapment mode is determined based on the entrapped wheel.
17. The method according to claim 16, wherein, The method further includes: The vehicle's entrapment status is detected based on the vehicle's second driving association information.
18. The method according to claim 17, wherein, The second driving-related information includes at least one of the following: vehicle speed, accelerator pedal depth, vehicle yaw rate, and the position information of the trapped wheel.
19. The method according to claim 18, wherein, The step of detecting the vehicle's stranded status based on the vehicle's second driving association information includes: In response to the vehicle speed being less than a preset vehicle speed threshold, it is determined that the vehicle is in a trapped state.
20. The method according to claim 18 or 19, wherein, The step of detecting the vehicle's stranded status based on the vehicle's second driving association information includes: In response to the accelerator pedal depth being greater than a preset accelerator pedal depth threshold, it is determined that the vehicle is in a trapped state.
21. The method according to claim 18, 19, or 20, wherein, The step of detecting the vehicle's stranded status based on the vehicle's second driving association information includes: In response to the vehicle body yaw rate being less than a preset vehicle body yaw rate threshold, it is determined that the vehicle is in a trapped state.
22. The method according to claim 17, wherein, The method further includes: After controlling the vehicle's wheels to perform corresponding extrication operations according to the trapped mode, the vehicle's second driving association information is obtained.
23. The method according to claim 22, wherein, After detecting whether the vehicle is in a trapped state based on the second driving association information, the method further includes: Return to the step of determining the vehicle's entrapment mode based on the entrapped wheel.
24. A vehicle traction device, comprising: A determining device (301) is used to determine the entrapment mode of the vehicle based on the entrapped wheel of the vehicle; Control device (302) is used to control the wheels of the vehicle to perform corresponding traction operations according to the entrapment mode, so as to enable the vehicle to get out of trouble.
25. A controller comprising a memory (1002) and a processor (1001); the memory (1002) storing computer instructions, and the processor (1001) for executing the computer instructions in the memory (1002) to perform the vehicle extrication method according to any one of claims 1 to 23.
26. A vehicle comprising the vehicle traction device of claim 24, or the controller of claim 25.
27. A computer-readable storage medium for storing computer instructions, which are loaded by a processor to perform the vehicle extrication method according to any one of claims 1 to 23.
28. A computer program product comprising computer instructions, said computer instructions being loaded by a processor to execute the vehicle extrication method according to any one of claims 1 to 23.