CN108357500A - Intelligent vehicle, the tyre-bursting security control method of intelligent vehicle and system - Google Patents
Intelligent vehicle, the tyre-bursting security control method of intelligent vehicle and system Download PDFInfo
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- CN108357500A CN108357500A CN201810154435.XA CN201810154435A CN108357500A CN 108357500 A CN108357500 A CN 108357500A CN 201810154435 A CN201810154435 A CN 201810154435A CN 108357500 A CN108357500 A CN 108357500A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/20—Tyre data
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- Automation & Control Theory (AREA)
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention discloses the tyre-bursting security control method and system of a kind of intelligent vehicle, intelligent vehicle.The tyre-bursting security control method of the intelligent vehicle includes the following steps：Obtain the status data and environmental data of vehicle；Judge whether the status data meets preset condition of blowing out；If so, obtaining the wheel data of blowing out of the vehicle, and judge whether the status data meets the condition of preset straight-line travelling；If it is not, according to blow out wheel data and environmental data execution the first control operation；When the status data is unsatisfactory for the condition of preset straight-line travelling, judge that the vehicle is in negotiation of bends state, blow out according to described in wheel data and environmental data execution the second control operation.The tyre-bursting security control method of intelligent vehicle provided by the invention can accurate judgement take disk by force, and combining environmental situation copes with a variety of accidents of blowing out.
Description
Technical field
The present invention relates to intelligent driving technical fields, and in particular to a kind of tyre explosion safety control of intelligent vehicle, intelligent vehicle
Method and system processed.
Background technology
The situation that finger wheel tire of blowing out loses heart completely in very short time.Wheel radius of blowing out is greatly reduced to close to wheel rim radius
Degree.Blow out wheel can by one backward, prodigious rolling resistance, cornering stiffness is greatly reduced with attachment coefficient, blows out
Tire maximum braking force and cornering ability strongly reduce, and under certain side drift angle, tire is easy to detach with wheel rim, and it is existing to form card ground
As.The motion mode and its direction controlling of tire bursting vehicle are the major issues for being related to traffic safety.
In the related technology, body stabilization system ESP is rectified a deviation by single shoe brake, this kind of systems stabilisation is taken disk by force for vehicle and lacked
Weary accurate judgement also can not replace braking strategy according to different situations of blowing out, and continuous braking can not be avoided to bring
Risk.
Therefore, it is necessary to provide a kind of new intelligent vehicle tyre-bursting security control method and system to solve above-mentioned technology
Problem.
Invention content
The main object of the present invention is to provide a kind of tyre-bursting security control method of intelligent vehicle, it is intended to solve the relevant technologies
In systems stabilisation for take by force disk lack accurately judge and can not cope with it is complicated blow out accident the technical issues of.
To achieve the above object, the tyre-bursting security control method of intelligent vehicle proposed by the present invention includes the following steps：
Obtain the status data and environmental data of vehicle；
Judge whether the status data meets preset condition of blowing out；
When the status data meet it is preset blow out condition when, obtain the wheel data of blowing out of the vehicle, and judge
Whether the status data meets the condition of preset straight-line travelling；
When the status data meets the condition of preset straight-line travelling, blow out according to described in wheel data, the shape
State data and the environmental data execute the first control operation, to ensure that the traveling that the vehicle is under straight travel state is pacified
Entirely；
When the status data is unsatisfactory for the condition of preset straight-line travelling, judge that the vehicle is in negotiation of bends shape
State, blow out according to described in wheel data, the status data and the environmental data execute the second control operation, described in guarantee
Vehicle is in the driving safety under negotiation of bends state.
Preferably, the status data includes the steering data of automatically controlled steering, and the preset condition of blowing out is the electricity
The steering data for controlling steering are more than preset normal range (NR), described when the status data meets preset condition of blowing out
When, the wheel data of blowing out of the vehicle is obtained, and judge whether the status data meets the condition of preset straight-line travelling
The step of, it specifically includes：
When the steering data of the automatically controlled steering are more than preset normal range (NR), the tire bursting vehicle of the vehicle is obtained
Take turns data；
Judge whether the status data meets the condition of preset straight-line travelling.
Preferably, when the condition for meeting preset straight-line travelling when the status data, wheel of blowing out according to described in
Data, the status data and the environmental data execute the first control operation, to ensure that the vehicle is in straight-line travelling shape
It the step of driving safety under state, specifically includes：
When the status data meets the condition of preset straight-line travelling, whether wheel data of blowing out described in judgement meets
Preset driving wheel is blown out condition；
When the wheel data of blowing out meet preset driving wheel blow out condition when, according to the status data and the ring
Border data execute driving wheel control operation；
When the wheel data of blowing out be unsatisfactory for preset driving wheel blow out condition when, judge the non-driving wheel of the wheel
It blows out, and executes non-driving wheel control operation.
Preferably, the driving wheel control operation includes the following steps：
Driver's operating function is closed, into intelligent driving pattern；
The steering indicating light for opening wheel opposite side of blowing out, obtains the status data and the environmental data, wherein described
Status data further includes current vehicle speed, and the environmental data includes Current ambient vehicle, barrier situation and preset range
Interior surface conditions；
The vehicle, which is controlled, according to the status data and the environmental data turns corresponding angle to wheel opposite side of blowing out
Degree；
Braking moment needed for calculating, the brake for controlling the vehicle export corresponding braking moment gradually to lower vehicle
Speed.
Preferably, the non-driven control operation includes the following steps：
Driver's operating function is closed, into intelligent driving pattern；
Open double flashing lights；
Keep the normal steering angle of the vehicle constant；
The brake force is calculated, the brake for controlling the vehicle exports corresponding braking moment to reduce speed.
Preferably, when the condition for being unsatisfactory for preset straight-line travelling when the status data, judge at the vehicle
In negotiation of bends state, blow out according to described in wheel data, the status data and the environmental data execute the second control behaviour
Make, the step of to ensure driving safety that the vehicle is under negotiation of bends state, specifically includes：
When the status data is unsatisfactory for the condition of preset straight-line travelling, judge that the vehicle is in negotiation of bends shape
State, and whether wheel data of blowing out described in judging meets preset interior measuring wheel and blows out condition；
When the wheel data of blowing out meet preset interior measuring wheel blow out condition when, according to the status data and the ring
Border data execute interior measuring wheel control operation；
When the wheel data of blowing out be unsatisfactory for preset interior measuring wheel blow out condition when, judge on the outside of the bend of the wheel
Wheel is blown out, and executes outboard wheel control operation according to the status data and the environmental data.
Preferably, the interior measuring wheel control operation includes the following steps：
Driver's operating function is closed, into intelligent driving pattern；
The steering indicating light on the outside of bend is opened, obtains the status data and the environmental data, wherein the status data
Further include current vehicle speed, the environmental data includes the road surface in Current ambient vehicle, barrier situation and default range
Situation；
The vehicle is controlled to turn corresponding angle on the outside of bend according to the status data and the environmental data；
Braking moment needed for calculating, the brake for controlling the vehicle export corresponding braking moment gradually to lower vehicle
Speed.
Preferably, it is described when the status data meet it is preset blow out condition when obtain the wheel number of blowing out of the vehicle
According to, and before judging the step of whether status data meets the condition of preset straight-line travelling, the intelligent vehicle
Tyre-bursting security control method further includes：
Wheel measurement data is obtained, and generates the wheel data of blowing out of the vehicle according to the vehicle measurement data.
The present invention also provides a kind of tyre explosion safety control systems of intelligent vehicle, including：
Detection module, the detection module are used to obtain the status data and environmental data of vehicle；
It blows out and condition judgment module, described blow out is used to judge whether the status data meets with condition judgment module
Preset condition of blowing out；
When the status data meet it is preset blow out condition when, it is described to blow out and condition judgment module obtains the vehicle
Wheel data of blowing out, and judge whether the status data meets the condition of preset straight-line travelling；
Driving control module, when the status data meets the condition of preset straight-line travelling, the Driving control mould
Block be used to blow out according to described in wheel data, the status data and the environmental data carries out analyzing processing and controls execution the
One control operation, to ensure driving safety that the vehicle is under straight travel state；
When the status data is unsatisfactory for the condition of preset straight-line travelling, described blow out judges with condition judgment module
The vehicle is in negotiation of bends state, and the Driving control module is additionally operable to blow out according to described in wheel data, the state
Data and the environmental data carry out analyzing processing and control execution the second control operation, to ensure that the vehicle is in bend row
Sail the driving safety under state.
Preferably, the vehicle status data includes the steering data of automatically controlled steering, and the preset condition of blowing out is institute
The steering data for stating automatically controlled steering are more than preset normal range (NR), and described blow out is specifically used for condition discrimination module：
When the steering data of the automatically controlled steering are more than preset normal range (NR), the tire bursting vehicle of the vehicle is obtained
Take turns data；
Judge whether the status data meets the condition of preset straight-line travelling.
Preferably, the Driving control module includes the first judgment module, control module and execution module, when the state
When data meet the condition of preset straight-line travelling, whether first judgment module is full for judging the wheel data of blowing out
The preset driving wheel of foot is blown out condition；
When the wheel data of blowing out meet preset driving wheel blow out condition when, the control module is according to the state
Data and the environmental data carry out processing analysis, and send control instruction, and the execution module is held according to the control instruction
The control operation of row driving wheel；
When the wheel data of blowing out be unsatisfactory for preset driving wheel blow out condition when, first judgment module judges institute
The non-driving wheel for stating wheel is blown out, and the control module carries out processing analysis according to the status data and the environmental data,
And control instruction is sent, the execution module executes driving wheel control operation according to the control instruction；
Wherein, the driving wheel control operation includes the following steps：
Driver's operating function is closed, into intelligent driving pattern；
The steering indicating light for opening wheel opposite side of blowing out, obtains the status data and the environmental data, wherein described
Status data further includes current vehicle speed, and the environmental data includes Current ambient vehicle, barrier situation and preset range
Interior surface conditions；
The vehicle, which is controlled, according to the status data and the environmental data turns corresponding angle to wheel opposite side of blowing out
Degree；
Braking moment needed for calculating, the brake for controlling the vehicle export corresponding braking moment gradually to lower vehicle
Speed；
The non-driven control operation includes the following steps：
Driver's operating function is closed, into intelligent driving pattern；
Open double flashing lights；
Keep the normal steering angle of the vehicle constant；
The brake force is calculated, the brake for controlling the vehicle exports corresponding braking moment to reduce speed.
Preferably, the Driving control module further includes the second judgment module, when the status data be unsatisfactory for it is preset
When the condition of straight-line travelling, described blow out judges that the vehicle is in negotiation of bends state with block of state, and described second judges
Module is blown out condition for judging whether the wheel data of blowing out meets preset interior measuring wheel；
When the wheel data of blowing out meet preset interior measuring wheel blow out condition when, the execution module is according to the state
Data and the environmental data execute interior measuring wheel control operation；
When the wheel data of blowing out be unsatisfactory for preset interior measuring wheel blow out condition when, second judgment module judges institute
The bend outboard wheel for stating wheel is blown out, and the execution module executes outboard wheel control according to the status data and the environmental data
System operation；
Wherein, the interior measuring wheel control operation includes the following steps：
Driver's operating function is closed, into intelligent driving pattern；
The steering indicating light on the outside of bend is opened, obtains the status data and the environmental data, wherein the status data
Further include current vehicle speed, the environmental data includes the road surface in Current ambient vehicle, barrier situation and default range
Situation；
The vehicle is controlled to turn corresponding angle on the outside of bend according to the status data and the environmental data；
Braking moment needed for calculating, the brake for controlling the vehicle export corresponding braking moment gradually to lower vehicle
Speed.
Preferably, the tyre explosion safety control system of the intelligent driving further includes：
Measurement module, the measurement module are generated for obtaining wheel measurement data, and according to the vehicle measurement data
The wheel data of blowing out of the vehicle.
The present invention also provides the tyre explosion safety control systems of a kind of intelligent vehicle, including the intelligent vehicle.
The tyre-bursting security control method and system of intelligent vehicle proposed by the present invention, by obtain vehicle status data and
Environmental data；Judge whether the status data meets preset condition of blowing out；So as to accurately whether identify driver
Taken by force disk.When the status data meet it is preset blow out condition when, judge that the vehicle is in runflat condition, and described in obtaining
The wheel data of blowing out of vehicle；Judge whether the status data meets the condition of preset straight-line travelling；When the status number
When according to the condition for meeting preset straight-line travelling, judge that the vehicle is in straight travel state, wheel number of blowing out according to described in
According to and the environmental data execute the first control operation, to ensure driving safety that the vehicle is under straight travel state；
When the status data is unsatisfactory for the condition of preset straight-line travelling, judge that the vehicle is in negotiation of bends state, foundation
Blow out wheel data and environmental data execution the second control operation, to ensure that the vehicle is in negotiation of bends shape
Driving safety under state, so that according to the situation of blowing out under different transport conditions, corresponding control operation is formulated, to ensure vehicle
Driving safety.Further, contribute to the follow-up further position according to wheel of blowing out, formulate corresponding control behaviour
Make.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the Organization Chart of the tyre explosion safety control system of intelligent vehicle provided by the invention；
Fig. 2 is the Organization Chart of Driving control module shown in FIG. 1；
Fig. 3 is the work flow diagram of the first embodiment of the tyre-bursting security control method of intelligent vehicle provided by the invention；
Fig. 4 is the sub- work flow diagram of step S40 shown in Fig. 3；
The sub- work flow diagram of the positions Fig. 5 step S41 shown in Fig. 3；
Fig. 6 is the work flow diagram of the second embodiment of the tyre-bursting security control method of intelligent vehicle provided by the invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained without creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining relative position relation, motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and should not be understood as
It indicates or implies its relative importance or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.In the description of the present invention, " multiple " contain
Justice is at least two, such as two, three etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " connection ", " fixation " etc. shall be understood in a broad sense,
For example, " fixation " may be a fixed connection, it may be a detachable connection, or integral；It can be mechanical connection, can also be
Electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary the connection inside two elements or two
The interaction relationship of a element, unless otherwise restricted clearly.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
In addition, the technical solution between each embodiment of the present invention can be combined with each other, but must be general with this field
Logical technical staff can be implemented as basis, will be understood that when the combination of technical solution appearance is conflicting or cannot achieve this
The combination of technical solution is not present, also not the present invention claims protection domain within.
The present invention provides a kind of tyre explosion safety control system 1 of intelligent vehicle.
Referring to Fig. 1, in one embodiment of this invention, the tyre explosion safety control system 1 of intelligent vehicle includes：
Detection module 11, the detection module 11 are used to obtain the status data and environmental data of vehicle；
It blows out and condition judgment module 12, the judgment module 12 of blowing out is pre- for judging whether the status data meets
If condition of blowing out；
In the present embodiment, the status data includes the steering data of automatically controlled steering, and the preset condition of blowing out is institute
The steering data for stating automatically controlled steering are more than preset normal range (NR), and the discrimination module of blowing out is specifically used for：
When the steering data of the automatically controlled steering are more than preset normal range (NR), judge that the vehicle is in and blow out
State, and obtain the wheel data of blowing out of the vehicle.
Specifically, the normal range (NR) can be the normal range (NR) of the steering angle of automatically controlled steering, the normal model
Enclose or the automatically controlled steering suffered by torsion normal range (NR).
It is appreciated that in other embodiments, status data can also include tyre pressure sensor data, preset item of blowing out
Part is that tyre pressure sensor data are 0 or are less than preset value.It is further preferred that the status data can also include automatically controlled turn
To the steering data, tyre pressure sensor data and temperature sensor data of system, preset condition of blowing out is the automatically controlled steering
The steering data of system are more than preset normal range (NR), and tyre pressure sensor data are imputed with temperature sensor data according to pre-
The associated value of method is less than another preset value.When the status data meet it is preset blow out condition when, it is described to blow out and state
Judgment module 12 obtains the wheel data of blowing out of the vehicle, and judges whether the status data meets preset straight-line travelling
Condition；
Specifically, the status data can also include the central axes in central axes and the track of the vehicle away from
From；The condition of the straight-line travelling can be that the distance between the central axes of the vehicle and the central axes in the track are more than
Equal to 0 and it is less than or equal to X1 meters.
The status data can also include the angle of the central axes and the central axes in the track of the vehicle；It is described straight
The condition of line traveling may be that the angle of the central axes of the vehicle and the axle line is more than or equal to 0 and is less than or equal to X2
Degree.
In the present embodiment, the detection module 11 may include imaging sensor and angular transducer, described image sensing
Device is used to measure the distance between the central axes of the central axes and the track of the vehicle, and the angular transducer is for measuring
The angle of the central axes of the vehicle and the axle line.
Driving control module 14, when the status data meets the condition of preset straight-line travelling, the Driving control
Module 14 executes the first control operation for blow out according to described in wheel data, the status data and the environmental data, with
Ensure the driving safety that the vehicle is under straight travel state；
When the status data is unsatisfactory for the condition of preset straight-line travelling, described blow out judges mould with block of state 12
Block 13 judges that the vehicle is in negotiation of bends state, and the Driving control module 14 is additionally operable to wheel number of blowing out according to described in
The second control operation is executed according to, the status data and the environmental data, to ensure that the vehicle is in negotiation of bends state
Under driving safety.
The tyre explosion safety control system 1 of intelligent vehicle proposed by the present invention, by the status data and environment that obtain vehicle
Data；Judge whether the status data meets preset condition of blowing out；So as to accurately identify whether driver is taken by force
Disk.When the status data meet it is preset blow out condition when, judge that the vehicle is in runflat condition, and obtain the vehicle
Wheel data of blowing out；Judge whether the status data meets the condition of preset straight-line travelling；When the status data is full
When the condition of the preset straight-line travelling of foot, judge that the vehicle be in straight travel state, blow out described in foundation wheel data and
The environmental data executes the first control operation, to ensure that the vehicle is in the driving safety of straight travel state；When described
When status data is unsatisfactory for the condition of preset straight-line travelling, judge that the vehicle is in negotiation of bends state, according to described quick-fried
Tire wheel data and the environmental data execute the second control operation, to ensure that the vehicle is under negotiation of bends state
Driving safety, so that according to the situation of blowing out under different transport conditions, corresponding control operation is formulated, to ensure the traveling of vehicle
Safety.Further, contribute to the follow-up further position according to wheel of blowing out, formulate corresponding control operation.
Referring to Fig. 2, in the present embodiment, the Driving control module 14 includes the first judgment module 141 and execution module
142, first judgment module 141 is blown out condition for judging whether the wheel data of blowing out meets preset driving wheel；
Specifically, the position of blowing out of wheel of the wheel data of blowing out for indicating the vehicle, for example, wheel is quick-fried
The position of foetus is set to " before left front, right ".The driving wheel condition of blowing out is the position phase of the blow out position and the driving wheel of wheel of wheel
Together.
When the wheel data of blowing out meet preset driving wheel blow out condition when, the execution module 142 is according to described
Status data and the environmental data execute driving wheel control operation；
For example, the wheel tables of data of blowing out shows that the position of blowing out of the wheel of the vehicle is left front, the drive of the wheel
Before the position of driving wheel is left front and right；
The position of the wheel of blowing out is identical as the position of the driving wheel of the wheel, and first judgment module 141 is sentenced
The driving wheel of the disconnected wheel is blown out, and the execution module 142 executes driving according to the status data and the environmental data
Wheel control operation；
Referring to Fig. 2, the execution module includes brake module 1421 and steering module 1422, the driving wheel control
System operation specifically comprises the following steps：
Driver's operating function is closed, into intelligent driving pattern, wherein prompt letter can be provided into intelligent driving pattern
Breath；
The steering indicating light for opening wheel opposite side of blowing out, obtains the status data and the environmental data, wherein described
Status data further includes current vehicle speed, and the environmental data includes the road surface feelings in surrounding vehicles situation and default range
Condition；
For example, when blowing out, it is smaller with front vehicles spacing, and next wanted steering direction without other vehicles and is to go up a slope
Road conditions can control vehicle steering angle larger, and the opposite religion of indicating brake action is small and can be by going up a slope come assisted deceleration；If following road
Condition is descending, and control vehicle braking dynamics is relatively large, reduces causality loss.The steering module 1422 is used for according to the shape
State data and the environmental data control the vehicle and turn corresponding angle to wheel opposite side of blowing out；
For the brake module 1421 for calculating the braking moment, the brake for controlling vehicle exports corresponding brake force
Square is to continuously decrease speed.
To brake by course changing control and repeatedly, realize and turn to and braking cooperates, not only can guarantee vehicle body stabilization but also
Avoid surrounding vehicles.
When the wheel data of blowing out be unsatisfactory for preset driving wheel blow out condition when, first judgment module 141 is sentenced
The non-driving wheel of the disconnected wheel is blown out, and the execution module 142 executes non-driving wheel control operation according to the environmental data.
For example, after the wheel tables of data of blowing out shows that the position of blowing out of the wheel of the vehicle is right, the drive of the wheel
Before the position of driving wheel is left front and right；
The position and the position of the driving wheel of the wheel of the wheel of blowing out differ, first judgment module 141
Judge that the driving wheel of the wheel is blown out, the execution module executes non-driving wheel control operation；
The non-driving wheel control operation specifically comprises the following steps：
Driver's operating function is closed, into intelligent driving pattern, wherein can provide and carry into the intelligent driving pattern
Show information；
Open double flashing lights；
The normal steering angle of vehicle described in the steering module 1422 is constant；
The brake module 1421 calculates the brake force, and the brake for controlling the vehicle exports corresponding braking moment
To reduce speed.
Referring to Fig. 2, the Driving control module 14 further includes the second judgment module 143, when the status data
When being unsatisfactory for the condition of preset straight-line travelling, described blow out judges that the vehicle is in negotiation of bends with condition judgment module 12
State；
Second judgment module 143 is blown out item for judging whether the wheel data of blowing out meets preset interior measuring wheel
Part；
Specifically, the interior measuring wheel condition of blowing out is, position and the preset wheel of the wheel of blowing out are blown out position phase
Together, and preset wheel blows out position to be surveyed in bend.
When the wheel data of blowing out meet preset interior measuring wheel blow out condition when, the execution module 142 is according to described
Status data and the environmental data execute interior measuring wheel control operation；
For example, the wheel tables of data of blowing out shows that the position of blowing out of the wheel of the vehicle is to be surveyed in bend, it is described to blow out
Wheel data meets preset interior measuring wheel and blows out condition, judges that measuring wheel is blown out in the bend of the wheel, and according to the environment
Data execute interior measuring wheel control operation.
The interior measuring wheel control operation specifically comprises the following steps：
Driver's operating function is closed, into intelligent driving pattern, wherein can provide and carry into the intelligent driving pattern
Show information；
The steering indicating light on the outside of bend is opened, obtains the status data and the environmental data, wherein the status data
Further include current vehicle speed, the environmental data includes the surface conditions in surrounding vehicles situation and default range；
The steering module 1422 is used to control the vehicle to bend according to the status data and the environmental data
Outside turns corresponding angle；
For the brake module 1421 for calculating the braking moment, the brake for controlling vehicle exports corresponding brake force
Square is to reduce speed.
To brake by course changing control and repeatedly, realize and turn to and braking cooperates, not only can guarantee vehicle body stabilization but also
Avoid surrounding vehicles.
When the wheel data of blowing out be unsatisfactory for preset interior measuring wheel blow out condition when, second judgment module 143 is sentenced
The bend outboard wheel of the disconnected wheel is blown out, and executes outboard wheel control operation according to the environmental data.
For example, the wheel tables of data of blowing out shows that the position of blowing out of the wheel of the vehicle is bend exterior measuring, it is described to blow out
Wheel data is unsatisfactory for preset interior measuring wheel and blows out condition, judges that the outer measuring wheel of the bend of the wheel is blown out, and according to the ring
Border data execute outer measuring wheel control operation.
The outboard wheel control operation includes the following steps：
Driver's operating function is closed, into intelligent driving pattern, wherein can provide and carry into the intelligent driving pattern
Show information；
Obtain the status data and the environmental data, wherein the status data includes current vehicle speed, the environment
Data include bend length, radius and vehicle-periphery, to determine wheeled region；
The steering module 1422 control turn to, the brake module 1421 calculate braking moment, gradually lower speed with
It keeps vehicle body stable and completes to brake.
In one embodiment, the tyre explosion safety control system 1 of the intelligent vehicle further includes：
Measurement module 15, the measurement module 15 are used to obtain wheel measurement data, and according to the vehicle measurement data
Generate the wheel data of blowing out of the vehicle.
Specifically, the wheel measurement data may include wheel pressure data, the wheel measurement data can also wrap
Include wheel pressure data, wheel center of gravity data and temperature parameter data.
In another embodiment, the tyre explosion safety control system 1 of the intelligent vehicle can not include measurement module 15, institute
It includes wheel measurement data to state vehicle status data, is realized with this and obtains wheel measurement data to obtain the wheel number of blowing out of vehicle
According to.
Referring to Fig. 3, the present invention also proposes a kind of tyre-bursting security control method 100 of intelligent vehicle, include the following steps：
S10 obtains the status data and environmental data of vehicle；
S20, judges whether the status data meets preset condition of blowing out；
In the present embodiment, the status data includes the steering data of automatically controlled steering, and the preset condition of blowing out is institute
The steering data for stating automatically controlled steering are more than preset normal range (NR), and the discrimination module of blowing out is specifically used for：
When the steering data of the automatically controlled steering are more than preset normal range (NR), judge that the vehicle is in and blow out
State, and obtain the wheel data of blowing out of the vehicle.
Specifically, the normal range (NR) can be the normal range (NR) of the steering angle of automatically controlled steering, the normal model
Enclose or the automatically controlled steering suffered by torsion normal range (NR).
It is appreciated that in other embodiments, status data can also include tyre pressure sensor data, preset item of blowing out
Part is that tyre pressure sensor data are 0 or are less than preset value.It is further preferred that the status data can also include automatically controlled turn
To the steering data, tyre pressure sensor data and temperature sensor data of system, preset condition of blowing out is the automatically controlled steering
The steering data of system are more than preset normal range (NR), and tyre pressure sensor data are imputed with temperature sensor data according to pre-
The associated value of method is less than another preset value.
S30, when the status data meet it is preset blow out condition when, obtain the wheel data of blowing out of the vehicle, and
Judge whether the status data meets the condition of preset straight-line travelling；
Specifically, the status data can also include the central axes in central axes and the track of the vehicle away from
From；The condition of the straight-line travelling can be that the distance between the central axes of the vehicle and the central axes in the track are more than
Equal to 0 and it is less than or equal to X1 meters.
The status data can also include the angle of the central axes and the central axes in the track of the vehicle；It is described straight
The condition of line traveling may be that the angle of the central axes of the vehicle and the axle line is more than or equal to 0 and is less than or equal to X2
Degree.
In the present embodiment, it can be used to measure the axis of the central axes and the track of the vehicle by imaging sensor
The distance between line can be used to measure the angle of the central axes and the axle line of the vehicle by angular transducer.
S40, when the status data meets the condition of preset straight-line travelling, blow out wheel data, institute according to described in
It states status data and the environmental data and executes the first control operation, to ensure row that the vehicle is under straight travel state
Sail safety；
S41 judges that the vehicle is in bend row when the status data is unsatisfactory for the condition of preset straight-line travelling
State is sailed, blow out according to described in wheel data, the status data and the environmental data execute the second control operation, to ensure
The vehicle is in the driving safety under negotiation of bends state.
The tyre-bursting security control method 100 of intelligent vehicle proposed by the present invention, by the status data and ring that obtain vehicle
Border data；Judge whether the status data meets preset condition of blowing out；So as to accurately identify driver whether by
Take disk by force.When the status data meet it is preset blow out condition when, judge that the vehicle is in runflat condition, and obtain the vehicle
Wheel data of blowing out；Judge whether the status data meets the condition of preset straight-line travelling；When the status data
When meeting the condition of preset straight-line travelling, judge that the vehicle is in straight travel state, wheel data of blowing out according to described in
And the environmental data executes the first control operation, to ensure driving safety that the vehicle is under straight travel state；When
When the status data is unsatisfactory for the condition of preset straight-line travelling, judge that the vehicle is in negotiation of bends state, according to institute
Blow out wheel data and environmental data execution the second control operation are stated, to ensure that the vehicle is in negotiation of bends state
Under driving safety, to according to the situation of blowing out under different transport conditions, formulate corresponding control operation, to ensure vehicle
Driving safety.Further, contribute to the follow-up further position according to wheel of blowing out, formulate corresponding control operation.
Referring to Fig. 4, in the present embodiment, the step S40 is specifically included：
S401, when the status data meets the condition of preset straight-line travelling, wheel data of blowing out described in judgement is
It is no to meet preset driving wheel and blow out condition；
Specifically, the position of blowing out of wheel of the wheel data of blowing out for indicating the vehicle, for example, wheel is quick-fried
The position of foetus is set to " before left front, right ".The driving wheel condition of blowing out is the position phase of the blow out position and the driving wheel of wheel of wheel
Together.
S402, when the wheel data of blowing out meet preset driving wheel blow out condition when, according to the status data and
The environmental data executes driving wheel control operation；
For example, the wheel tables of data of blowing out shows that the position of blowing out of the wheel of the vehicle is left front, the drive of the wheel
Before the position of driving wheel is left front and right；The position of the wheel of blowing out is identical as the position of the driving wheel of the wheel, judges institute
The driving wheel for stating wheel is blown out, and executes driving wheel control operation according to the environmental data；
The driving wheel control operation specifically comprises the following steps：
Driver's operating function is closed, into intelligent driving pattern, wherein can provide and carry into the intelligent driving pattern
Show information；
The steering indicating light for opening wheel opposite side of blowing out, obtains the status data and the environmental data, wherein described
Status data further includes current vehicle speed, and the environmental data includes the road surface feelings in surrounding vehicles situation and default range
Condition；
For example, when blowing out, it is smaller with front vehicles spacing, and next wanted steering direction without other vehicles and is to go up a slope
Road conditions can control vehicle steering angle larger, and the opposite religion of indicating brake action is small and can be by going up a slope come assisted deceleration；If following road
Condition is descending, and control vehicle braking dynamics is relatively large, reduces causality loss.
The vehicle, which is controlled, according to the status data and the environmental data turns corresponding angle to wheel opposite side of blowing out
Degree；
The braking moment is calculated, the brake for controlling the vehicle exports corresponding braking moment to reduce speed.
To brake by course changing control and repeatedly, realize and turn to and braking cooperates, not only can guarantee vehicle body stabilization but also
Avoid surrounding vehicles.
S403, when the wheel data of blowing out be unsatisfactory for preset driving wheel blow out condition when, judge the non-of the wheel
Driving wheel is blown out, and executes non-driving wheel control operation.
For example, after the wheel tables of data of blowing out shows that the position of blowing out of the wheel of the vehicle is right, the drive of the wheel
Before the position of driving wheel is left front and right；
The position and the position of the driving wheel of the wheel of the wheel of blowing out differ, and judge the driving wheel of the wheel
It blows out, and executes non-driving wheel control operation；
The non-driving wheel control operation specifically comprises the following steps：
Driver's operating function is closed, into intelligent driving pattern, wherein can provide and carry into the intelligent driving pattern
Show information；
Open double flashing lights；
Keep normal steering angle constant；
The brake force is calculated, the brake for controlling the vehicle exports corresponding braking moment reduction speed.
Referring to Fig. 5, the step S41 is specifically included：
S411 judges that the vehicle is in bend when the status data is unsatisfactory for the condition of preset straight-line travelling
Transport condition, and whether wheel data of blowing out described in judging meets preset interior measuring wheel and blows out condition；
Specifically, the interior measuring wheel condition of blowing out is, position and the preset wheel of the wheel of blowing out are blown out position phase
Together, and preset wheel blows out position to be surveyed in bend.
S412, when the wheel data of blowing out meet preset interior measuring wheel blow out condition when, according to the status data and
The environmental data executes interior measuring wheel control operation；
For example, the wheel tables of data of blowing out shows that the position of blowing out of the wheel of the vehicle is to be surveyed in bend, it is described to blow out
Wheel data meets preset interior measuring wheel and blows out condition, judges that measuring wheel is blown out in the bend of the wheel, and according to the environment
Data execute interior measuring wheel control operation.
The interior measuring wheel control operation specifically comprises the following steps：
Driver's operating function is closed, into intelligent driving pattern, wherein can provide and carry into the intelligent driving pattern
Show information；
The steering indicating light on the outside of bend is opened, obtains the status data and the environmental data, wherein the status data
Further include current vehicle speed, the environmental data includes the surface conditions in surrounding vehicles situation and default range；
The vehicle is controlled to turn corresponding angle on the outside of bend according to the environmental data；
The braking moment is calculated, the brake for controlling the vehicle exports corresponding braking moment gradually to lower vehicle
Speed.
To brake by course changing control and repeatedly, realize and turn to and braking cooperates, not only can guarantee vehicle body stabilization but also
Avoid surrounding vehicles.
S413, when the wheel data of blowing out be unsatisfactory for preset interior measuring wheel blow out condition when, judge the curved of the wheel
Road outboard wheel is blown out, and executes outboard wheel control operation according to the environmental data.
For example, the wheel tables of data of blowing out shows that the position of blowing out of the wheel of the vehicle is bend exterior measuring, it is described to blow out
Wheel data be unsatisfactory for preset interior measuring wheel blow out condition when, judge that the outer measuring wheel of the bend of the wheel is blown out, and according to described
Environmental data executes outer measuring wheel control operation.
The outboard wheel control operation includes the following steps：
Driver's operating function is closed, into intelligent driving pattern, wherein can provide and carry into the intelligent driving pattern
Show information；
Obtain the status data and the environmental data, wherein the status data includes current vehicle speed, the environment
Data include bend length, radius and vehicle-periphery, to determine wheeled region；
Control turns to, and calculates braking moment, gradually lowers speed to keep vehicle body stable and complete to brake.
Referring to Fig. 5, the tyre-bursting security control method 100 of the intelligent vehicle based on first embodiment provided by the invention,
Before the step S30, the tyre-bursting security control method 200 of the intelligent vehicle of the offer of the present embodiment further includes step：
S50 obtains wheel measurement data, and the wheel number of blowing out of the vehicle is generated according to the vehicle measurement data
According to.
Specifically, the wheel measurement data may include wheel pressure data, the wheel measurement data can also wrap
Include wheel pressure data, wheel center of gravity data and temperature parameter data.
In the present embodiment, step S50 is based between step S10 and step S20.
It is appreciated that in other embodiments, the tyre-bursting security control method 200 of the intelligent vehicle can not include step
Rapid S70, the vehicle status data may include wheel measurement data, are realized with this and obtain wheel measurement data to obtain vehicle
Wheel data of blowing out.
The present invention also provides the tyre explosion safety control systems of a kind of intelligent vehicle, including the intelligent vehicle.This implementation
In example, therefore all technical features of specific above-described embodiment of tyre explosion safety control system in the intelligent vehicle has upper
Whole technique effects of embodiment are stated, this is no longer going to repeat them.In the description of this specification, " one implements reference term
The description of example ", " another embodiment ", " other embodiment " or " first embodiment~X embodiment " etc. means to combine the implementation
Example or example particular features, structures, materials, or characteristics described are included at least one embodiment or example of the invention.
In the present specification, schematic expression of the above terms may not refer to the same embodiment or example.Moreover, description
Specific features, structure, material, method and step or feature can be in any one or more of the embodiments or examples with suitable
Mode combine.
It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements include not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
There is also other identical elements in the process of element, method, article or device.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
By the description of above embodiment, those skilled in the art can be understood that above-described embodiment method
The mode of required general hardware platform can be added to realize by software, naturally it is also possible to by hardware, but in many cases before
Person is more preferably embodiment.Based on this understanding, technical scheme of the present invention substantially makes tribute to the prior art in other words
The part offered can be expressed in the form of software products, which is stored in a storage medium (such as
ROM/RAM, magnetic disc, CD) in, including some instructions are used so that a station terminal (can be mobile phone, computer, server, sky
Adjust device or the network equipment etc.) execute method described in each embodiment of the present invention.
The foregoing is merely the preferred embodiment of the present invention, are not intended to limit the scope of the invention, every at this
Under the design of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/it is used in it indirectly
His relevant technical field is included in the scope of patent protection of the present invention.
Claims (14)
1. a kind of tyre-bursting security control method of intelligent vehicle, which is characterized in that include the following steps：
Obtain the status data and environmental data of vehicle；
Judge whether the status data meets preset condition of blowing out；
When the status data meet it is preset blow out condition when, obtain the wheel data of blowing out of the vehicle, and described in judging
Whether status data meets the condition of preset straight-line travelling；
When the status data meets the condition of preset straight-line travelling, blow out according to described in wheel data, the status number
According to and the environmental data execute the first control operation, to ensure driving safety that the vehicle is under straight travel state；
When the status data is unsatisfactory for the condition of preset straight-line travelling, judge that the vehicle is in negotiation of bends state,
Blow out according to described in wheel data, the status data and the environmental data executes the second control operation, to ensure the vehicle
Driving safety under the negotiation of bends state.
2. the tyre-bursting security control method of intelligent vehicle as described in claim 1, which is characterized in that the status data includes
The steering data of automatically controlled steering, the preset condition of blowing out are that the steering data of the automatically controlled steering are more than preset
Normal range (NR), it is described when the status data meet it is preset blow out condition when, obtain the wheel data of blowing out of the vehicle, and
The step of whether status data meets the condition of preset straight-line travelling judged, is specifically included：
When the steering data of the automatically controlled steering are more than preset normal range (NR), the wheel number of blowing out of the vehicle is obtained
According to；
Judge whether the status data meets the condition of preset straight-line travelling.
3. the tyre-bursting security control method of intelligent vehicle as described in claim 1, which is characterized in that described to work as the status number
When according to the condition for meeting preset straight-line travelling, blow out according to described in wheel data, the status data and the environmental data
The first control operation is executed, the step of to ensure driving safety that the vehicle is under straight travel state, is specifically included：
When the status data meets the condition of preset straight-line travelling, it is default whether wheel data of blowing out described in judgement meets
Driving wheel blow out condition；
When the wheel data of blowing out meet preset driving wheel blow out condition when, according to the status data and the environment number
It is operated according to driving wheel control is executed；
When the wheel data of blowing out be unsatisfactory for preset driving wheel blow out condition when, judge that the non-driving wheel of the wheel is quick-fried
Tire, and execute non-driving wheel control operation.
4. the tyre-bursting security control method of intelligent vehicle as claimed in claim 3, which is characterized in that the driving wheel control behaviour
Work includes the following steps：
Driver's operating function is closed, into intelligent driving pattern；
The steering indicating light for opening wheel opposite side of blowing out, obtains the status data and the environmental data, wherein the state
Data further include current vehicle speed, and the environmental data includes in Current ambient vehicle, barrier situation and default range
Surface conditions；
The vehicle, which is controlled, according to the status data and the environmental data turns corresponding angle to wheel opposite side of blowing out；
Braking moment needed for calculating, the brake for controlling the vehicle export corresponding braking moment gradually to lower speed.
5. the tyre-bursting security control method of intelligent vehicle as claimed in claim 3, which is characterized in that the non-driven control behaviour
Work includes the following steps：
Driver's operating function is closed, into intelligent driving pattern；
Open double flashing lights；
Keep the normal steering angle of the vehicle constant；
The brake force is calculated, the brake for controlling the vehicle exports corresponding braking moment to reduce speed.
6. the tyre-bursting security control method of intelligent vehicle as claimed in claim 3, which is characterized in that described to work as the status number
When according to the condition for being unsatisfactory for preset straight-line travelling, judge that the vehicle is in negotiation of bends state, wheel of blowing out according to described in
Data, the status data and the environmental data execute the second control operation, to ensure that the vehicle is in negotiation of bends shape
It the step of driving safety under state, specifically includes：
When the status data is unsatisfactory for the condition of preset straight-line travelling, judge that the vehicle is in negotiation of bends state,
And whether wheel data of blowing out described in judging meets preset interior measuring wheel and blows out condition；
When the wheel data of blowing out meet preset interior measuring wheel blow out condition when, according to the status data and the environment number
According to measuring wheel control operation in execution；
When the wheel data of blowing out be unsatisfactory for preset interior measuring wheel blow out condition when, judge that the bend outboard wheel of the wheel is quick-fried
Tire, and execute outboard wheel control operation according to the status data and the environmental data.
7. the tyre-bursting security control method of intelligent vehicle as claimed in claim 6, which is characterized in that the interior measuring wheel control behaviour
Work includes the following steps：
Driver's operating function is closed, into intelligent driving pattern；
The steering indicating light on the outside of bend is opened, obtains the status data and the environmental data, wherein the status data also wraps
Current vehicle speed is included, the environmental data includes the surface conditions in Current ambient vehicle, barrier situation and default range；
The vehicle is controlled to turn corresponding angle on the outside of bend according to the status data and the environmental data；
Braking moment needed for calculating, the brake for controlling the vehicle export corresponding braking moment gradually to lower speed.
8. the tyre-bursting security control method of the intelligent vehicle as described in any one of claim 1-7, which is characterized in that described to work as
The status data meet it is preset blow out condition when obtain the wheel data of blowing out of the vehicle, and judge the status data
Before the step of whether meeting the condition of preset straight-line travelling, the tyre-bursting security control method of the intelligent vehicle also wraps
It includes：
Wheel measurement data is obtained, and generates the wheel data of blowing out of the vehicle according to the vehicle measurement data.
9. a kind of tyre explosion safety control system of intelligent vehicle, which is characterized in that including：
Detection module, the detection module are used to obtain the status data and environmental data of vehicle；
Blow out and condition judgment module, it is described blow out it is default for judging whether the status data meets with condition judgment module
Condition of blowing out；
When the status data meet it is preset blow out condition when, described blow out obtains the quick-fried of the vehicle with condition judgment module
Tire wheel data, and judge whether the status data meets the condition of preset straight-line travelling；
Driving control module, when the status data meets the condition of preset straight-line travelling, the Driving control module is used
Analyzing processing is carried out in blow out according to described in wheel data, the status data and the environmental data and controls the first control of execution
System operation, to ensure driving safety that the vehicle is under straight travel state；
When the status data is unsatisfactory for the condition of preset straight-line travelling, it is described blow out with condition judgment module judge described in
Vehicle is in negotiation of bends state, and the Driving control module is additionally operable to blow out according to described in wheel data, the status data
And the environmental data carries out analyzing processing and controls execution the second control operation, to ensure that the vehicle is in negotiation of bends shape
Driving safety under state.
10. the tyre explosion safety control system of intelligent vehicle as claimed in claim 9, which is characterized in that the vehicle-state number
According to the steering data including automatically controlled steering, the preset condition of blowing out is that the steering data of the automatically controlled steering are more than
Preset normal range (NR), described blow out are specifically used for condition discrimination module：
When the steering data of the automatically controlled steering are more than preset normal range (NR), the wheel number of blowing out of the vehicle is obtained
According to；
Judge whether the status data meets the condition of preset straight-line travelling.
11. the tyre explosion safety control system of intelligent vehicle as claimed in claim 10, which is characterized in that the Driving control mould
Block includes the first judgment module, control module and execution module, when the status data meets the condition of preset straight-line travelling
When, first judgment module is blown out condition for judging whether the wheel data of blowing out meets preset driving wheel；
When the wheel data of blowing out meet preset driving wheel blow out condition when, the control module is according to the status data
And the environmental data carries out processing analysis, and control instruction is sent, the execution module executes drive according to the control instruction
Driving wheel control operation；
When the wheel data of blowing out be unsatisfactory for preset driving wheel blow out condition when, first judgment module judges the vehicle
The non-driving wheel of wheel is blown out, and the control module carries out processing analysis according to the status data and the environmental data, concurrently
Control instruction, the execution module is sent to execute driving wheel control operation according to the control instruction；
Wherein, the driving wheel control operation includes the following steps：
Driver's operating function is closed, into intelligent driving pattern；
The steering indicating light for opening wheel opposite side of blowing out, obtains the status data and the environmental data, wherein the state
Data further include current vehicle speed, and the environmental data includes in Current ambient vehicle, barrier situation and default range
Surface conditions；
The vehicle, which is controlled, according to the status data and the environmental data turns corresponding angle to wheel opposite side of blowing out；
Braking moment needed for calculating, the brake for controlling the vehicle export corresponding braking moment gradually to lower speed；
The non-driven control operation includes the following steps：
Driver's operating function is closed, into intelligent driving pattern；
Open double flashing lights；
Keep the normal steering angle of the vehicle constant；
The brake force is calculated, the brake for controlling the vehicle exports corresponding braking moment to reduce speed.
12. the tyre explosion safety control system of intelligent vehicle as claimed in claim 9, which is characterized in that the Driving control mould
Block further includes the second judgment module, described to blow out and shape when the status data is unsatisfactory for the condition of preset straight-line travelling
Morphotype block judges that the vehicle is in negotiation of bends state, and second judgment module is for judging the wheel data of blowing out
It is no to meet preset interior measuring wheel and blow out condition；
When the wheel data of blowing out meet preset interior measuring wheel blow out condition when, the execution module is according to the status data
And the environmental data executes interior measuring wheel control operation；
When the wheel data of blowing out be unsatisfactory for preset interior measuring wheel blow out condition when, second judgment module judges the vehicle
The bend outboard wheel of wheel is blown out, and the execution module executes outboard wheel control behaviour according to the status data and the environmental data
Make；
Wherein, the interior measuring wheel control operation includes the following steps：
Driver's operating function is closed, into intelligent driving pattern；
The steering indicating light on the outside of bend is opened, obtains the status data and the environmental data, wherein the status data also wraps
Current vehicle speed is included, the environmental data includes the surface conditions in Current ambient vehicle, barrier situation and default range；
The vehicle is controlled to turn corresponding angle on the outside of bend according to the status data and the environmental data；
Braking moment needed for calculating, the brake for controlling the vehicle export corresponding braking moment gradually to lower speed.
13. the tyre explosion safety control system of the intelligent vehicle as described in claim 9-12, which is characterized in that the intelligence is driven
The tyre explosion safety control system sailed further includes：
Measurement module, the measurement module are used to obtain wheel measurement data, and according to described in vehicle measurement data generation
The wheel data of blowing out of vehicle.
14. a kind of intelligent vehicle, which is characterized in that include blowing out for the intelligent vehicle as described in any one of claim 9-13
Safety control system.
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| CN201810154435.XA CN108357500B (en) | 2018-02-23 | 2018-02-23 | Intelligent vehicle, and tire burst safety control method and system of intelligent vehicle |
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| CN201810154435.XA CN108357500B (en) | 2018-02-23 | 2018-02-23 | Intelligent vehicle, and tire burst safety control method and system of intelligent vehicle |
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| CN108357500B (en) | 2020-05-05 |
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