CN112026918A - Vehicle control method and device and computer readable storage medium - Google Patents
Vehicle control method and device and computer readable storage medium Download PDFInfo
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- CN112026918A CN112026918A CN202010778368.6A CN202010778368A CN112026918A CN 112026918 A CN112026918 A CN 112026918A CN 202010778368 A CN202010778368 A CN 202010778368A CN 112026918 A CN112026918 A CN 112026918A
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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Abstract
The application discloses a vehicle control method and device and a computer readable storage medium, which are used for solving the problem of low safety of a flat-tire vehicle. The scheme provided by the application comprises the following steps: acquiring state parameters of a vehicle, wherein the state parameters comprise parameters representing the driving state of the vehicle; judging whether the vehicle has a wheel tire burst according to the state parameters; and when judging that the vehicle has a wheel tire burst, setting the maximum rotatable angle of the steering wheel of the vehicle as an angle threshold value according to the state parameter, wherein the angle threshold value is smaller than the maximum rotatable angle of the steering wheel when the vehicle normally runs. According to the scheme of the embodiment of the application, when the vehicle is detected to have a tire burst, the rotatable angle of the steering wheel is limited, so that the driving direction of the vehicle is stabilized, and the driving safety of the vehicle is improved.
Description
Technical Field
The present application relates to the field of vehicle safety technologies, and in particular, to a vehicle control method and apparatus, and a computer-readable storage medium.
Background
There are various main factors of traffic accidents on the expressway, most of which are caused by burst of tires when vehicles run at high speed. Often causing significant loss of life and property. Data show that of the tire-generated traffic accidents that occur on the motorways in china, 70% are due to a flat tire, while in the united states this proportion is higher by 80%. When a tire burst occurs in a vehicle, the traveling direction of the vehicle tends to change. In the case where the vehicle speed is fast, it is often difficult for the driver to stably manipulate the traveling direction of the vehicle.
How to improve the security of flat tire vehicle is the technical problem that this application will solve.
Disclosure of Invention
An embodiment of the application aims to provide a vehicle control method and device and a computer readable storage medium, which are used for solving the problem of low safety of a flat-tire vehicle.
In a first aspect, a vehicle control method is provided, including:
acquiring state parameters of a vehicle, wherein the state parameters comprise parameters representing the driving state of the vehicle;
judging whether the vehicle has a wheel tire burst according to the state parameters;
and when judging that the vehicle has a wheel tire burst, setting the maximum rotatable angle of the steering wheel of the vehicle as an angle threshold value according to the state parameter, wherein the angle threshold value is smaller than the maximum rotatable angle of the steering wheel when the vehicle normally runs.
In a second aspect, there is provided a vehicle control apparatus comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring state parameters of a vehicle, and the state parameters comprise parameters representing the driving state of the vehicle;
the judging module is used for judging whether the vehicle has a wheel tire burst according to the state parameters;
and the control module is used for setting the maximum rotatable angle of the steering wheel of the vehicle as an angle threshold value according to the state parameter when judging that the vehicle has the tire burst, wherein the angle threshold value is smaller than the maximum rotatable angle of the steering wheel when the vehicle normally runs.
In a third aspect, a vehicle control device is provided, comprising a processor and a processor electrically connected to the memory, the memory storing a computer program executable on the processor, the computer program, when executed by the processor, implementing the method steps according to the first aspect.
In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the method steps of the first aspect.
In the embodiment of the application, by acquiring the state parameters of a vehicle, the state parameters comprise parameters representing the running state of the vehicle; judging whether the vehicle has a wheel tire burst according to the state parameters; and when judging that the vehicle has a wheel tire burst, setting the maximum rotatable angle of the steering wheel of the vehicle as an angle threshold value according to the state parameter, wherein the angle threshold value is smaller than the maximum rotatable angle of the steering wheel when the vehicle normally runs. After the tire burst happens, the driver can be prevented from making stress large-angle steering wheel steering due to the tire burst through limiting the maximum rotatable angle of the steering wheel, so that the sudden change of the running direction of the vehicle is avoided, the vehicle is guaranteed to stably run along the direction before the tire burst, and the running safety of the vehicle is effectively improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is one of the flow diagrams of a vehicle control method according to an embodiment of the present application;
FIG. 2 is a second schematic flow chart of a vehicle control method according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a vehicle control apparatus according to an embodiment of the present application;
FIG. 4 is a third schematic flow chart diagram of a vehicle control method in accordance with an embodiment of the present application;
FIG. 5 is a fourth flowchart of a vehicle control method according to an embodiment of the present application;
FIG. 6 is a fifth flowchart illustrating a vehicle control method according to an embodiment of the present application;
FIG. 7 is a sixth schematic flow chart of a vehicle control method in accordance with an embodiment of the subject application;
FIG. 8 is a seventh schematic flow chart diagram of a vehicle control method in accordance with an embodiment of the subject application;
FIG. 9 is an eighth schematic flow chart diagram illustrating a vehicle control method in accordance with an embodiment of the subject application;
fig. 10 is a schematic configuration diagram of a vehicle control device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. The reference numbers in the present application are only used for distinguishing the steps in the scheme and are not used for limiting the execution sequence of the steps, and the specific execution sequence is described in the specification.
In order to solve the problems in the prior art, an embodiment of the present application provides a vehicle control method, as shown in fig. 1, including the following steps:
s11: acquiring state parameters of a vehicle, wherein the state parameters comprise parameters representing the driving state of the vehicle;
s12: judging whether the vehicle has a wheel tire burst according to the state parameters;
s13: and when judging that the vehicle has a wheel tire burst, setting the maximum rotatable angle of the steering wheel of the vehicle as an angle threshold value according to the state parameter, wherein the angle threshold value is smaller than the maximum rotatable angle of the steering wheel when the vehicle normally runs.
Based on the solutions provided in the foregoing embodiments, optionally, in step S11, the state parameter of the vehicle may include at least one of the following state parameters:
the steering wheel rotation angle, the steering wheel torque, the vehicle speed, the brake pedal position, the master cylinder pressure, the lateral acceleration, the yaw rate, and the tire pressure of each wheel.
In step S11, the acquired state parameters of the vehicle include parameters representing the driving state of the vehicle, and specifically may include operating state parameters of various components during the driving of the vehicle, and these parameters may be detected and acquired by sensors and other devices.
In step S12, it is determined whether there is a tire burst on the vehicle based on the state parameters. The state parameters can represent the running state of the vehicle, and when the tire burst occurs, the state parameters of the vehicle are changed due to the tire burst, so that whether the tire burst occurs in the vehicle can be timely and accurately known by detecting the state parameters of the vehicle.
Subsequently, in step S13, when it is determined that there is a wheel burst in the vehicle, the maximum rotatable angle of the steering wheel of the vehicle is set to an angle threshold value that is smaller than the maximum rotatable angle of the steering wheel when the vehicle is normally running, in accordance with the state parameter.
In the embodiment of the application, by acquiring the state parameters of a vehicle, the state parameters comprise parameters representing the running state of the vehicle; judging whether the vehicle has a wheel tire burst according to the state parameters; and when judging that the vehicle has a wheel tire burst, setting the maximum rotatable angle of the steering wheel of the vehicle as an angle threshold value according to the state parameter, wherein the angle threshold value is smaller than the maximum rotatable angle of the steering wheel when the vehicle normally runs. After the tire burst happens, the driver can be prevented from making stress large-angle steering wheel steering due to the tire burst through limiting the maximum rotatable angle of the steering wheel, so that the sudden change of the running direction of the vehicle is avoided, the vehicle is guaranteed to stably run along the direction before the tire burst, and the running safety of the vehicle is effectively improved.
Based on the solution provided in the foregoing embodiment, optionally, the state parameter includes a rotation angle of a steering wheel, and the step S13, which sets the maximum rotatable angle of the steering wheel of the vehicle as an angle threshold according to the state parameter, as shown in fig. 2, includes:
s21: generating configuration information for instructing to control to reduce the steering assist of the steering wheel of the vehicle to limit the maximum rotatable angle of the steering wheel of the vehicle when the rotation angle of the steering wheel acquired in real time is equal to the angle threshold.
For convenience of explanation, the present embodiment will be described below by taking a four-wheel automobile as an example. Fig. 3 is a schematic structural diagram of a vehicle control device for executing the vehicle control method according to an embodiment of the present application, where the vehicle includes a front left wheel 10FL, a front right wheel 10FR, a rear left wheel 10RL, and a rear right wheel 10 RR. The left front wheel 10FL and the right front wheel 10FR are steered wheels, and are steered by the electric power steering apparatus 30 via the rack 32 and the tie rods 33L and 33R. The electric power steering apparatus 30 is driven in response to rotation of the steering wheel 20 operated by the driver. The vehicle speed sensor 52 may be used to detect the vehicle speed, among other things. The yaw-rate sensor 53 can be used to detect the lateral acceleration and the yaw-rate. The front left wheel speed sensor 61FL, the front right wheel speed sensor 61FR, the rear left wheel speed sensor 61RL, and the rear right wheel speed sensor 61RR are used to detect the wheel speeds of the four wheels, respectively. The tire pressure sensors 51FL, 51FR, 51RL, 51RR are used to detect the tire pressures (shown as 51FL to 51RR in fig. 3) of the four wheels, respectively. The steering wheel 21 is connected to the mechanical rotation shaft 24, and the electronic steering control module 40 controls the electric power steering apparatus 30 by sending an electronic signal, the electric power steering apparatus 30 including a torque motor 31 for assisting a steering operation, a rack bar 32, and tie rods 33L and 33R, the tie rod 33L being connected to the left front wheel, and the tie rod 33R being connected to the right front wheel. The torque motor 31 is mounted on the steering gear housing and receives a control signal input from the electronic steering control module 40. During normal driving, the torque motor 31 in the electric power steering apparatus 30 provides steering assist force during steering by the driver rotating the steering wheel, so that the driver can easily rotate the steering wheel with a small force, thereby steering the steered wheels through the rack 32 and the tie rods 33L and 33R.
The configuration information generated in the above step S21 is used to instruct control to reduce the steering assist force of the steering wheel of the vehicle when the rotation angle of the steering wheel acquired in real time is equal to the angle threshold. Specifically, the normal steering assist force may be provided in a case where the rotation angle of the steering wheel is within a first rotation angle range smaller than the angle threshold value. When the rotation angle of the steering wheel exceeds the first rotation angle range but does not exceed the angle threshold, the steering assist force is reduced so as to be smaller than the normal steering assist force. Under the condition that the rotating angle of the steering wheel reaches an angle threshold value, no steering assistance is provided or resistance in the direction opposite to the steering direction of the steering wheel is provided, so that the driver is prevented from rotating at a large angle, and the maximum rotatable angle of the steering wheel is effectively limited within the angle threshold value.
Based on the solution provided by the above embodiment, optionally, as shown in fig. 4, the step S13, which is executed above, of setting the maximum rotatable angle of the steering wheel of the vehicle as the angle threshold according to the state parameter includes:
s31: determining the position of the tire burst wheel according to the state parameters;
s32: and determining the angle threshold according to the position of the flat tire wheel, wherein the angle threshold comprises a first angle threshold on one side of the flat tire wheel and a second angle threshold on the opposite side of the flat tire wheel, and the second angle threshold is larger than the first angle threshold.
Specifically, assuming that the right front wheel 10FR is punctured, the electronic tire burst safety control module 50 may determine that the vehicle is punctured according to one or more of the detected tire pressure, wheel speed, steering wheel rotation angle, steering wheel torque, yaw rate, lateral acceleration, and other state parameters, so as to determine the location of the punctured wheel. When it is determined that the right front wheel 10FR is flat, a flat signal including the tire position of the flat tire may be sent by the electronic flat safety control module 50 to the electronic steering control module 40 to instruct the electronic steering control module 40 to generate a steering control signal for setting the maximum rotatable angle of the steering wheel of the vehicle as the angle threshold.
After determining the position of the tire burst wheel, the electronic steering control module 40 generates a steering control signal according to one or more of state parameters such as vehicle speed, the position of the tire burst wheel, yaw rate, lateral acceleration, and the like, wherein the steering control signal is used for controlling the magnitude of steering assistance provided by the torque motor 31 in the electric power steering device 30 so as to limit the rotatable angle of the steering wheel, avoid the driver from making an angle-hitting steering action by stress operation, and ensure that the driving direction of the vehicle is stable. In generating the steering control signal, the control signal may be generated in combination with information such as a wheel size and a rim size, in addition to the state parameter of the vehicle.
For example, when the punctured wheel is the right front wheel of the vehicle, the vehicle may be inclined to the right side, and if the driver does not perform steering, the traveling direction of the vehicle may be shifted to the right side based on the original traveling direction. When a tire burst occurs, the vehicle often suddenly jolts under the impact force of the tire burst, and simultaneously makes a loud sound. Under the condition that the vehicle deviates rightwards and goes forward after the tire burst, a driver is often frightened by the tire burst and rotates the steering wheel to the left greatly, so that the vehicle can collide with a left obstacle or other vehicles, and even unstably turn over.
In the solution provided in the embodiment of the present application, the electronic steering control module 40 may generate a steering control signal according to the state parameter and the position of the punctured wheel, so as to limit the maximum rotatable angle of the steering wheel of the vehicle. The steering control signal can limit the maximum rotatable angle of the steering wheel of the vehicle by controlling the vehicle to reduce the steering power steering to the opposite side of the tire burst wheel, so that the phenomenon that the driver turns the steering wheel to the right by a large margin to cause vehicle instability when the left side of the vehicle has tire burst is avoided. For example, when a tire burst occurs on the left side of the vehicle, the punctured wheel is the left side of the vehicle, and the opposite side of the punctured wheel is the right side of the vehicle, the determined angle thresholds include a first angle threshold at which the steering wheel can be rotated to the left and a second angle threshold at which the steering wheel can be rotated to the right. Wherein the first angle threshold is a maximum angle by which the steering wheel can be rotated to the left, and the second angle threshold is a maximum angle by which the steering wheel can be rotated to the right, wherein the second angle threshold is greater than the first angle threshold.
Through the scheme that above-mentioned embodiment provided, can take place the biggest rotatable angle of restriction steering wheel after the tire burst at the vehicle, through setting up the second angle threshold value that relatively great and the first angle threshold value that relatively less, can allow the driver to turn the steering wheel to the relative side of tire burst wheel after the tire burst, the control vehicle is gone along the straight line as far as possible, improves the vehicle driving stability after the tire burst. Meanwhile, the phenomenon that the vehicle is over-steered to the side with the flat tire due to misoperation of a driver is avoided, and the risk that the flat tire vehicle collides with an adjacent obstacle is reduced.
In addition, the tire burst wheel may be a steering wheel or a non-steering wheel, and the vehicle offset angle when the tire burst occurs on the steering wheel is larger than the vehicle offset angle when the tire burst occurs on the non-steering wheel, so that the magnitude of the angle threshold value can be determined according to whether the tire burst wheel is the steering wheel when the steering control signal is generated, and the magnitude of the steering assist force can be further controlled, so that the rotatable angle of the steering wheel of the vehicle can be limited.
For example, when a steered wheel is punctured, the rotatable angle of the steering wheel of the vehicle is restricted to be rotated 30 ° to the right, i.e., the steering wheel is rotated 30 ° at the maximum to the left and rotated 30 ° at the maximum to the right. The steering control signal generated by the embodiment of the application is used for controlling the vehicle to provide the steering power when the rotating angle of the steering wheel does not exceed the angle threshold, and the steering power is not provided or the resistance opposite to the rotating direction of the steering wheel is provided when the rotating angle of the steering wheel reaches the angle threshold, so that the steering wheel is difficult to rotate, and the rotating angle of the steering wheel is prevented from exceeding the angle threshold.
When the non-steered wheels are punctured, since the angle at which the vehicle is offset when the non-steered wheels are punctured is smaller than the angle at which the vehicle is offset when the steered wheels are punctured, the angle threshold value that restricts the steering wheel of the vehicle may be larger than the above angle threshold value that restricts the steered wheels from being punctured, for example, the rotatable angle of the steering wheel of the vehicle is restricted to 45 ° to the right.
It should be noted that "rotating the steering wheel to the left" in the embodiments of the present application means that the driver rotates the steering wheel in the counterclockwise direction, and "rotating the steering wheel to the right" means that the driver rotates the steering wheel in the clockwise direction.
Optionally, the steering control signal may adjust the magnitude of the steering assist according to a rotation angle of the steering wheel detected in real time. For example, assuming that a tire burst occurs in the steered wheel, the steering wheel rotatable angle threshold is set to be 30 ° rotated to the left to 30 ° rotated to the right. Then, the steering control signal controls the vehicle to provide 100% steering assist when the steering wheel is rotated within 10 ° to the left or right. When the steering wheel rotates between 10 degrees and 20 degrees leftwards or rightwards, the steering control signal controls the vehicle to provide 60 percent of steering assistance. When the steering wheel rotates between 20 degrees and 30 degrees leftwards or rightwards, the steering control signal controls the vehicle to provide 20 percent of steering assistance. When the steering wheel rotates 30 degrees to the left or the right, the steering control signal controls the vehicle not to provide the steering power or to provide the steering power in the opposite direction, thereby effectively limiting the rotatable angle of the steering wheel.
According to the technical scheme provided by the embodiment, the steering control signal can be used for controlling the steering power provided by the vehicle, the driver controls the steering wheel to rotate within the range of the rotatable angle of the steering wheel, the driving direction of the vehicle can be adjusted by a small amplitude, the large-angle turning of the vehicle is avoided, and the stable driving of the vehicle is ensured. When the vehicle has a tire burst, the rotatable angle of the steering wheel is controlled by controlling the steering power, so that the condition that the vehicle collides or is unstable with an adjacent obstacle due to the fact that a driver rotates the steering wheel by a large margin is avoided. The driving direction of the vehicle is ensured to be changed only within a small angle range after the tire burst, and the driving stability of the vehicle is ensured.
Based on the solution provided in the foregoing embodiment, optionally, the state parameter of the vehicle includes a vehicle speed, as shown in fig. 5, and the step S13, which sets the maximum rotatable angle of the steering wheel of the vehicle as the angle threshold according to the state parameter, includes the following steps:
s41: and determining the angle threshold according to the vehicle speed, wherein the size of the angle threshold is in negative correlation with the vehicle speed.
In practical application, a vehicle with a faster speed is more likely to have a traffic accident than a vehicle with a slower speed, and the accident is more serious. Once an obstacle to be avoided appears, a vehicle driver with a faster vehicle speed often does not have sufficient time to perform the avoidance, and even if the driver performs the avoidance quickly, rollover may occur due to vehicle inertia and the like. According to the scheme provided by the embodiment of the application, the rotatable angle threshold of the steering wheel is determined according to the vehicle speed and the position of the tire burst wheel, and the size of the angle threshold is in negative correlation with the vehicle speed. That is, the larger the vehicle speed, the smaller the rotatable angle range of the steering wheel of the vehicle after the occurrence of a tire burst.
For example, when a left front tire burst occurs in a vehicle having a vehicle speed of 60km/h, the rotatable angle range of the steering wheel may be, for example, 40 ° to 70 ° to the left. When a left front tire burst occurs in a vehicle having a vehicle speed of 120km/h, the steering wheel rotatable angle range may be, for example, 20 ° to 35 ° to the left. In comparison, a vehicle steering wheel with a vehicle speed of 60km/h is rotatable by a total angle of 110 DEG to the left and right, and a vehicle steering wheel with a vehicle speed of 120km/h is rotatable by a total angle of 55 DEG to the left and right, i.e., the greater the vehicle speed, the smaller the range of the rotatable angle of the steering wheel.
Through the scheme provided by the embodiment of the application, the rotatable angle threshold value of the steering wheel can be determined according to the vehicle speed, the angle threshold value of the steering wheel of the tire burst vehicle is reduced when the vehicle speed is fast, the vehicle is prevented from suddenly steering to turn over when running at a high speed, and the running stability of the vehicle is improved.
Based on the solution provided in the foregoing embodiment, optionally, the state parameters further include a yaw rate and a lateral acceleration, as shown in fig. 6, and the step S41 of determining the angle threshold according to the vehicle speed includes the following steps:
s51: and determining the angle threshold value according to the vehicle speed, the yaw rate and the lateral acceleration.
At different vehicle speeds, the same wheel blows out causing the vehicle to deflect at different angles. According to the scheme provided by the embodiment of the application, the running state of the vehicle when the tire burst occurs can be determined according to the vehicle speed, the yaw rate and the lateral acceleration, and the result that the running state of the vehicle is influenced by the tire burst and changed can be inferred according to the positions of the tire burst wheels and the running state of the vehicle when the tire burst occurs. The angle threshold value is determined based on the parameters, and then the steering control signal is generated, so that the control on the vehicle running state can be realized by controlling the rotation angle of the steering wheel, the influence of tire burst on the vehicle running state is reduced, and the vehicle runs in the running state before tire burst.
For example, when a front left wheel is punctured, the side where the punctured wheel is located is the left side. The total angle by which the steering wheel is rotatable to the left and right can be determined, for example, 110 ° depending on the vehicle speed. The driving state of the vehicle can be determined from the yaw rate and the lateral acceleration, for example, whether the vehicle is driving straight or is turning a curve, and if the vehicle is turning a curve, the camber of the curve can be estimated from the yaw rate and the lateral acceleration, and the angle threshold of the steering wheel can be adjusted according to the camber of the curve. In addition, when determining the angle threshold, the angle threshold may be generated in combination with information such as a wheel size and a rim size, in addition to the state parameter of the vehicle.
In this example, since the side on which the flat tire wheel is located is the left side, the extreme value of the angle at which the steering wheel can be rotated leftward is determined to be a first extreme value, for example, 40 °, the extreme value of the angle at which the steering wheel can be rotated rightward is determined to be a second extreme value, for example, 70 °, and the determined second extreme value is greater than the first extreme value. I.e., the determined rotatable angle ranges from 40 deg. rotation to 70 deg. rotation to the left.
In addition, if it is determined that the vehicle is turning to the right based on the yaw rate and the lateral acceleration, the rotatable angle range may also be adjusted based on the estimated curve angle, for example, the rotatable angle range is determined to be 30 ° rotated to 80 ° rotated to the left.
After the steering control signal is generated, the electric power steering apparatus 30 may be precisely controlled by the electronic steering control module 40 to provide the steering assist according to the rotatable angle range of the steering wheel, thereby limiting the rotatable angle of the steering wheel. According to the scheme provided by the embodiment of the application, the rotatable angle range can be determined by combining the vehicle speed, the yaw velocity and the lateral acceleration, so that the determined rotatable angle range of the steering wheel meets the driving requirement of the tire burst vehicle, the driving stability of the vehicle is improved, and the side turning of the vehicle caused by sudden large-angle turning is reduced.
Based on the solution provided in the above embodiment, optionally, after setting the maximum rotatable angle of the steering wheel of the vehicle as an angle threshold according to the state parameter, the following steps may be further performed:
and when the speed of the vehicle is lower than the preset safe speed, adjusting the maximum rotatable angle of the steering wheel of the vehicle to the maximum rotatable angle of the steering wheel when the vehicle normally runs.
After the tire burst, the vehicle performs deceleration movement under the control of the driver, when the vehicle speed is reduced to be within the preset safe vehicle speed, the control of the electronic steering control module 60 on the rotatable angle of the steering wheel can be cancelled, and the rotatable angle range of the steering wheel of the tire burst vehicle is recovered to the rotatable angle range of the steering wheel when the vehicle normally runs from the angle threshold value, so that the driver can control the vehicle to run to a safe area, the probability of traffic accidents is reduced, and the overall safety of the vehicle is improved.
The angle threshold in the scheme provided by the embodiment can be preset according to actual requirements, and can also be generated according to the actual conditions of the vehicle.
Based on the solution provided in the foregoing embodiment, optionally, as shown in fig. 7, when the state parameter indicates that there is a tire burst in the vehicle, the method further includes the following steps:
s61: and generating a matched braking control signal according to the state parameter, wherein the braking control signal is used for reducing the braking force of the wheel of the shaft where the tire burst wheel is located.
Referring to FIG. 3, the electronic brake control module 60 may be configured to generate a brake control signal based on a received flat tire signal including a tire location of the flat tire. Specifically, the electronic brake control module 60 may calculate the line pressures P based on the brake pedal positiontiControlling the braking force F of each wheeliThe braking force is in direct proportion to the braking pressure within a certain braking pressure range. When the right front wheel is punctured, the wheel of the axle where the right front wheel is located is the left front wheel and the right front wheel, the pressure of the brake pipelines of the left front wheel and the right front wheel can be reduced to 0, and the pressure of the brake pipelines of the rear wheel can be increased, so that the speed of the vehicle is reduced, and the risk of accidents is reduced.
After the steering control signal is generated according to the above scheme of the embodiment of the present application, the electronic steering control module 40 reduces the steering assistance for steering to the opposite side of the punctured tire wheel according to the steering control signal, so as to limit the rotatable angle of the steering wheel, and the electronic braking control module 60 can perform braking control on the vehicle according to the braking control signal, so as to control the vehicle to run from both steering and braking, thereby improving the overall stability and safety of the punctured tire vehicle, and reducing the probability of accidents.
In the embodiment of the application, the state parameter of the vehicle is detected, and the state parameter is used for representing the running state of the vehicle; when the state parameters indicate that a tire burst exists in the vehicle, determining the position of the tire burst wheel according to the state parameters; generating a matched control signal according to the state parameter and the position of the flat tire wheel, wherein the steering control signal is used for controlling the vehicle to reduce the steering power assistance for steering to the opposite side of the flat tire wheel so as to limit the rotatable angle of a steering wheel of the vehicle, and the braking control signal is used for reducing the braking force of a wheel on a shaft where the flat tire wheel is located; and controlling the vehicle to execute corresponding actions according to the steering control signal and the braking control signal, finding out the tire burst condition of the wheel in time according to the state parameters of the vehicle, determining the position of the tire burst wheel, further avoiding the vehicle instability by limiting the rotation angle of the steering wheel and reducing the braking force of the wheel on the shaft of the tire burst wheel according to the position of the tire burst wheel, and improving the running stability of the vehicle in the aspects of running direction and braking force.
Based on the solution provided by the above embodiment, optionally, as shown in fig. 8, generating a matched braking control signal according to the state parameter includes the following steps:
s71: determining whether the flat tire wheel is a steering wheel according to the state parameter;
s72: when the tire burst wheel is a steering wheel, generating a first brake control signal for controlling the braking force of the steering wheel, and/or generating a second brake control signal for controlling a non-steering wheel, wherein the first brake control signal is used for controlling the braking force of the steering wheel to be smaller than a preset braking force, and the second brake control signal is used for controlling the braking force of the non-steering wheel to be larger than the preset braking force.
When the steering wheel has a tire burst, if the braking force of each wheel is increased, wheels except for the tire burst wheels can actually play a role in decelerating the vehicle, so that the left side and the right side of the vehicle are unbalanced to cause instability, and traffic accidents are easily caused.
In the scheme provided by the embodiment of the application, when the tire burst wheel is the steering wheel, the first brake control signal with smaller brake force is generated to reduce the brake force of the steering wheel, so that the friction force of the steering wheel without tire burst and the friction force of the steering wheel without tire burst are close to each other, the tire burst side and the tire burst side of the vehicle are balanced, and the vehicle instability is avoided.
In addition, a second brake control signal with larger brake force can be generated to improve the brake force of the non-steering wheel, so that the vehicle can be effectively decelerated to a safe vehicle speed as soon as possible, and the negative influence on the vehicle caused by the inconsistency of the friction force of the tire burst steering wheel and the tire non-burst steering wheel is reduced.
Based on the solution provided in the foregoing embodiment, optionally, the second brake control signal is further used for controlling the acceleration value of the vehicle within a preset acceleration interval.
According to the scheme provided by the embodiment of the application, the steering assisting power of the vehicle is controlled by generating the signal, so that the rotatable angle of the steering wheel of the vehicle is controlled, the condition that the vehicle suddenly turns due to the fact that the driver greatly rotates the steering wheel after the tire burst of the vehicle is avoided, the running direction of the vehicle after the tire burst is close to the running direction before the tire burst is achieved, and therefore the risk that the vehicle collides with the adjacent lane vehicle or the vehicle turns on one side is reduced. On this basis, this application embodiment controls the acceleration value of going of vehicle through second braking control signal, makes the vehicle slow down in the interval scope of predetermineeing the acceleration, avoids too fast speed reduction and leads to the rear-end collision of back car. In a high-speed road section, the running speed of a vehicle is high, a rear vehicle is difficult to brake in time when a front vehicle suddenly stops, and a serious traffic accident is often caused by rear-end collision in the high-speed running process. The scheme that this application embodiment provided makes the vehicle slow down gradually through the acceleration value of second brake control signal control vehicle, and the back car of the vehicle of being convenient for explode can slow down or change the lane, reduces the traffic accident risk, improves the whole security of vehicle.
The scheme that this application embodiment provided avoids driver's dangerous operation through the mode of the steering wheel rotatable angle of restriction vehicle, keeps the vehicle can keep going stably, gives driver sufficient reaction time and processing time, and the driver can reduce the speed of a motor vehicle through the braking system who possesses the automobile body stable control system. After the vehicle speed reaches the safe vehicle speed, the rotatable angle of the steering wheel of the vehicle is restored to the rotatable angle of the normal running of the vehicle, and a driver can control the vehicle to run to a safe area after the vehicle speed is reduced to be below the safe vehicle speed, so that major traffic accidents and property loss are avoided.
Fig. 9 provides a flow chart of a vehicle control method, and in step S100, the electronic tire burst safety control module reads in a state parameter signal. In step S200, it is determined whether the steered wheel is flat or not, specifically, whether the left front wheel is flat or the right front wheel is flat, based on the read state parameter signal. If there is no tire burst on the steered wheel, the control is not performed, and if it is determined that there is a tire burst on the front left wheel or the front right wheel, the electronic tire burst safety control module instructs the Electronic Steering Control Module (ESCM) through the steering control signal and instructs the Electronic Brake Control Module (EBCM) through the brake control signal to perform a tire burst response in step S300. In step S400, the electronic steering control module generates a steering control signal and outputs the steering control signal to the electric power steering apparatus, and limits a rotatable angle of the steering wheel by controlling a magnitude of the steering assist; the specific range for limiting the rotatable angle of the steering wheel is determined based on one or more state parameters of vehicle speed, tire burst position, yaw rate, lateral acceleration, and the like. In step S500, the electronic brake control module adjusts the braking force of each wheel so that the braking force of the steered wheel is 0, and increases the braking force of the non-steered wheel, based on the detected position of the brake pedal. In step S600, it is determined whether the vehicle speed is lower than a safe vehicle speed, and if the vehicle speed is not lower than the safe vehicle speed, the electronic brake control module continuously brakes the vehicle through step S500; if the vehicle speed is lower than the safe vehicle speed, the electronic steering control module restores the limited steering wheel rotatable angle to the preset steering wheel rotatable angle so that the driver operates the vehicle to drive to a safe zone for parking. Optionally, the electronic brake control module exits the control of the vehicle brake only after the vehicle speed is 0.
In order to solve the problems in the prior art, as shown in fig. 10, an embodiment of the present application further provides a vehicle control device 90, including:
an obtaining module 91, configured to obtain a state parameter of a vehicle, where the state parameter includes a parameter representing a driving state of the vehicle;
the judging module 92 is used for judging whether the vehicle has a wheel tire burst according to the state parameters;
and the control module 93 is used for setting the maximum rotatable angle of the steering wheel of the vehicle as an angle threshold value according to the state parameter when judging that the vehicle has the tire burst, wherein the angle threshold value is smaller than the maximum rotatable angle of the steering wheel when the vehicle normally runs.
Optionally, the state parameters include:
at least one of a rotation angle of a steering wheel, a steering wheel torque, a vehicle speed, a brake pedal position, a master cylinder pressure, a lateral acceleration, a yaw rate, and a tire pressure of each wheel.
Optionally, the state parameter includes a rotation angle of a steering wheel, and the control module 93 is configured to:
generating configuration information for instructing to control to reduce the steering assist of the steering wheel of the vehicle to limit the maximum rotatable angle of the steering wheel of the vehicle when the rotation angle of the steering wheel acquired in real time is equal to the angle threshold.
Optionally, the control module 93 is configured to:
determining the position of the tire burst wheel according to the state parameters;
and determining the angle threshold according to the position of the flat tire wheel, wherein the angle threshold comprises a first angle threshold on one side of the flat tire wheel and a second angle threshold on the opposite side of the flat tire wheel, and the second angle threshold is larger than the first angle threshold.
Optionally, the state parameter includes a vehicle speed, and the control module 93 is configured to:
and determining the angle threshold according to the vehicle speed, wherein the size of the angle threshold is in negative correlation with the vehicle speed.
Optionally, the state parameters further include a yaw rate and a lateral acceleration, and the control module 93 is configured to:
and determining the angle threshold value according to the vehicle speed, the yaw rate and the lateral acceleration.
Optionally, when the state parameter indicates that there is a wheel flat in the vehicle, the control module 93 is further configured to:
and generating a matched braking control signal according to the state parameter, wherein the braking control signal is used for reducing the braking force of the wheel of the shaft where the tire burst wheel is located.
Optionally, the control module 93 is configured to:
determining whether the flat tire wheel is a steering wheel according to the state parameter;
when the tire burst wheel is a steering wheel, generating a first braking control signal for controlling the braking force of the steering wheel, and/or generating a second braking control signal for controlling a non-steering wheel, wherein the first braking control signal is used for controlling the braking force of the steering wheel to be smaller than a preset braking force, and the second braking control signal is used for controlling the braking force of the non-steering wheel to be larger than the preset braking force.
In the embodiment of the application, by acquiring the state parameters of a vehicle, the state parameters comprise parameters representing the running state of the vehicle; judging whether the vehicle has a wheel tire burst according to the state parameters; and when judging that the vehicle has a wheel tire burst, setting the maximum rotatable angle of the steering wheel of the vehicle as an angle threshold value according to the state parameter, wherein the angle threshold value is smaller than the maximum rotatable angle of the steering wheel when the vehicle normally runs. After the tire burst happens, the driver can be prevented from making stress large-angle steering wheel steering due to the tire burst through limiting the maximum rotatable angle of the steering wheel, so that the sudden change of the running direction of the vehicle is avoided, the vehicle is guaranteed to stably run along the direction before the tire burst, and the running safety of the vehicle is effectively improved.
Optionally, an embodiment of the present application further provides a vehicle control apparatus, a memory and a processor electrically connected to the memory, where the memory stores a computer program that can be run on the processor, and the computer program, when executed by the processor, implements each process of the above-mentioned vehicle control method embodiment, and can achieve the same technical effect, and is not described herein again to avoid repetition.
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the above-mentioned embodiment of the vehicle control method, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A vehicle control method characterized by comprising:
acquiring state parameters of a vehicle, wherein the state parameters comprise parameters representing the driving state of the vehicle;
judging whether the vehicle has a wheel tire burst according to the state parameters;
and when judging that the vehicle has a wheel tire burst, setting the maximum rotatable angle of the steering wheel of the vehicle as an angle threshold value according to the state parameter, wherein the angle threshold value is smaller than the maximum rotatable angle of the steering wheel when the vehicle normally runs.
2. The method of claim 1, wherein the state parameters comprise:
at least one of a rotation angle of a steering wheel, a steering wheel torque, a vehicle speed, a brake pedal position, a master cylinder pressure, a lateral acceleration, a yaw rate, and a tire pressure of each wheel.
3. The method of claim 2, wherein the status parameter comprises a rotation angle of a steering wheel, and wherein setting a maximum rotatable angle of the steering wheel of the vehicle to an angle threshold based on the status parameter comprises:
generating configuration information for instructing to control to reduce the steering assist of the steering wheel of the vehicle to limit the maximum rotatable angle of the steering wheel of the vehicle when the rotation angle of the steering wheel acquired in real time is equal to the angle threshold.
4. A method according to any of claims 1-3, wherein setting the maximum rotatable angle of the steering wheel of the vehicle as an angle threshold in dependence of the status parameter comprises:
determining the position of the tire burst wheel according to the state parameters;
and determining the angle threshold according to the position of the flat tire wheel, wherein the angle threshold comprises a first angle threshold on one side of the flat tire wheel and a second angle threshold on the opposite side of the flat tire wheel, and the second angle threshold is larger than the first angle threshold.
5. The method of any one of claims 1-3, wherein the status parameter comprises vehicle speed, and wherein setting the maximum rotatable angle of the steering wheel of the vehicle to an angle threshold based on the status parameter comprises:
and determining the angle threshold according to the vehicle speed, wherein the size of the angle threshold is in negative correlation with the vehicle speed.
6. The method of claim 5, wherein the state parameters further include yaw rate and lateral acceleration, and wherein determining the angular threshold based on the vehicle speed comprises:
and determining the angle threshold value according to the vehicle speed, the yaw rate and the lateral acceleration.
7. The method of claim 1, wherein when the status parameter indicates that there is a wheel flat in the vehicle, the method further comprises:
and generating a matched braking control signal according to the state parameter, wherein the braking control signal is used for reducing the braking force of the wheel of the shaft where the tire burst wheel is located.
8. The method of claim 7, wherein generating a matching brake control signal based on the state parameter comprises:
determining whether the flat tire wheel is a steering wheel according to the state parameter;
when the tire burst wheel is a steering wheel, generating a first braking control signal for controlling the braking force of the steering wheel, and/or generating a second braking control signal for controlling a non-steering wheel, wherein the first braking control signal is used for controlling the braking force of the steering wheel to be smaller than a preset braking force, and the second braking control signal is used for controlling the braking force of the non-steering wheel to be larger than the preset braking force.
9. A vehicle control apparatus characterized by comprising: a memory and a processor electrically connected to the memory, the memory storing a computer program executable on the processor, the computer program, when executed by the processor, implementing the steps of the method according to any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
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| CN202010778368.6A CN112026918A (en) | 2020-08-05 | 2020-08-05 | Vehicle control method and device and computer readable storage medium |
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Application publication date: 20201204 |