CN-117141245-B - Automatic vehicle getting rid of poverty control method, electronic equipment and storage medium

CN117141245BCN 117141245 BCN117141245 BCN 117141245BCN-117141245-B

Abstract

The application provides an automatic vehicle getting rid of poverty control method, electronic equipment and a storage medium. The method comprises the steps of collecting current gesture data of a vehicle through a gesture recognition system of the vehicle, detecting current trapped conditions of all wheels in the vehicle through a slip judgment system of the vehicle, determining preloaded axle load distribution of a front wheel motor and a rear wheel motor of the vehicle based on the current gesture data, determining a target control strategy corresponding to the current trapped conditions according to the pre-established corresponding relation between the trapped conditions and the control strategy, and controlling the wheel motors of the vehicle to operate according to the axle load distribution and the target control strategy. Therefore, corresponding target control strategies can be flexibly selected according to different trapped conditions, and then the vehicle is combined with the current gesture data of the vehicle to perform the escape control, so that the vehicle is facilitated to be flexibly escape in different trapped scenes.

Inventors

SU QIANG
NIE XIANGHONG
LIU YANG
PANG ZHI
HE HUAN

Assignees

重庆长安汽车股份有限公司

Dates

Publication Date: 20260508
Application Date: 20230830

Claims (11)

1. An automatic vehicle escape control method, comprising: collecting current posture data of the vehicle through a posture recognition system of the vehicle, and detecting current trapped conditions of all wheels in the vehicle through a slip judgment system of the vehicle; determining the preloaded axle load distribution of a front wheel motor and a rear wheel motor of the vehicle based on the current gesture data; determining a target control strategy corresponding to the current trapped condition according to a pre-established corresponding relation between the trapped condition and the control strategy; controlling the wheel motor of the vehicle to run according to the axle load distribution and the target control strategy; The determining the target control strategy corresponding to the current trapped condition according to the pre-established corresponding relation between the trapped condition and the control strategy comprises the following steps: When the current trapped condition indicates that the vehicle is trapped at four wheels, determining that the target control strategy is a sixth control strategy according to the corresponding relation; the controlling the wheel motor of the vehicle to run according to the axle load distribution and the target control strategy comprises the following steps: Requesting an exit torque limiting function from an ESP system of the vehicle when the target control strategy is a sixth control strategy; when the ESP system exits the torque limiting function, controlling all wheel motors of the vehicle to increase torque at an eleventh preset slope based on the axle load distribution; When the slip rate of any wheel in the vehicle exceeds a third preset threshold value and the speed of the vehicle does not exceed a second preset speed, controlling all wheel motors of the vehicle to increase torque with a twelfth preset slope, and controlling a braking system of the vehicle to brake the wheel with the maximum slip rate according to a preset application strategy; During the period of increasing the torque to the maximum torque by the twelfth preset slope, if the speed of the vehicle does not exceed the second preset speed, controlling the torque of all the wheel motors to be reduced to zero, and controlling all the wheel motors to increase the torque by a thirteenth preset slope, wherein the thirteenth preset slope is larger than the twelfth preset slope, and the twelfth preset slope is larger than the eleventh preset slope; During the period of increasing the torque to the maximum torque by the twelfth preset slope, if the speed of the vehicle exceeds the second preset speed, controlling all wheel motors to operate in a preset slip suppression self-adaptive mode; And when the vehicle speed exceeds a first preset vehicle speed, determining that the vehicle gets rid of the trapped vehicle is successful, wherein the first preset vehicle speed is larger than the second preset vehicle speed.
2. The method of claim 1, wherein the determining the target control strategy corresponding to the current trapped condition according to the pre-established correspondence between the trapped condition and the control strategy comprises: When the current trapped condition indicates that the vehicle is trapped in a single wheel, determining the target control strategy as a first control strategy according to the corresponding relation; When the current trapped condition indicates that the vehicle is trapped in the double wheels of the butt joint, determining the target control strategy as a second control strategy according to the corresponding relation; when the current trapped condition indicates that the vehicle is trapped in double wheels of an open circuit, determining that the target control strategy is a third control strategy according to the corresponding relation; when the current trapped condition indicates that the vehicle is trapped on a diagonal wheel, determining that the target control strategy is a fourth control strategy according to the corresponding relation; and when the current trapped condition indicates that the vehicle is trapped in three wheels, determining that the target control strategy is a fifth control strategy according to the corresponding relation.
3. The method of claim 2, wherein controlling wheel motor operation of the vehicle according to the axle load distribution and the target control strategy comprises: when the target control strategy is the first control strategy, controlling all wheel motors of the vehicle to increase torque with a first preset slope based on the axle load distribution; When the slip rate of the trapped wheels exceeds a first preset threshold, controlling a braking system of the vehicle to brake the trapped wheels according to a preset application strategy, wherein the preset application strategy comprises incrementally applying braking force; and when the speed of the vehicle exceeds a first preset speed, determining that the vehicle is successfully trapped.
4. The method of claim 2, wherein controlling wheel motor operation of the vehicle according to the axle load distribution and the target control strategy comprises: when the target control strategy is the second control strategy, controlling an un-trapped wheel motor of the vehicle to increase torque to maximum torque with a second preset slope based on the axle load distribution; If the speed of the vehicle does not exceed the first preset speed, controlling a trapped wheel motor of the vehicle to increase torque at a third preset slope; in the preset time period of increasing the torque by the third preset slope, if the vehicle speed is not continuously higher than the first preset vehicle speed, controlling a trapped wheel motor of the vehicle to increase the torque by a fourth preset slope, and controlling a braking system of the vehicle to brake trapped wheels according to a preset force application strategy; and when the vehicle speed exceeds a first preset vehicle speed, determining that the vehicle gets stuck successfully.
5. The method of claim 2, wherein controlling wheel motor operation of the vehicle according to the axle load distribution and the target control strategy comprises: When the target control strategy is the third control strategy, controlling all wheel motors of the vehicle to increase torque at a fifth preset slope based on the axle load distribution; When the vehicle has a slipping wheel, controlling a motor of the slipping wheel to increase torque at a sixth preset slope, and controlling a braking system of the vehicle to brake the slipping wheel according to a preset force application strategy; and when the speed of the vehicle exceeds a first preset speed, determining that the vehicle is successfully trapped.
6. The method of claim 2, wherein controlling wheel motor operation of the vehicle according to the axle load distribution and the target control strategy comprises: when the target control strategy is the fourth control strategy, controlling all wheel motors of the vehicle to increase torque at a seventh preset slope based on the axle load distribution; when the vehicle has slipping wheels and the speed of the vehicle does not exceed a first preset speed, controlling all wheel motors of the vehicle to increase torque to maximum torque at an eighth preset slope, and controlling a braking system of the vehicle to brake the slipping wheels according to a preset force application strategy; and when the speed of the vehicle exceeds the first preset speed, determining that the vehicle gets rid of poverty successfully.
7. The method of claim 2, wherein controlling wheel motor operation of the vehicle according to the axle load distribution and the target control strategy comprises: when the target control strategy is a fifth control strategy, controlling a wheel motor with a two-wheel slip shaft in the vehicle to increase torque at a ninth preset slope based on the axle load distribution; when the slip rate of the wheels corresponding to the double-wheel slip shaft exceeds a second preset threshold value, controlling a wheel motor which does not slip shaft in the vehicle to increase torque to maximum torque with a tenth preset slope, and controlling a braking system of the vehicle to brake the slip wheels according to a preset force application strategy; and when the speed of the vehicle exceeds a first preset speed, determining that the vehicle is successfully trapped.
8. The method of any of claims 1-7, wherein prior to collecting current pose data of the vehicle by a pose recognition system of the vehicle, the method further comprises: acquiring a data set of a power battery of the vehicle and a temperature value of a wheel motor of the vehicle; When the residual electric quantity in the data set is lower than the preset electric quantity, controlling a range extender of the vehicle to charge the power battery according to the preset charging power; When the battery temperature in the data set exceeds a first preset temperature, controlling a cooling system of the vehicle to cool the power battery; And when the temperature value of any wheel motor of the vehicle exceeds a second preset temperature, controlling the cooling system to cool the wheel motor with the temperature exceeding the second preset temperature.
9. The method of claim 8, wherein prior to collecting current pose data of the vehicle by a pose recognition system of the vehicle, the method further comprises: And when the temperature of the cooling liquid in the cooling system exceeds a third preset temperature, controlling the cooling system to operate at the maximum cooling power.
10. An electronic device comprising a processor and a memory coupled to each other, the memory storing a computer program that, when executed by the processor, causes the electronic device to perform the method of any of claims 1-9.
11. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program which, when run on a computer, causes the computer to perform the method according to any of claims 1-9.

Description

Automatic vehicle getting rid of poverty control method, electronic equipment and storage medium Technical Field The invention relates to the technical field of vehicle control, in particular to an automatic vehicle getting rid of poverty control method, electronic equipment and a storage medium. Background The new energy automobile battery can store more electric energy, and can continuously provide electric energy for consumers to perform outdoor activities, so that more and more consumers utilize new energy automobile types to perform outdoor camping activities. In camping scenes, users can pass through paved roads such as urban roads, high-speed roads and mountain roads, and non-paved roads such as gravel roads, grasslands, snowlands, mud, pits, creeks, sand beach and flat deserts, and different vehicle trapping scenes can occur along with the increase of the non-paved roads. At present, the automatic escape mode of the vehicle is single, for example, the rear wheel steering is utilized to increase the ground adhesion force to escape, and the vehicle cannot be controlled to escape flexibly in different escape scenes. Disclosure of Invention Therefore, an object of the embodiments of the present application is to provide a method for controlling an automatic escape of a vehicle, an electronic device and a storage medium, which can solve the problem that the vehicle cannot escape flexibly in different escape scenes. In order to achieve the technical purpose, the application adopts the following technical scheme: In a first aspect, an embodiment of the present application provides a method for controlling automatic escape of a vehicle, where the method includes: collecting current posture data of the vehicle through a posture recognition system of the vehicle, and detecting current trapped conditions of all wheels in the vehicle through a slip judgment system of the vehicle; determining the preloaded axle load distribution of a front wheel motor and a rear wheel motor of the vehicle based on the current gesture data; determining a target control strategy corresponding to the current trapped condition according to a pre-established corresponding relation between the trapped condition and the control strategy; And controlling the wheel motor of the vehicle to run according to the axle load distribution and the target control strategy. With reference to the first aspect, in some optional embodiments, determining, according to a pre-established correspondence between the trapped condition and the control policy, a target control policy corresponding to the current trapped condition includes: When the current trapped condition indicates that the vehicle is trapped in a single wheel, determining the target control strategy as a first control strategy according to the corresponding relation; When the current trapped condition indicates that the vehicle is trapped in the double wheels of the butt joint, determining the target control strategy as a second control strategy according to the corresponding relation; when the current trapped condition indicates that the vehicle is trapped in double wheels of an open circuit, determining that the target control strategy is a third control strategy according to the corresponding relation; when the current trapped condition indicates that the vehicle is trapped on a diagonal wheel, determining that the target control strategy is a fourth control strategy according to the corresponding relation; When the current trapped condition indicates that the vehicle is trapped in three wheels, determining that the target control strategy is a fifth control strategy according to the corresponding relation; and when the current trapped condition indicates that the vehicle is trapped at four wheels, determining that the target control strategy is a sixth control strategy according to the corresponding relation. With reference to the first aspect, in some optional embodiments, controlling the wheel motor operation of the vehicle according to the axle load distribution and the target control strategy includes: when the target control strategy is the first control strategy, controlling all wheel motors of the vehicle to increase torque with a first preset slope based on the axle load distribution; When the slip rate of the trapped wheels exceeds a first preset threshold, controlling a braking system of the vehicle to brake the trapped wheels according to a preset application strategy, wherein the preset application strategy comprises incrementally applying braking force; and when the speed of the vehicle exceeds a first preset speed, determining that the vehicle is successfully trapped. With reference to the first aspect, in some optional embodiments, controlling the wheel motor operation of the vehicle according to the axle load distribution and the target control strategy includes: when the target control strategy is the second control strategy, controlling an un-trapped wheel motor of t