Vehicle control method and vehicle controller for realizing pendulum type garage entering and exiting, and vehicle

Abstract

The invention provides a vehicle control method, a vehicle controller and a vehicle for vehicle pendulum type garage entering and exiting, and the method is used for controlling a braking system and a front-drive motor of the vehicle after a user starts a vehicle pendulum type garage entering and exiting function. The method comprises the steps of controlling a braking system to brake a left rear wheel of the vehicle and controlling a front-drive motor to drive two front wheels of the vehicle to reversely rotate to enable the vehicle to enter a garage in response to the situation that the angle of a user rotating a steering wheel of the vehicle rightwards is larger than a preset angle and the opening degree of the user operating an accelerator pedal of the vehicle is larger than a first preset opening degree. The method further comprises the steps of controlling a braking system to brake a right rear wheel of the vehicle and controlling a front-drive motor to drive two front wheels of the vehicle to rotate forwards so as to enable the vehicle to leave the garage in response to the situation that the angle of turning the steering wheel of the vehicle leftwards by the user is larger than a preset angle and the opening degree of operating an accelerator pedal of the vehicle by the user is larger than a first preset opening degree. By using the method, the parking distance of the vehicle can be effectively reduced while the dynamic state of the vehicle body is accurately controlled.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and in particular to a vehicle control method, a vehicle controller and a vehicle for realizing pendulum-style entry and exit. Background Art

[0002] The conventional process of parking in and out of a garage requires sufficient longitudinal and lateral distances. If the parking space is narrow or the longitudinal distance is too small, it will be very difficult for the vehicle to park smoothly. During conventional parking, the driver needs to repeatedly move the vehicle forward and backward and adjust the steering wheel to slowly park the vehicle in or out of the parking space. The operation is cumbersome and there is a risk of scratching the wind direction. Currently, it is proposed to lock the rear axle wheels through a mechanical differential lock, drive the front axle wheels to slide significantly, and turn the vehicle to a certain angle, thereby assisting parking in and out of the garage. However, in this process, it is difficult for the driver to accurately control the vehicle body dynamics and cannot fully utilize the parking distance. Summary of the invention

[0003] The present application provides a method, a vehicle controller and a vehicle for realizing pendulum-style entry and exit. The method can coordinate the control of the drive system and the braking system, accurately control the vehicle body dynamics, rotate the vehicle body to a certain angle according to the driver's requirements, assist in completing the entry and exit actions, and effectively reduce the parking distance.

[0004] In a first aspect, the present application provides a vehicle control method for implementing pendulum-style entry and exit, the vehicle control method is used to control the vehicle's brake system and front drive motor after the user activates the vehicle's pendulum-style entry and exit function, the vehicle control method includes controlling the brake system to brake the vehicle's left rear wheel and controlling the front drive motor to drive the vehicle's two front wheels to rotate in the opposite direction to allow the vehicle to enter the warehouse in response to the user turning the vehicle's steering wheel to the right at an angle greater than a preset angle and the user operating the vehicle's accelerator pedal opening greater than a first preset opening, so that the vehicle can enter the warehouse. The vehicle control method also includes controlling the brake system to brake the vehicle's right rear wheel and controlling the front drive motor to drive the vehicle's two front wheels to rotate forward to allow the vehicle to exit the warehouse in response to the user turning the vehicle's steering wheel to the left at an angle greater than a preset angle and the user operating the vehicle's accelerator pedal opening greater than a first preset opening.

[0005] When the user drives the vehicle in and out of the warehouse, after starting the vehicle's pendulum-style entry and exit function, the user can realize the vehicle's pendulum-style entry and exit functions by operating the vehicle's steering wheel and accelerator pedal.

[0006] First, the user needs to activate the vehicle's pendulum-style in-and-out function so that the vehicle works in the pendulum-style in-and-out mode. In one embodiment, the user clicks the vehicle pendulum-style in-and-out function button on the vehicle's central control screen to trigger the vehicle's pendulum-style in-and-out function. In one embodiment, after the vehicle is started and the vehicle is stationary, the user turns the steering wheel to the left or right by a greater than a preset angle and steps on the vehicle's brake pedal to a greater than a preset opening to trigger the vehicle's pendulum-style in-and-out function, and then the user releases the brake pedal and steps on the accelerator pedal to start the vehicle's pendulum-style in-and-out.

[0007] When the user turns the steering wheel of the vehicle to the right at an angle greater than a preset angle, the opening of the accelerator pedal operated by the user is greater than a first preset opening, and the vehicle is in reverse gear, the vehicle can be parked in a pendulum-like manner by controlling the braking system to brake the left rear wheel of the vehicle and controlling the front-drive motor to drive the two front wheels of the vehicle to rotate in the opposite direction. Correspondingly, under the action of the braking force and the friction of the ground, the left rear wheel will grip the ground and stop, thereby suppressing the longitudinal translation of the vehicle during the pendulum-like movement. Correspondingly, the user can also park the vehicle to the right by turning the steering wheel of the vehicle to the left at an angle greater than a preset angle and operating the accelerator pedal of the vehicle to an opening greater than a first preset opening.

[0008] Similar to the warehousing process, when the user turns the vehicle's steering wheel to the left at an angle greater than the preset angle, the opening of the accelerator pedal operated by the user is greater than the first preset opening and the vehicle is in the forward gear, the braking system is controlled to brake the right rear wheel of the vehicle and the front drive motor is controlled to drive the two front wheels of the vehicle to rotate forward to allow the vehicle to leave the warehouse.

[0009] It can be understood that the pendulum-type in-and-out storage method provided in the above embodiment only requires that the vehicle be equipped with an independent wheel-end braking device, and does not limit the specific type of the drive system. It only requires that the drive system be equipped with a front-drive motor. The vehicle control method has a wide range of applications and high practicality.

[0010] It can be understood that the other rear wheel of the vehicle can be in a free state, and the braking system can output braking force only to the rear wheel on the side opposite to the steering direction without outputting braking force to the other rear wheel, thereby reducing the wear of the braking device of the other rear wheel during the pendulum-like motion of the vehicle and extending its service life.

[0011] According to the scheme of the present application, after starting the vehicle's pendulum-style in-and-out parking function, the user can control the vehicle to perform pendulum-style movement by turning the steering wheel and operating the accelerator pedal. In addition, during the vehicle's pendulum-style movement, the vehicle control method provided by the present application controls the front drive motor to drive the two front wheels to rotate and controls the braking system to brake the rear wheels on the opposite side of the vehicle's steering direction, thereby suppressing the longitudinal translation of the vehicle and providing a stable yaw torque for the entire vehicle, thereby effectively reducing the parking distance of the vehicle while accurately controlling the vehicle body dynamics.

[0012] In combination with the first aspect, in one embodiment of the first aspect, during the process of the vehicle entering the warehouse or leaving the warehouse, the vehicle control method also includes first controlling the speed of the front-drive motor to increase from zero to greater than a first preset value, and then controlling the speed of the front-drive motor to decrease to equal to the first preset value.

[0013] The first preset value can be understood as a preset speed value that the front-drive motor needs to reach. When the front-drive motor increases its speed from zero, in order to shorten the power response time of the front-drive motor, it is necessary to control the front-drive motor to increase its speed to a maximum speed. When the front-drive motor needs to output torque according to power demand, in order to maintain stable yaw motion of the vehicle, it is necessary to control the front-drive motor to reduce its speed to a preset speed value.

[0014] According to the solution of the present application, by controlling the front-drive motor to rapidly increase its speed from zero, the front-drive motor can quickly reach a preset speed to drive the two front wheels to rotate, and the vehicle's pendulum-like motion has a rapid power response and strong controllability.

[0015] In combination with the first aspect, in one embodiment of the first aspect, controlling the front-wheel drive motor to drive the two front wheels of the vehicle to rotate in the opposite direction or controlling the front-wheel drive motor to drive the two front wheels of the vehicle to rotate forward specifically includes: first controlling the speed of the front-wheel drive motor to increase from zero to a second preset value according to a first speed change rate, and then controlling the speed of the front-wheel drive motor to decrease from the second preset value to equal to the first preset value according to the second speed change rate, and the first speed change rate is greater than the second speed change rate.

[0016] The second preset value is a maximum speed value supported by the front-drive motor. The present application increases the speed of the front-drive motor to the second preset value quickly, so that the dynamic response of the pendulum motion of the vehicle is faster to achieve the effect of ejection start. The first preset value is any speed value less than the second preset value. The present application reduces the speed of the front-drive motor from the second preset value to the first preset value, so as to limit the torque output by the front-drive motor to suppress the body roll when the vehicle starts the pendulum motion.

[0017] It can be understood that in order to shorten the time required for the motor speed to increase from zero to the second preset value, the motor speed needs to increase at a larger speed change rate, namely the first speed change rate, and in order to achieve accurate matching of the front drive motor with the user's required torque, the motor speed can be reduced at a smaller speed change rate, namely the second speed change rate.

[0018] According to the present application, when the vehicle starts to enter or exit the garage in a pendulum-like manner, the front drive motor is first controlled to increase the speed at a very large speed change rate to achieve the effect of a launch start, thereby shortening the time delay between the user's operation and the vehicle starting to move. Subsequently, the front drive motor is controlled to reduce the speed at a smaller speed change rate to achieve a smooth start effect, and the body posture can be stabilized when the vehicle starts to move in a pendulum-like manner, thereby improving the user's driving experience.

[0019] In combination with the first aspect, in one implementation of the first aspect, controlling the front-drive motor to drive the two front wheels of the vehicle to rotate in the opposite direction or controlling the front-drive motor to drive the two front wheels of the vehicle to rotate forward specifically includes: after the opening of the accelerator pedal is greater than or equal to the first preset opening, controlling the rotation speed of the front-drive motor to increase from zero to a second preset value in a first time period. In a second time period after the first time period, controlling the rotation speed of the front-drive motor to decrease to the first preset value. In a third time period after the second time period, controlling the rotation speed of the front-drive motor to remain at the first preset value. After the third time period, in response to the opening of the accelerator pedal being equal to zero, controlling the vehicle to exit the pendulum in-and-out storage function.

[0020] According to the present application, the user can control the speed of the front drive motor by the opening of the accelerator pedal, thereby controlling the enabling and disabling of the vehicle's pendulum-style entry and exit function, which is easy for the user to operate. In addition, the speed of the front drive motor is controlled accordingly at each stage of the vehicle's pendulum-style entry and exit process, and the control method is simple and reliable.

[0021] In combination with the first aspect, in one implementation of the first aspect, the length of the second time period is greater than the length of the first time period.

[0022] It can be understood that in order to ensure that the vehicle can launch during the pendulum motion, the front drive motor needs to increase the speed to the second preset value at the first speed change rate in a very short time. In addition, in order to ensure that the vehicle can start the pendulum motion stably and smoothly, the front drive motor can reduce the motor speed from the second preset value to the first preset value at the second speed change rate over a longer period of time. Therefore, the length of the second period needs to be greater than the length of the first period.

[0023] According to the embodiment of the present application, when the vehicle starts to pendulum in and out of the garage, the time required for the front drive motor to achieve smooth start can be longer than the time required for a launch start, making the vehicle's pendulum motion smoother, which is beneficial to further improving the user's driving experience.

[0024] In combination with the first aspect, in one implementation of the first aspect, the vehicle control method includes: in a third time period, when the opening of the accelerator pedal is greater than or equal to a first preset opening and less than a second preset opening, controlling the torque output by the front drive motor to increase linearly with the increase in the opening of the accelerator pedal. In the third time period, when the opening of the accelerator pedal is greater than or equal to the second preset opening, controlling the torque output by the front drive motor to be a fixed value.

[0025] The first preset opening can be understood as a minimum opening value. When the accelerator pedal opening is less than the first preset opening, it can be understood that the driver wants to start or stop the pendulum motion of the vehicle. Therefore, when the accelerator pedal opening is less than the first preset opening, the driving torque output by the front drive motor does not change with the change of the accelerator pedal opening, that is, the torque output by the front drive motor is zero.

[0026] The second preset opening can be understood as a larger opening value. When the opening of the accelerator pedal is greater than the second preset opening, it can be understood that the driving torque output by the front drive motor reaches the peak torque. Therefore, when the accelerator pedal opening is greater than the second preset opening, the driving torque output by the front drive motor does not change with the change of the accelerator pedal opening, but maintains the output peak torque.

[0027] It can be understood that when the accelerator pedal opening changes between the first preset opening and the second preset opening, the driving torque output by the front drive motor will increase as the accelerator pedal opening increases. The embodiment of the present application does not limit the functional relationship between the driving torque and the accelerator pedal opening. For example, the driving torque and the accelerator pedal opening are linearly related, that is, the driving torque output by the front drive motor will increase linearly as the accelerator pedal opening increases, until the driving torque reaches the peak torque when the accelerator pedal opening reaches the second preset opening.

[0028] According to the application scheme, the driver can adjust the driving force output by the front-drive motor by controlling the accelerator pedal opening, thereby controlling the pendulum-like motion speed of the vehicle, which has high safety and strong controllability.

[0029] In combination with the first aspect, in one implementation of the first aspect, the vehicle control method is also used to control the rear drive motor of the vehicle after the user starts the pendulum-type in-and-out function of the vehicle, and the vehicle control method further includes: during the process of the vehicle entering the warehouse, controlling the rear drive motor of the vehicle to drive the right rear wheel of the vehicle to rotate forward. During the process of the vehicle leaving the warehouse, controlling the rear drive motor of the vehicle to drive the left rear wheel of the vehicle to rotate in the opposite direction. The torque value output by the rear drive motor is less than the torque value output by the front drive motor, and the direction of the torque output by the rear drive motor is opposite to the direction of the torque output by the front drive motor.

[0030] Similarly, in other embodiments, the front drive motor can be controlled to drive the front axle wheels to rotate in the opposite direction and the rear drive motor can be controlled to drive the left rear wheel to rotate forward. When the vehicle is moving out of the garage to the right, the front drive motor can be controlled to drive the front axle wheels to rotate forward and the rear drive motor can be controlled to drive the right rear wheel to rotate in the opposite direction.

[0031] In other words, during the vehicle's pendulum-like entry and exit, the rear-drive motor will output a driving torque to one of the two rear wheels (i.e., the rear wheel on the same side as the steering direction) except the rear wheel to which the braking system 30 applies braking force, so that the wheel rotates in the direction opposite to the rotation direction of the two front wheels.

[0032] It can be understood that the sum of the driving force output by the rear-drive motor to one rear wheel, the braking force output by the brake system to the other rear wheel, and the friction force of the ground on the other wheel is balanced with the driving force output by the front-drive motor to the two front axle wheels, so the torque value output by the rear-drive motor must be less than the torque value output by the front-drive motor. In addition, when the driving torque output by the front-drive motor changes, the driving torque output by the rear-drive motor will also change accordingly, thereby ensuring the dynamic balance of the driving force and the braking force, and preventing the vehicle from longitudinal translation during pendulum motion.

[0033] According to the embodiment of the present application, the drive system can control the rear axle wheels and the front axle wheels to rotate in opposite directions, which can reduce the demand for braking force output by the braking system while ensuring grip and stationary state, and is more practical.

[0034] In combination with the first aspect, in one embodiment of the first aspect, the vehicle control method further includes: while the vehicle is entering or leaving the warehouse, controlling the torque output by the front drive motor to increase, while controlling the braking system to increase the braking force output to the right rear wheel.

[0035] It can be understood that since the braking force output by the braking system needs to be balanced with the driving force output by the front-wheel drive motor, the braking system needs to increase the braking force output to the left rear wheel or the right rear wheel accordingly while controlling the increase in the torque output by the front-wheel drive motor, thereby ensuring the dynamic balance of the driving force and the braking force and avoiding longitudinal translation of the vehicle.

[0036] It can be understood that while controlling the reduction of the torque output by the front-drive motor, the braking system can also be controlled to reduce the braking force output to the left rear wheel or the right rear wheel. This can reduce the workload of the braking system while maintaining the balance between the driving force and the braking force, which is beneficial to extending the service life of the brakes.

[0037] According to the scheme of the present application, during the pendulum-like motion of the vehicle, the braking force output by the braking system is controlled to change with the change of the torque output by the front drive motor, so as to achieve a dynamic balance between the driving force and the braking force, and further improve the safety and reliability of the vehicle's pendulum parking function.

[0038] In combination with the first aspect, in one embodiment of the first aspect, the control method includes: during the process of vehicle leaving or entering the warehouse, when the opening of the accelerator pedal decreases from greater than a first preset opening to less than the first preset opening, first control the two front wheels to stop rotating and then stop braking the right rear wheel or the left rear wheel.

[0039] It can be understood that the reduction of the accelerator pedal opening from a maximum to less than or equal to the first preset opening can be understood as the user terminating the pendulum-like motion of the vehicle. At this time, the front-drive motor will first stop outputting driving force to control the two front wheels to stop rotating, and then the braking system will stop outputting braking force to stop braking the left rear wheel or the right rear wheel, thereby ensuring that the vehicle will not undergo longitudinal and lateral translation when the pendulum-like motion stops, that is, the vehicle can maintain grip and stationary throughout the entire process of the pendulum-like motion, with high reliability.

[0040] According to the embodiment of the present application, when the vehicle stops its pendulum-like motion, the front-drive motor will first stop driving the two front wheels to rotate, and then the braking system will stop outputting braking force, so that the vehicle always remains gripped and stationary, with higher reliability.

[0041] In combination with the first aspect, in one implementation of the first aspect, the vehicle control method includes: when the slip rate of the front axle of the vehicle is greater than a first preset slip rate during the rotation of the two front wheels, controlling the torque output by the front drive motor to decrease. When the slip rate of the front axle of the vehicle is less than a second preset slip rate during the rotation of the two front wheels, controlling the torque output by the front drive motor to increase. The first preset slip rate is greater than the second preset slip rate.

[0042] It can be understood that the control system can calculate the actual slip rate of the one front wheel based on the wheel speed of the one front wheel, and when the difference between the actual slip rate of the one front wheel and the preset target slip rate is greater than a preset threshold, the driving torque output by the front drive motor is adjusted so that the actual slip rate of the front drive motor reaches the target slip rate. For example, when the slip rate of the front axle of the vehicle is greater than the first preset slip rate, the driving torque output by the front drive motor to the two front wheels is reduced so that the actual slip rate of the front axle is reduced to the target slip rate. For another example, when the slip rate of the front axle of the vehicle is less than the second preset slip rate, the driving torque output by the front drive motor to the two front wheels is increased so that the actual slip rate of the front axle is increased to the target slip rate.

[0043] The first preset slip ratio may be understood as the sum of a preset target slip ratio and a preset threshold, and the second preset slip ratio may be understood as the difference between the preset target slip ratio and the preset threshold, so the first preset slip ratio is greater than the second preset slip ratio.

[0044] According to the embodiment of the present application, during the process of the vehicle pendulum-like entering and exiting the garage, closed-loop control of the front wheel speed is achieved by adjusting the driving force output by the front drive motor to the front wheel, which can improve the utilization rate of the driving force output by the drive system and avoid wheel slippage and loss of control, further improving the stability and controllability of the vehicle's pendulum movement.

[0045] In combination with the first aspect, in one implementation of the first aspect, the vehicle entry and exit method also includes: during the vehicle exiting or entering the warehouse, when the change value of the steering wheel angle is greater than a preset angle change value or when the vehicle speed is greater than a preset speed threshold, controlling the two front wheels to stop rotating.

[0046] The preset angle change value can be understood as the maximum angle change value allowed to be adjusted when the vehicle enters and exits the garage in a pendulum-like manner. When the degree of the steering wheel angle adjusted by the user is greater than the preset angle change value, it can be understood that the user wants to stop the pendulum motion of the vehicle, and at this time, the two front wheels need to be controlled to stop rotating. Alternatively, when the angle change value of the steering wheel caused by the user's misoperation is greater than the preset angle change value, in order to ensure that the vehicle body posture is controllable, the two front wheels also need to be controlled to stop rotating.

[0047] According to an embodiment of the present application, during the process of the vehicle pendulum-like entering and exiting the warehouse, when the steering wheel angle change value is too large, the front drive motor will actively stop driving the two front wheels to stop rotating to stop the vehicle's pendulum-like motion, further improving the safety and reliability of the vehicle's pendulum-like entering and exiting the warehouse.

[0048] In combination with the first aspect, in one implementation of the first aspect, the user starts the vehicle's pendulum-style entry and exit function, including: the user turns the vehicle's steering wheel to the right or left at an angle greater than a preset angle and operates the vehicle's brake pedal to an opening greater than a preset opening.

[0049] According to the present application, the user does not need to operate the central control screen or press the activation button. The user only needs to turn the steering wheel beyond a certain angle and step on the brake pedal to start the vehicle's pendulum-style entry and exit function.

[0050] In combination with the first aspect, in one implementation of the first aspect, the user starts the vehicle pendulum-style in-and-out function including: the user clicks the vehicle pendulum-style in-and-out function button on the vehicle's central control screen. According to the present application, the user can activate the vehicle's pendulum-style in-and-out function through a shortcut button in the cockpit, which is easy to operate.

[0051] In a second aspect, the present application provides a vehicle controller that implements pendulum-style vehicle entry and exit, and the vehicle controller is used to execute a vehicle control method as described in any embodiment of the first aspect.

[0052] In a third aspect, the present application provides a vehicle, comprising a vehicle controller as in the second aspect.

[0053] As for the supplementary and technical effects of the solutions provided in the second and third aspects above, please refer to the corresponding description of the first aspect and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 is a schematic diagram of a vehicle 01 provided in an embodiment of the present application;

[0055] Figure 2 is a schematic diagram of the vehicle 01 architecture provided in an embodiment of the present application;

[0056] Figure 3 is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0057] Figure 4 is a schematic diagram of a user manually activating a pendulum parking function provided in an embodiment of the present application;

[0058] Figure 5 This is a schematic diagram of a scene of a vehicle 01 pendulum-style entry and exit from a warehouse provided in an embodiment of the present application;

[0059] Figure 6 This is a force diagram of the vehicle 01 during the left pendulum-like exit process provided in the embodiment of the present application;

[0060] Figure 7 This is a timing diagram of the pendulum-style entry and exit of vehicle 01 provided in the embodiment of the present application;

[0061] Figure 8 is a schematic diagram of a road surface adhesion coefficient and a target slip rate provided in an embodiment of the present application;

[0062] Fig. 9 This is another force diagram of the vehicle 01 during the pendulum-like motion provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0064] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or. For example, A / B can mean A or B. The “and / or” in this article is merely a way to describe the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0065] In the embodiments of the present application, prefixes such as "first" and "second" are used only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present application does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and no unnecessary limitation should be constituted due to the use of such prefixes. In addition, in the description of the present embodiment, unless otherwise specified, the meaning of "multiple" is two or more.

[0066] References to "some embodiments" and the like described in this specification mean that a particular feature, structure or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment" and the like that appear at different places in this specification do not necessarily all refer to the same embodiment, but rather mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0067] The conventional parking process of vehicles in and out of the warehouse requires sufficient longitudinal and lateral distances to be reserved. If the parking space is narrow or the longitudinal distance is too small, it will cause great difficulties in parking the vehicle. When the parking space is small, the driver needs to repeatedly move the vehicle forward and backward and adjust the steering wheel to slowly park the vehicle in or out of the parking space, which requires high driving skills from the driver. However, the conventional parking method requires a large parking distance. If the distance is insufficient, parking cannot be completed smoothly, or there is a risk of scratches. For vehicles parked sideways, it is difficult for the driver to complete the exit action through conventional driving methods when the longitudinal distance is too small.

[0068] In one solution, it is proposed to mechanically lock the rear axle wheels during the process of entering and exiting the parking space, and drive the front axle wheels to make them slide significantly, so that the vehicle is turned to a certain angle, thereby assisting parking in and out of the parking space. However, when the rear axle wheels are locked with a mechanical differential lock, it is difficult to accurately control the vehicle body dynamics, and the parking distance cannot be fully utilized.

[0069] In another solution, for vehicles with four-motor distributed drive, four drive motors are used to independently control the four wheels during the process of entering and exiting the garage, and drive torques in opposite directions are applied to the left and right wheels respectively, so that the vehicle rotates around its own center of mass, thereby assisting parking, exiting and entering the garage. However, this solution has too high requirements on the vehicle's drive configuration and has limited practicality.

[0070] In view of this, the embodiments of the present application provide a method, a vehicle controller and a vehicle for realizing pendulum-style entry and exit of vehicles. The vehicle body dynamics can be accurately controlled by coordinating the control of the drive system and the braking system, so that the vehicle body can rotate a certain angle according to the driver's needs, assist in completing the entry and exit actions, and effectively reduce the parking distance.

[0071] See also Figure 1 , Figure 1 A schematic diagram of a vehicle 01 provided in an embodiment of the present application. Figure 1 As shown, the vehicle 01 includes a drive system 10 and a power battery 20 connected to the drive system 10. The drive system 10 is used to drive the vehicle 01. The power battery 20 is used to provide electrical energy to the drive system 10. The drive system 10 is used to receive power from the power battery 20 and provide power to the vehicle 01. The vehicle 01 also includes a braking system 30, which is used to provide braking force to the vehicle 01 when the vehicle 01 is in a braking state. The drive system 10 can also be called a powertrain.

[0072] It can be understood that according to the position of the wheels in the vehicle 01, they can be divided into the left front wheel FL, the right front wheel FR, the left rear wheel BL, and the right rear wheel BR. According to the axle division, the left front wheel and the right front wheel are coaxial and connected by the front axle. The left rear wheel and the right rear wheel are coaxial and connected by the rear axle. According to the position division, the left front wheel and the left rear wheel are on the same side and located on the left side, and the right front wheel and the right rear wheel are on the same side and located on the right side. That is to say, among the four wheels of the vehicle 01, the left front wheel and the right front wheel are coaxial wheels with each other, and the left rear wheel and the right rear wheel are coaxial wheels with each other; the left front wheel and the left rear wheel are wheels on the same side, and the right front wheel and the right rear wheel are wheels on the same side.

[0073] It can be understood that the vehicle 01 in the embodiment of the present application can be any one of different types of vehicles such as a car, a truck, a passenger bus, etc., and can also be a transport device for carrying people or goods such as a tricycle, a two-wheeled vehicle, a train, or other types of vehicles driven by power batteries, and the embodiment of the present application does not limit this. Among them, the vehicle includes but is not limited to pure electric vehicles (pure electric vehicle / battery electric vehicle, pure EV / batteryEV), hybrid electric vehicles (hybrid electric vehicle, HEV), range extended electric vehicles (range extended electric vehicle, REEV), plug-in hybrid electric vehicles (plug-in hybrid electric vehicle, PHEV), new energy vehicles (new energy vehicle, NEV), etc.

[0074] It is understood that the specific type of the powertrain is not limited in the embodiments of the present application. As an example and not a limitation, the powertrain can be a centralized powertrain, a hub motor powertrain, or a wheel-side motor powertrain. Among them, the hub motor powertrain is to directly set the motor and the reducer in the wheel rim, eliminating the transmission components such as the half shaft, universal joint, differential, and transmission; the wheel-side motor powertrain is to set the motor on the subframe.

[0075] It is understood that the power battery 20 in the embodiment of the present application can be a lithium-ion battery, a lithium metal battery, a lead-acid battery, a nickel-cadmium battery, a nickel-hydrogen battery, a lithium-sulfur battery, a lithium-air battery or a sodium-ion battery, etc., and the present application does not limit this. In terms of scale, the power battery 20 in the embodiment of the present application can be a single cell, or a battery module or a battery pack, and the present application does not limit this. The power battery 20 can also power other electrical devices in the vehicle, such as the air conditioner in the vehicle, the car player, etc.

[0076] Figure 2 A schematic diagram of the vehicle 01 architecture provided in an embodiment of the present application is shown.

[0077] See also Figure 2 The vehicle 01 in (a) is a two-wheel drive vehicle. The drive system 10 includes a front-wheel drive motor 11 and a motor controller 12 . The brake system 30 includes a central controller 31 and four independent wheel-end brake devices 32 .

[0078] It can be understood that the front-drive motor 11 includes a stator winding and a rotor (not shown in the figure). The motor controller 12 can change the stator magnetic field strength and direction by adjusting the magnitude of the stator winding current and the phase of the three-phase current, thereby changing the interaction force between the stator and the rotor, that is, the motor torque. Among them, the motor controller 12 changes the phase of the three-phase current output to the front-drive motor 11, so that the rotor cuts the magnetic field generated by the stator winding, and the kinetic energy of the rotor is converted into electrical energy and input into the power battery. At this time, the front-drive motor 11 outputs a negative torque. At the same time, the motor controller 12 can also change the magnitude of the three-phase current output to the front-drive motor 11, thereby increasing or decreasing the positive torque or negative torque output by the front-drive motor 11. Among them, when the front-drive motor 11 outputs a positive torque, the wheels connected to the front-drive motor 11 rotate forward, so that the vehicle 01 obtains a speed of moving forward in the direction of the front of the vehicle or a tendency of moving forward in the direction of the front of the vehicle. When the front-drive motor 11 outputs negative torque, the wheels drivingly connected to the front-drive motor 11 rotate in the opposite direction, so that the vehicle 01 obtains a speed of moving backwards in the direction of the rear of the vehicle or a tendency of moving backwards in the direction of the rear of the vehicle.

[0079] It can be understood that each wheel-end brake device 32 is mainly composed of a brake controller, a brake pedal and a brake (not shown in the figure). Among them, the central controller 31 can generate a brake signal based on the stroke of the brake pedal, and output the brake signal to the brake controller of one or more wheel-end brake devices 32, and the brake can output a braking force to the corresponding wheel according to the indication of the brake signal, thereby preventing the wheel from rotating or preventing the tendency of the wheel to rotate. It can be understood that during the braking process of the vehicle 01, the greater the stroke of the brake pedal, the greater the braking force indicated by the brake signal, the greater the braking force output by the brake, and the faster the speed of the vehicle 01 decreases.

[0080] It can be understood that the brake in the braking system in the embodiment of the present application can be an electronic hydraulic brake (Electronic hydraulic brake, EHB) or an electronic mechanical brake (Electronic mechanical brake, EMB) or other types of brakes without limitation.

[0081] Continue to refer Figure 2 In (a), the vehicle 01 further includes a vehicle controller 40. The function of the vehicle controller 40 is described below in conjunction with the running state of the vehicle 01.

[0082] When the vehicle 01 is in a driving state, the front drive motor 11 in the drive system 10 is used to provide driving force for the vehicle 01. Specifically, when the vehicle 01 is in a driving state, the vehicle controller 40 calculates the torque demand of the vehicle according to the accelerator pedal movement state indicated by the accelerator pedal signal and outputs a torque signal to the motor controller 12. The motor controller 12 receives the electric energy from the power battery 20 and controls the front drive motor 11 to output the torque value indicated by the torque signal.

[0083] When the vehicle 01 is in a braking state, the drive system 10 stops driving the wheels to rotate, and the braking system 30 is used to provide braking force to the wheels so that the vehicle 01 reduces its speed under the action of the braking force. In the braking state of the vehicle 01, the front drive motor 11 in the vehicle 01 with energy recovery function can also be used to provide braking force for the vehicle 01. Specifically, when the vehicle 01 is in a braking state, the vehicle controller 40 receives a braking signal and sends an energy recovery instruction to the motor controller 12. The motor controller 12 controls the front drive motor 11 to operate in a power generation state in response to the energy recovery instruction. The front drive motor 11 converts the kinetic energy of the vehicle's wheels into electrical energy and outputs a counter torque to the wheels of the vehicle 01 to provide braking force to the vehicle 01.

[0084] It can be understood that the drive system 10, the brake system 30 and the vehicle controller 40 are communicatively connected via a CAN network, and the embodiments of the present application do not limit the specific communication connection method. For example, the motor controller in the drive system 10 and the vehicle controller 40 can communicate through a private CAN network, the central controller in the brake system 30 and the vehicle controller 40 can communicate through a public CAN network, and the central controller in the brake system 30 and the brake controller of each wheel end can communicate through another private CAN network. For another example, the vehicle controller 40 can communicate with the motor controller in the drive system 10 and the central controller in the brake system 30 through the same CAN network.

[0085] In one embodiment, the vehicle controller 40 can also obtain a driving mode signal through the CAN network, and the driving mode signal is used to indicate the current driving mode of the vehicle 01. For example, the driving mode may include one or more of a sports mode, a comfort mode, and an intelligent mode.

[0086] In one embodiment, the vehicle controller 40 can also obtain a vehicle gear signal through the CAN network, and the vehicle gear signal is used to indicate the current gear of the vehicle 01. For example, the gear may include a forward gear, a reverse gear, etc.

[0087] See also Figure 2 (b) Vehicle 01 is a four-wheel drive vehicle, and the drive system 10 includes a front drive motor 11 and a motor controller 12 for driving the front axle wheels, and a rear drive motor 13 and a motor controller 14 for driving the rear axle wheels. The magnitude and / or direction of the driving force output by the front drive motor 11 to the front axle wheels may be different from the magnitude and / or direction of the driving force output by the rear drive motor 13 to the rear axle wheels. Exemplarily, the front drive motor 11 and the rear drive motor 13 may respectively drive the front axle wheels and the rear axle wheels to rotate in opposite directions.

[0088] Understandably, Figure 2 The drive system 10 shown is only an example, and the drive system 10 may also include three drive motors, one of which is used to drive two coaxial wheels, and the other two motors are used to drive the other two coaxial wheels. Alternatively, the drive system 10 may also include four drive motors, each of which is used to drive one wheel.

[0089] It should be noted that the vehicle control method provided in the embodiment of the present application is used to control the vehicle's braking system and front drive motor after the user starts the vehicle's pendulum-style entry and exit function when the vehicle operation meets the vehicle's pendulum-style entry and exit operating conditions to achieve the vehicle's pendulum-style entry and exit.

[0090] Specifically, in one embodiment, the vehicle control method includes:

[0091] In response to the user turning the vehicle's steering wheel to the right to an angle greater than a preset angle and the user operating the vehicle's accelerator pedal to an opening greater than a first preset opening, the braking system is controlled to brake the vehicle's left rear wheel and the front drive motor is controlled to drive the vehicle's two front wheels to rotate in the opposite direction so that the vehicle can be parked.

[0092] In response to the user turning the vehicle's steering wheel to the left at an angle greater than a preset angle and the user operating the vehicle's accelerator pedal to an opening greater than a first preset opening, the braking system is controlled to brake the vehicle's right rear wheel and the front drive motor is controlled to drive the vehicle's two front wheels to rotate forward to enable the vehicle to leave the garage.

[0093] It can be understood that the above embodiments are only examples. In another embodiment, the vehicle control method further includes:

[0094] In response to the user turning the vehicle's steering wheel to the right at an angle greater than a preset angle and the user operating the vehicle's accelerator pedal to an opening greater than a first preset opening, the braking system is controlled to brake the vehicle's right rear wheel and the front drive motor is controlled to drive the vehicle's two front wheels to rotate in the opposite direction so that the vehicle can be parked.

[0095] In response to the user turning the vehicle's steering wheel to the right at an angle greater than a preset angle and the user operating the vehicle's accelerator pedal to an opening greater than a first preset opening, the braking system is controlled to brake the vehicle's left rear wheel and the front drive motor is controlled to drive the vehicle's two front wheels to rotate forward to enable the vehicle to leave the garage.

[0096] In other words, the vehicle control method provided in the embodiment of the present application can support the vehicle exiting the warehouse to the left, exiting the warehouse to the right, entering the warehouse to the left, and entering the warehouse to the right, and the user can control the specific vehicle entry and exit method by turning the steering wheel and operating the opening of the accelerator pedal. It has high flexibility and a wide range of applications.

[0097] It can be understood that by controlling the braking system to output braking force to the left rear wheel or the right rear wheel of the vehicle, the left rear wheel or the right rear wheel can be gripped and stopped under the action of the braking force and the ground friction, and the longitudinal translation of the vehicle during the pendulum-like motion can be suppressed.

[0098] It can be understood that the pendulum-type in-and-out storage method provided in the above embodiment only requires that the vehicle be equipped with an independent wheel-end braking device, and does not limit the specific type of the drive system 10. It only requires that the drive system 10 be equipped with a front-drive motor. The vehicle control method has a wide range of applications and high practicality.

[0099] It can be understood that in these embodiments, the braking system 30 can output braking force only to the rear wheel on the side opposite to the steering direction without outputting braking force to the other rear wheel, which can reduce the wear of the braking device of the other rear wheel and extend its service life.

[0100] According to the embodiment of the present application, after starting the vehicle's pendulum-style in-and-out parking function, the user can control the vehicle to perform pendulum-style movement by turning the steering wheel and operating the accelerator pedal. In addition, during the vehicle's pendulum-style movement, the vehicle control method provided by the present application controls the front drive motor to drive the two front wheels to rotate and controls the braking system to brake the rear wheels on the opposite side of the vehicle's steering direction, thereby suppressing the vehicle's longitudinal translation and providing a stable yaw torque for the entire vehicle, thereby effectively reducing the vehicle's parking distance while accurately controlling the vehicle's body dynamics.

[0101] The vehicle control method for realizing the pendulum-style entry and exit of the vehicle provided in the embodiment of the present application mainly includes two steps. First, the user needs to activate the pendulum-style entry and exit function of the vehicle. Secondly, the user can realize the pendulum-style entry and exit of the vehicle by operating the steering wheel and accelerator pedal of the vehicle.

[0102] Figure 3 This is a flow chart of the vehicle control method provided in the embodiment of the present application. Figure 3 , the vehicle control method specifically comprises the following steps:

[0103] S1 user starts the vehicle's pendulum-style parking function. At this time, the control system switches from normal driving mode to pendulum parking mode.

[0104] In one embodiment, if Figure 4 As shown, the user starts the vehicle pendulum in and out function including: the user clicks the vehicle pendulum in and out function button on the central control screen of the vehicle. Alternatively, the user clicks the physical vehicle pendulum in and out function button in the vehicle cabin. In these embodiments, the user can activate the vehicle pendulum in and out function through the shortcut button, which is easy to operate.

[0105] In one embodiment, the user starts the vehicle pendulum-style in-and-out function by turning the steering wheel of the vehicle to the right or left to a greater than preset angle and operating the brake pedal of the vehicle to a greater than preset opening. In other words, the user does not need to operate the central control screen or press an activation button, but only needs to turn the steering wheel to a certain angle and step on the brake pedal to start the vehicle pendulum-style in-and-out function.

[0106] Further, when the user starts the vehicle's pendulum-style out-of-garage function, the control system executes the subsequent step S2, otherwise, the control system will not switch to the pendulum parking function.

[0107] S2 determines whether the vehicle is faulty or speeding.

[0108] After the user starts the vehicle's pendulum-style in-and-out function through the operations in the above embodiment, the control system switches to the pendulum parking mode and needs to obtain information such as obstacles around the vehicle, vehicle fault conditions, and vehicle status to determine whether the pendulum parking conditions are met, and execute subsequent step S3 when ensuring that the vehicle can safely achieve pendulum parking. Otherwise, the control system will not control the vehicle to start pendulum movement.

[0109] In one embodiment, the pendulum parking condition includes that the vehicle speed is less than a preset speed, that is, the vehicle will only start pendulum parking when the vehicle speed is less than the preset speed, and when the vehicle speed is greater than or equal to the preset speed, the pendulum parking will not start even if the user manually activates the pendulum parking function.

[0110] In one embodiment, the pendulum parking condition includes that the wheel speed is less than a preset wheel speed, that is, the vehicle will only start pendulum parking when the wheel speed is less than the preset wheel speed, and when the wheel speed is greater than or equal to the preset wheel speed, the pendulum parking will not start even if the user manually activates the pendulum parking function.

[0111] It can be understood that in the above step S2, the control system will actively detect environmental information, vehicle fault information and whether the vehicle status meets the pendulum parking conditions before implementing the vehicle's pendulum parking in and out of the warehouse, and will only execute subsequent steps after the pendulum parking conditions are met, thereby further improving the safety of the vehicle's pendulum parking.

[0112] S3 detects the gear position and steering wheel angle to determine the parking scenario. The parking scenarios include left exit, left entry, right exit and right entry.

[0113] The vehicle gear is in D gear, the steering wheel is turned to the left, and the parking scene is to exit the parking lot to the left;

[0114] The vehicle gear is in D gear, the steering wheel is turned to the right, and the parking scene is to exit the parking lot to the right;

[0115] The vehicle gear is in R gear, the steering wheel is turned to the right, and the parking scene is to the left;

[0116] The vehicle gear is in R gear, the steering wheel is turned to the left, and the parking scenario is to the right.

[0117] Furthermore, after determining the specific parking scenario, the control system controls the vehicle to start pendulum motion through step S4.

[0118] S4: The opening degree of the accelerator pedal operated by the user of the vehicle is greater than the first preset opening degree, and the braking system and the front drive motor of the vehicle are controlled to cooperate with each other to realize the pendulum-like entry and exit of the vehicle.

[0119] The first preset opening can be understood as a minimum opening value. When the opening of the accelerator pedal is less than the first preset opening, it can be understood that the driver wants to start or stop the pendulum motion of the vehicle. When the user operates the accelerator pedal to open a greater degree than the first preset opening, the above-mentioned control of the vehicle's brake system and the front drive motor cooperate with each other to achieve the vehicle's pendulum-like entry and exit, specifically including:

[0120] The parking scenario is to exit the parking lot to the left. The braking system is controlled to output braking force to the right rear wheel and the front drive motor is controlled to rotate forward to exit the parking lot to the left.

[0121] The parking scenario is to exit the parking lot to the right. The braking system is controlled to output braking force to the left rear wheel and the front drive motor is controlled to rotate forward to exit the parking lot to the right.

[0122] When the parking scenario is to park the car to the left, the braking system is controlled to output braking force to the left rear wheel and the front drive motor is controlled to rotate in the reverse direction to park the car to the left.

[0123] The parking scenario is to park right. The braking system is controlled to output braking force to the right rear wheel and the front drive motor is controlled to rotate in the opposite direction to allow the car to park right.

[0124] Figure 5 The schematic diagram of the scene of the vehicle 01 pendulum-style entry and exit provided by the embodiment of the present application is shown. Figure 5 (a) is a schematic diagram of vehicle 01 exiting the warehouse in a left pendulum manner. Figure 5 (b) is a schematic diagram of vehicle 01 exiting the warehouse in a left pendulum manner. Figure 5 (c) is a schematic diagram of vehicle 01 entering the garage in a pendulum-like manner to the right. Figure 5 (d) in the figure is a schematic diagram of vehicle 01 pendulum-to-left entering the garage.

[0125] like Figure 5 As shown in (a), vehicle 01 performs pendulum motion from position 1 to position 2. After the user activates the vehicle pendulum-style in-and-out function, the user turns the steering wheel of the vehicle to the left at an angle greater than a preset angle, the user operates the accelerator pedal of the vehicle to an opening greater than a first preset opening, and operates the gear of vehicle 01 to the forward gear, the braking system brakes the right rear wheel of the vehicle to make the right rear wheel grip the ground and stop, and the front drive motor drives the two front wheels of the vehicle to rotate forward so that vehicle 01 will obtain a counterclockwise yaw torque, so that vehicle 01 rotates from position 1 to position 2. Further, the user can control vehicle 01 to drive forward, and vehicle 01 completes the exit.

[0126] like Figure 5As shown in (b), vehicle 01 performs pendulum motion from position 1' to position 2'. After the user activates the vehicle's pendulum-style in-and-out function, the user turns the vehicle's steering wheel to the right at an angle greater than a preset angle, the user operates the vehicle's accelerator pedal to an opening greater than a first preset opening, and operates the gear of vehicle 01 to the forward gear. The braking system brakes the vehicle's left rear wheel to make the left rear wheel grip the ground and stop, and the front-drive motor drives the two front wheels of the vehicle to rotate forward so that vehicle 01 will obtain a clockwise yaw torque, causing vehicle 01 to rotate from position 1' to position 2'. Further, the user can control vehicle 01 to move forward, and vehicle 01 completes the exit.

[0127] like Figure 5 As shown in (c), vehicle 01 performs pendulum motion from position 3 to position 4. After the user activates the pendulum-style in-and-out parking function, the user turns the steering wheel of the vehicle to the left at an angle greater than a preset angle, the user operates the accelerator pedal of the vehicle to an opening greater than a first preset opening, and operates the gear of vehicle 01 to the reverse gear, the braking system brakes the right rear wheel of the vehicle to make it grip the ground and stop, and the front drive motor drives the two front wheels of the vehicle to rotate in the opposite direction so that vehicle 01 will obtain a clockwise yaw torque, so that vehicle 01 rotates from position 3 to position 4. Vehicle 01 completes parking.

[0128] like Figure 5 As shown in (d), the vehicle 01 performs a pendulum motion from position 3' to position 4'. After the user activates the vehicle's pendulum-style in-and-out parking function, the user turns the vehicle's steering wheel to the right at an angle greater than a preset angle, the user operates the vehicle's accelerator pedal to an opening greater than a first preset opening, and operates the gear of the vehicle 01 to the reverse gear, the braking system brakes the vehicle's left rear wheel to make the left rear wheel grip the ground and stop, the front drive motor drives the two front wheels of the vehicle to rotate in the opposite direction so that the vehicle 01 will obtain a counterclockwise yaw torque, so that the vehicle 01 rotates from position 3' to position 4', and then the user can control the vehicle to move backward to complete the parking.

[0129] Through the above step S4, in response to the user operating the accelerator pedal opening greater than the preset opening, the control system can control the driving system and the braking system to coordinately output the driving force and the braking force, so that the vehicle performs a pendulum-like motion.

[0130] It should be emphasized that during the pendulum-like entry or exit of the vehicle, the longitudinal component of the braking force is equal to the longitudinal component of the driving force, and the lateral component of the braking force is equal to the lateral component of the driving force. The longitudinal direction of the vehicle is the extension direction of the vehicle body, and the lateral direction of the vehicle is perpendicular to the longitudinal direction of the vehicle.

[0131] Figure 6 The figure shows the force analysis diagram of the vehicle during the left pendulum-like entry and exit process.

[0132] like Figure 6 As shown, the left turning angle of the front axle is θ, and because the vehicle 01 turns left, the braking system 30 will first output braking force to the right rear wheel. At this time, the braking torque on the right rear wheel is B rr When the braking system outputs braking torque to the right rear wheel, the drive system 10 outputs driving torque F to the front axle wheel. xf .

[0133] Under the action of steering angle and driving torque, the vehicle will obtain yaw torque, thus realizing pendulum motion. In addition, the friction resistance generated by the right rear wheel and the ground can ensure that the center of the pendulum motion of the vehicle body is located on the rear axle.

[0134] In the embodiment of the present application, when the braking torque and the driving torque are balanced, the longitudinal and lateral force balance of the vehicle can be ensured, thereby ensuring that the vehicle has no longitudinal and lateral translation. At this time, the vehicle force and motion equations are as follows:

[0135]

[0136] Among them, I z is the vehicle yaw moment of inertia, L B is the distance from the front axle to the rear axle, L F is the distance between the coaxial left and right wheels, f rr is the friction between the RR wheel and the ground.

[0137] It is easy to understand that the conditions for the vehicle to start the pendulum motion are: F xf >1 / 4μMg; The condition for the vehicle RR wheel to remain stationary with grip is: f rr ≤1 / 4μMg and B rr >f rr Among them, μ is the ground adhesion coefficient, M is the mass of the vehicle, and g is the acceleration due to gravity.

[0138] Based on the above theoretical analysis, the pendulum-type in-and-out warehouse control method provided in the embodiment of the present application can balance the braking force output by the braking system and the driving force output by the front-drive motor, so that the longitudinal and lateral translation of the vehicle approaches 0, and provide the vehicle with a yaw torque, thereby realizing the pendulum motion of the vehicle.

[0139] In one embodiment, the front drive motor may start to output the driving force after the braking force output by the brake system 30 stops increasing. Alternatively, the front drive motor may start to output the driving force a period of time after the brake system 30 starts to increase the braking force output, and during the process of the brake system 30 increasing the braking force output, the driving force actually output by the front drive motor is always less than or equal to the driving force required to maintain dynamic balance with the braking force output by the brake system 30.

[0140] According to the embodiment of the present application, by controlling the balance between the braking force output by the braking system and the driving force output by the front drive motor, the longitudinal and lateral translation of the vehicle can be suppressed while the vehicle is turning, so as to achieve pendulum parking of the vehicle, thereby effectively reducing the parking distance while ensuring the controllability of the vehicle body, and improving the practicality of the pendulum-type in-and-out parking method. In addition, the timing of the drive system starting to output the driving force is flexible, and the practicality is stronger.

[0141] When the S5 user releases the accelerator pedal, the pendulum entry and exit function exits and the vehicle enters normal driving mode.

[0142] Specifically, the user releasing the accelerator pedal means that the opening of the accelerator pedal operated by the user decreases from greater than the first preset opening to less than the first preset opening, at which time the pendulum motion of the vehicle can be stopped by controlling the drive system to stop outputting the drive force and controlling the brake system to stop outputting the brake force. In addition, the vehicle control system will switch from the active pendulum parking mode to the normal driving mode, without affecting the subsequent operations of the driver.

[0143] See also Figure 7 , Figure 7 The graph shows the relationship between the motor speed, accelerator pedal opening, steering wheel angle, torque value output by the front drive motor, torque value output by the rear drive motor, and braking force output by the braking system during the pendulum-like entry and exit of vehicle 01.

[0144] like Figure 7 As shown, before time t0, the user activates the vehicle's pendulum-style in-and-out garage function and turns the steering wheel to a preset angle R1.

[0145] Starting from time t0, the user operates the accelerator pedal to an opening greater than the first preset opening L1 so that the vehicle starts to perform pendulum motion, which specifically includes the following processes:

[0146] During a first period from time t0 to time t1, the output torque of the front drive motor is controlled to increase so that the rotation speed of the front drive motor increases from zero to a second preset value K1; and the braking system is controlled to output braking torque to the brake wheel.

[0147] In a second time period from time t1 to time t2, the output torque of the front drive motor is controlled to decrease so that the rotation speed of the front drive motor decreases from the second preset value K1 to the first preset value K2;

[0148] In a third time period from time t2 to time t3, the speed of the front drive motor is controlled to be maintained at a first preset value K2;

[0149] At time t3, the user actively reduces the opening of the accelerator pedal until the opening of the accelerator pedal is equal to zero. First, the torque and speed output by the front drive motor and the rear drive motor are controlled to drop to zero at time t4 after the third period, and then the braking force output by the braking system is controlled to drop to zero, and the vehicle exits the pendulum parking mode.

[0150] It can be understood that after completing the above pendulum motion, the driver can operate the steering wheel and the opening of the accelerator pedal to control the normal driving of the vehicle.

[0151] In one embodiment, the vehicle control method also includes: during the process of the vehicle entering the warehouse or leaving the warehouse, first controlling the speed of the front drive motor to increase from zero to greater than a first preset value, and then controlling the speed of the front drive motor to decrease to equal to the first preset value.

[0152] The first preset value can be understood as a preset speed value that the front-drive motor needs to reach. When the front-drive motor increases its speed from zero, in order to shorten the power response time of the front-drive motor, it is necessary to control the front-drive motor to increase its speed to a maximum speed. When the front-drive motor needs to output torque according to power demand, in order to maintain stable yaw motion of the vehicle, it is necessary to control the front-drive motor to reduce its speed to a preset speed value.

[0153] According to the embodiment of the present application, by controlling the front-drive motor to increase the speed from zero at a faster speed change rate, the front-drive motor can quickly reach the preset speed to drive the two front wheels to rotate, and the vehicle's pendulum-like motion has a fast power response and strong controllability.

[0154] In one embodiment, the vehicle control method provided in the present application controls the speed of the front-drive motor from zero to a second preset value according to a first speed change rate during a first time period, and controls the speed of the front-drive motor from the second preset value to the first preset value according to a second speed change rate during a second time period, and the first speed change rate is greater than the second speed change rate.

[0155] The second preset value is a maximum speed value supported by the front-drive motor, and the specific value of the second preset value is not limited in the embodiment of the present application. The embodiment of the present application quickly increases the speed of the front-drive motor to the second preset value, so that the dynamic response of the pendulum motion of the vehicle is faster to achieve the effect of ejection start, thereby realizing real-time feedback of the pendulum motion of the vehicle to the user, which is conducive to improving the controllability and practicality of the pendulum-type storage function.

[0156] The first preset value is any speed value less than the second preset value, and the embodiment of the present application does not limit the specific value of the first preset value. The embodiment of the present application reduces the front drive motor speed from the second preset value to the first preset value, and can limit the torque output by the front drive motor to suppress the body roll when the vehicle starts the pendulum motion, so that the vehicle can start the pendulum motion stably and smoothly, thereby improving the user's driving experience during the vehicle pendulum motion.

[0157] It can be understood that in order to shorten the time required for the motor speed to increase from zero to the second preset value, the motor speed needs to increase at a larger speed change rate, namely the first speed change rate, and in order to achieve accurate matching of the front drive motor to the user's required torque, the motor speed can be reduced at a smaller speed change rate, namely the second speed change rate. In addition, the embodiment of the present application does not limit the specific values ​​of the first speed change rate and the second speed change rate. For example, the first speed change rate can be 10,000 revolutions per second, and the second speed change rate can be 5,000 revolutions per second.

[0158] According to the embodiment of the present application, when the vehicle starts to enter and exit the garage in a pendulum-like manner, the front drive motor is first controlled to increase the speed at a very large speed change rate to achieve the effect of a launch start, thereby shortening the time delay between the user's operation and the vehicle starting to move. Subsequently, the front drive motor is controlled to reduce the speed at a smaller speed change rate to achieve a smooth start effect, and the body posture can be stabilized when the vehicle starts to move in a pendulum-like manner, thereby improving the user's driving experience.

[0159] In one embodiment, the length of the second period is greater than the length of the first period.

[0160] It can be understood that in order to ensure that the vehicle can launch during the pendulum motion, the front drive motor needs to increase the speed to the second preset value at the first speed change rate in a very short time. In addition, in order to ensure that the vehicle can start the pendulum motion stably and smoothly, the front drive motor can reduce the motor speed from the second preset value to the first preset value at the second speed change rate over a longer period of time. Therefore, the length of the second period needs to be greater than the length of the first period.

[0161] It is understood that the specific lengths of the first period and the second period are not limited in the present embodiment. As an example and not a limitation, the front drive motor can increase the speed to the second preset value within 50ms, and then reduce the speed from the second preset value to the first preset value within 1s.

[0162] According to the embodiment of the present application, when the vehicle starts to pendulum in and out of the garage, the time required for the front drive motor to achieve smooth start can be longer than the time required for a launch start, making the vehicle's pendulum motion smoother, which is beneficial to further improving the user's driving experience.

[0163] In one embodiment, in the third time period, when the opening of the accelerator pedal is greater than or equal to the first preset opening and less than the second preset opening, the torque output by the front drive motor is controlled to increase linearly with the increase of the opening of the accelerator pedal;

[0164] In the third time period, when the opening of the accelerator pedal is greater than or equal to the second preset opening, the torque output by the front drive motor is controlled to be a fixed value.

[0165] The first preset opening can be understood as a minimum opening value. When the accelerator pedal opening is less than the first preset opening, it can be understood that the driver wants to start or stop the pendulum motion of the vehicle. Therefore, when the accelerator pedal opening is less than the first preset opening, the driving torque output by the front drive motor does not change with the change of the accelerator pedal opening, that is, the torque output by the front drive motor is zero.

[0166] The second preset opening can be understood as a larger opening value. When the opening of the accelerator pedal is greater than the second preset opening, it can be understood that the driving torque output by the front drive motor reaches the peak torque. Therefore, when the accelerator pedal opening is greater than the second preset opening, the driving torque output by the front drive motor does not change with the change of the accelerator pedal opening, but maintains the output peak torque.

[0167] It can be understood that the above-mentioned peak torque can be the maximum torque that can be output under the capacity limitation of the front-drive motor 11, or it can be a larger preset torque that can be output by the front-drive motor 11, and the embodiment of the present application does not limit this.

[0168] It can be understood that when the accelerator pedal opening changes between the first preset opening and the second preset opening, the driving torque output by the front drive motor 11 will increase as the accelerator pedal opening increases. The embodiment of the present application does not limit the functional relationship between the driving torque and the accelerator pedal opening. For example, the driving torque and the accelerator pedal opening are linearly related, that is, the driving torque output by the front drive motor 11 will increase linearly as the accelerator pedal opening increases, until the driving torque reaches the peak torque when the accelerator pedal opening reaches the second preset opening.

[0169] It can be understood that for different driving modes of the vehicle, the first preset opening and the second preset opening can be different, so as to provide users with differentiated pendulum-style in-and-out experience in different driving modes. For example, compared with the comfort mode, the first preset opening corresponding to the sports mode can be lower, and the corresponding second preset opening can be higher, so that the user can more accurately adjust the speed of the vehicle's pendulum-style motion, making the vehicle's pendulum-style in-and-out controllable in the sports mode.

[0170] According to the embodiment of the present application, the driver can adjust the driving force output by the front-drive motor by controlling the accelerator pedal opening, thereby controlling the pendulum-like motion speed of the vehicle, which has high safety and strong controllability.

[0171] In one embodiment, during the third time period, when the opening of the accelerator pedal is greater than or equal to the first preset opening, the torque output by the front drive motor is controlled to be a fixed value.

[0172] It can be understood that in these embodiments, when the opening of the accelerator pedal is greater than the first preset opening, the vehicle starts to move in a pendulum-like manner, and the driving torque output by the front-drive motor to the two front wheels is a fixed value, which does not change with the change of the opening of the accelerator pedal, so that the vehicle can move in a pendulum-like manner at a constant speed. Among them, the fixed value is any torque value that can be output under the capacity limitation of the front-drive motor 11, and the embodiments of the present application do not limit this.

[0173] It can be understood that after the driver controls the opening of the accelerator pedal to make the vehicle start pendulum-like motion, there is no need to continuously adjust the opening of the accelerator pedal, which makes the operation easier, reduces the operating burden on the driver, and reduces the learning cost.

[0174] In one embodiment, the vehicle control method further comprises:

[0175] When the vehicle is entering or leaving the warehouse, the torque output by the front drive motor is controlled to increase, and at the same time, the braking system is controlled to increase the braking force output to the left rear wheel or the right rear wheel.

[0176] It can be understood that since the braking force output by the braking system 30 needs to be balanced with the driving force output by the front-drive motor 11, the braking system 30 needs to correspondingly increase the braking force output to the left rear wheel or the right rear wheel while controlling the increase in the torque output by the front-drive motor, thereby ensuring a dynamic balance between the driving force and the braking force and avoiding longitudinal translation of the vehicle.

[0177] It can be understood that while controlling the reduction of the torque output by the front drive motor, the braking system 30 can also be controlled to reduce the braking force output to the left rear wheel or the right rear wheel. This can reduce the workload of the braking system 30 while maintaining the balance between the driving force and the braking force, which is beneficial to extending the service life of the brake.

[0178] According to the embodiment of the present application, during the pendulum-like motion of the vehicle, the braking force output by the braking system needs to be controlled to change with the change of the torque output by the front-drive motor, so as to achieve a dynamic balance between the driving force and the braking force, and further improve the safety and reliability of the vehicle's pendulum parking function.

[0179] In one embodiment, a vehicle control method includes:

[0180] When the slip rate of the front axle of the vehicle is greater than a first preset slip rate during the rotation of the two front wheels, the torque output by the front drive motor is controlled to decrease;

[0181] When the slip rate of the front axle of the vehicle is less than a second preset slip rate during the rotation of the two front wheels, the torque output by the front drive motor is controlled to increase;

[0182] The first preset slip ratio is greater than the second preset slip ratio.

[0183] It can be understood that the control system can calculate the actual slip rate of the one front wheel based on the wheel speed of the one front wheel, and when the difference between the actual slip rate of the one front wheel and the preset target slip rate is greater than the preset threshold, the driving torque output by the front drive motor 11 is adjusted so that the actual slip rate of the front drive motor reaches the target slip rate. For example, when the slip rate of the front axle of the vehicle is greater than the first preset slip rate, the driving torque output by the front drive motor to the two front wheels is reduced so that the actual slip rate of the front axle is reduced to the target slip rate. For another example, when the slip rate of the front axle of the vehicle is less than the second preset slip rate, the driving torque output by the front drive motor to the two front wheels is increased so that the actual slip rate of the front axle is increased to the target slip rate.

[0184] The first preset slip ratio may be understood as the sum of a preset target slip ratio and a preset threshold, and the second preset slip ratio may be understood as the difference between the preset target slip ratio and the preset threshold, so the first preset slip ratio is greater than the second preset slip ratio.

[0185] According to the embodiment of the present application, during the process of the vehicle pendulum-like entering and exiting the warehouse, closed-loop control of the front wheel speed is achieved by adjusting the driving force output by the drive system to the front wheels, which can improve the utilization rate of the driving force output by the drive system and avoid wheel slippage and loss of control, further improving the stability and controllability of the vehicle's pendulum movement.

[0186] In one embodiment, during the rotation of the two front wheels, in response to the slip rate of the front axle of the vehicle being continuously less than a second preset slip rate, and the driving force output by the front drive motor 11 to the two front wheels being less than the preset driving force, the front drive motor reduces the output driving force so that the slip rate of the front axle reaches a first target slip rate, which is less than the preset target slip rate.

[0187] The fact that the slip rate of the front axle of the vehicle is continuously less than the second preset slip rate means that the slip rate of the front axle of the vehicle is continuously less than the second preset slip rate for a continuous and uninterrupted period that reaches a preset period.

[0188] It is understandable that Figure 8As shown, the preset target slip rate and the first target slip rate may correspond to different road adhesion levels, and the road adhesion coefficient corresponding to the preset target slip rate is greater than the road adhesion coefficient corresponding to the first target slip rate. For example, the preset target slip rate may correspond to a road surface with a high adhesion coefficient (such as cement, asphalt road surface, etc.), and the first target slip rate may correspond to a road surface with a low adhesion coefficient (such as ice and snow road surface, etc.). In addition, the preset driving force may be understood as the minimum driving force output by the front drive motor 11 to the two front wheels when the actual slip rate of one front wheel reaches the target slip rate corresponding to the road surface with a high adhesion coefficient. At the same time, the first target slip rate may also be calibrated with a first driving force, which is the minimum driving force output by the front drive motor 11 to the two front wheels when the actual slip rate of one front wheel reaches the first target slip rate.

[0189] Furthermore, when the actual slip rate of the front axle reaches the target slip rate corresponding to the high-adhesion road surface, and the driving force output by the front-drive motor 11 is less than the minimum driving force corresponding to the target slip rate, it can be understood that the current road surface is not a high-adhesion road surface. At this time, it is necessary to actively reduce the target slip rate to the first target slip rate corresponding to the low-adhesion road surface, and at the same time reduce the driving force output to the two front wheels through the front-drive motor 11, so that the actual slip rate of the front axle reaches the first target slip rate. It is easy to understand that when the actual slip rate of one front wheel reaches the first target slip rate, the driving force output by the front-drive motor to the two front wheels is greater than or equal to the first driving force.

[0190] It should be noted that the difference between the rotational speed of the front-drive motor 11 when the front-drive motor 11 outputs a preset driving force to the two front wheels on a high-adhesion road surface and the rotational speed of the front-drive motor 11 when the front-drive motor 11 outputs the first driving force to the two front wheels on a low-adhesion road surface is extremely small, so that the algorithm inside the front-drive motor 11 can be applied to both high-adhesion roads and low-adhesion roads, with low design complexity and strong practicality.

[0191] According to the embodiment of the present application, during the pendulum-like in and out of the garage, the vehicle can identify the adhesion of the road surface through the wheel slip rate and the driving force output by the drive system, and adjust the target slip rate of the wheel based on the road surface adhesion and complete the closed-loop adjustment of the wheel speed, which can ensure efficient adhesion utilization and prevent overspeed, thereby further improving the reliability and safety of the pendulum-like motion process. In addition, the design complexity of the internal algorithm of the drive system is low and practical.

[0192] It can be understood that one or more step target slip ratios can be set between the preset target slip ratio and the first target slip ratio, and each step target slip ratio corresponds to a road surface adhesion coefficient interval. Exemplarily, a second target slip ratio can be set between the preset target slip ratio and the first target slip ratio, and the second target slip ratio can correspond to a road surface with a medium adhesion coefficient (such as soil, gravel road surface, etc.), and the second target slip ratio can also be calibrated with a second driving force, which represents the minimum driving force output by the front drive motor 11 to the two front wheels when the actual slip ratio of one front wheel reaches the second target slip ratio.

[0193] Furthermore, when the actual slip rate of the front axle of the vehicle reaches the target slip rate corresponding to the high-adhesion road surface, and the driving force output by the front drive motor is less than the preset driving force, it can be understood that the current road surface is not a high-adhesion road surface. At this time, if the difference between the driving force output by the front drive motor and the second driving force is less than the difference between the driving force and the first driving force, it can be understood that the current road surface is a medium-adhesion road surface. Further, the vehicle will actively reduce the target slip rate to the second target slip rate corresponding to the medium-adhesion road surface, and at the same time reduce the driving force output to the one front wheel through the front drive motor, so that the actual slip rate of the front axle reaches the second target slip rate. On the contrary, if the difference between the driving force output by the front drive motor and the second driving force is greater than the difference between the driving force and the first driving force, it can be understood that the current road surface is a low-adhesion road surface. At this time, the front drive motor will perform the response operation in the above embodiment, which will not be repeated here.

[0194] According to the embodiment of the present application, by setting corresponding target slip rates for multiple different road adhesion coefficients, multi-scenario coverage of vehicle pendulum-style entry and exit can be achieved, further improving the practicality of the pendulum-style entry and exit.

[0195] In one embodiment, a vehicle control method includes:

[0196] During the process of the vehicle leaving or entering the warehouse, when the opening of the accelerator pedal decreases from greater than the first preset opening to less than the first preset opening, the two front wheels are first controlled to stop rotating and then the right rear wheel or the left rear wheel is braked.

[0197] It can be understood that the reduction of the accelerator pedal opening from a maximum to less than or equal to the first preset opening can be understood as the user terminating the pendulum-like motion of the vehicle. At this time, the front-drive motor will first stop outputting driving force to control the two front wheels to stop rotating, and then the braking system 30 will stop outputting braking force to stop braking the left rear wheel or the right rear wheel, thereby ensuring that the vehicle will not undergo longitudinal and lateral translation when the pendulum-like motion stops, that is, the vehicle can maintain grip and stillness throughout the entire pendulum-like motion, with high reliability.

[0198] It is understood that the brake system 30 can stop outputting the braking force after the driving force output by the front-drive motor is reduced to zero. Alternatively, the brake system 30 can reduce the output braking force after the front-drive motor starts to reduce the output driving force for a period of time, and during the process of the brake system 30 reducing the output braking force, the braking force actually output by the brake system 30 is always greater than or equal to the braking force required to maintain dynamic balance with the driving force output by the front-drive motor.

[0199] Furthermore, since the braking force output by the brake system 30 needs to be balanced with the driving force output by the drive system 10, while adjusting the driving force output by the front drive motor to the two front wheels according to the front axle slip rate, the brake system 30 will also adjust the output braking force accordingly, thereby maintaining a dynamic balance between the driving force and the braking force. Therefore, the braking force output by the brake system 30 will also change with the change of the front axle slip rate.

[0200] According to the embodiment of the present application, when the vehicle stops the pendulum motion, the front drive motor first stops driving the two front wheels to rotate, and then the brake system stops outputting the braking force, so that the vehicle always keeps gripping the ground and is stationary, which is more reliable. In addition, the timing of stopping the output of the braking force by the brake system is flexible, which is more practical.

[0201] In one embodiment, during the process of the vehicle pendulum-like entering and exiting the garage, in response to the brake pedal opening increasing from a small opening to a third preset opening, the two front wheels are controlled to stop rotating, and then the right rear wheel or the left rear wheel is stopped from braking.

[0202] The third preset opening can be understood as a smaller opening value. When the user steps on the brake pedal and the brake pedal opening reaches the third preset opening, it indicates that the user terminates the pendulum motion of the vehicle, thereby ensuring that even if the accelerator pedal opening detection fails, the user can control the vehicle to terminate the pendulum motion. The front drive motor will first stop outputting the driving force, and then the brake system 30 will stop outputting the braking force, ensuring that the vehicle can maintain grip and remain stationary throughout the pendulum motion.

[0203] According to an embodiment of the present application, during the process of the vehicle pendulum-style entering and exiting the garage, the user can control the vehicle to stop the pendulum movement by stepping on the brake pedal, thereby further improving the safety and reliability of the vehicle pendulum-style entering and exiting the garage.

[0204] In one embodiment, the vehicle access method further includes:

[0205] When the vehicle is leaving or entering the warehouse, when the change value of the steering wheel angle is greater than the preset angle change value, the two front wheels are controlled to stop rotating.

[0206] Among them, the preset angle change value can be understood as the maximum angle change value allowed to be adjusted when the vehicle is pendulum-style entering and exiting the warehouse. When the change value of the steering wheel angle adjusted by the user is less than the preset angle change value, it can be understood that the user expects to change the turning radius of the vehicle's pendulum parking by adjusting the steering of the two front wheels of the vehicle. At this time, the driving torque output by the front drive motor 11 and the braking torque output by the braking system will not be affected by the change in the steering wheel angle. When the degree of the steering wheel angle adjusted by the user is greater than the preset angle change value, it can be understood that the user expects to stop the pendulum motion of the vehicle, and the two front wheels need to be controlled to stop rotating. Alternatively, when the angle change value of the steering wheel caused by the user's misoperation is greater than the preset angle change value, in order to ensure that the vehicle body posture is controllable, it is also necessary to control the two front wheels to stop rotating.

[0207] It is understood that the embodiment of the present application does not limit the specific value of the preset angle change value. Exemplarily, the preset angle change value may be 20°.

[0208] According to an embodiment of the present application, during the process of the vehicle pendulum-like entering and exiting the warehouse, when the steering wheel angle change value is too large, the front drive motor will actively stop driving the two front wheels to stop rotating to stop the vehicle's pendulum-like motion, further improving the safety and reliability of the vehicle's pendulum-like entering and exiting the warehouse.

[0209] In one embodiment, the vehicle access method further includes:

[0210] In one embodiment, during the pendulum-like entry and exit of the vehicle 01, in response to the wheel speed of any one of the two front wheels being greater than a preset wheel speed threshold or the vehicle speed of the vehicle 01 being greater than a preset vehicle speed threshold, the two front wheels are first controlled to stop rotating, and then the braking system 30 is controlled to stop braking the left rear wheel or the right rear wheel.

[0211] It can be understood that during the pendulum-like entry and exit of vehicle 01, if the wheel speed of any of the two front wheels is greater than the preset wheel speed threshold, or the vehicle speed of vehicle 01 is greater than the preset vehicle speed threshold, if the drive system 10 continues to output driving force, it may cause the vehicle body to become unstable or even unable to maintain grip and stop. Therefore, the drive system 10 needs to stop outputting driving force, and then the brake system stops outputting braking force, so that vehicle 01 stops pendulum-like motion to avoid possible accidents.

[0212] According to an embodiment of the present application, during the process of the vehicle pendulum-like exiting or entering the warehouse, when the wheel speed of any front wheel is too high or the vehicle speed is too high, the drive system and the braking system will actively stop the pendulum-like motion, further improving the safety and reliability of the vehicle's pendulum-like entry and exit.

[0213] In one embodiment, the vehicle control method is also used to control the rear drive motor of the vehicle after the user starts the vehicle pendulum-type garage entry and exit function, and the vehicle control method further includes:

[0214] When the vehicle is parked, the rear drive motor of the vehicle is controlled to drive the right rear wheel of the vehicle to rotate forward;

[0215] When the vehicle is leaving the warehouse, the rear drive motor of the vehicle is controlled to drive the left rear wheel of the vehicle to rotate in the opposite direction;

[0216] The torque value output by the rear-drive motor is smaller than the torque value output by the front-drive motor, and the direction of the torque output by the rear-drive motor is opposite to the direction of the torque output by the front-drive motor.

[0217] Specifically, in these embodiments, when the vehicle enters the warehouse to the right, the front drive motor is controlled to drive the front axle wheels to rotate in the opposite direction and the rear drive motor is controlled to drive the right rear wheel to rotate forward. When the vehicle leaves the warehouse to the left, the front drive motor is controlled to drive the front axle wheels to rotate forward and the rear drive motor is controlled to drive the left rear wheel to rotate in the opposite direction.

[0218] Similarly, in other embodiments, the front drive motor can be controlled to drive the front axle wheels to rotate in the opposite direction and the rear drive motor can be controlled to drive the left rear wheel to rotate forward. When the vehicle is moving out of the garage to the right, the front drive motor can be controlled to drive the front axle wheels to rotate forward and the rear drive motor can be controlled to drive the right rear wheel to rotate in the opposite direction.

[0219] In other words, during the vehicle's pendulum-like entry and exit, the rear-drive motor will output a driving torque to one of the two rear wheels (i.e., the rear wheel on the same side as the steering direction) except the rear wheel to which the braking system 30 applies braking force, so that the wheel rotates in the direction opposite to the rotation direction of the two front wheels.

[0220] It can be understood that in these embodiments, the vehicle needs to be able to output driving force to the front axle wheels and the rear axle wheels respectively, that is, the drive system 10 needs to be a four-wheel drive, three-motor distributed power assembly, or a four-motor distributed power assembly. Fig. 9 As shown, the force and motion equations of the vehicle are as follows:

[0221]

[0222] Among them, F xr is the reverse driving torque of the rear axle. It is easy to understand that the condition for the vehicle to start the pendulum motion is: F xf >1 / 4μMg; The condition for the vehicle RR wheel to remain stationary with grip is: f rr ≤1 / 4μMg and B rr -F xf >f rr Among them, μ is the ground adhesion coefficient, M is the mass of the vehicle, and g is the acceleration due to gravity.

[0223] It can be understood that in these embodiments, the front drive motor and the rear drive motor drive complement each other, so that the braking force that the braking system 30 needs to output to maintain grip and stationary is reduced, and the demand on the braking system 30 is lower.

[0224] It can be understood that the sum of the driving force output by the rear-drive motor to one rear wheel, the braking force output by the brake system to the other rear wheel, and the friction force of the ground on the other wheel is balanced with the driving force output by the front-drive motor to the two front axle wheels, so the torque value output by the rear-drive motor must be less than the torque value output by the front-drive motor. In addition, when the driving torque output by the front-drive motor changes, the driving torque output by the rear-drive motor will also change accordingly, thereby ensuring the dynamic balance of the driving force and the braking force, and preventing the vehicle from longitudinal translation during pendulum motion.

[0225] According to the embodiment of the present application, the drive system can control the rear axle wheels and the front axle wheels to rotate in opposite directions, which can reduce the demand for braking force output by the braking system while ensuring grip and stationary state, and is more practical.

[0226] An embodiment of the present application also provides a vehicle controller, which is used to execute the vehicle control method in the above embodiment.

[0227] It can be understood that the vehicle controller can be a single controller, such as a central controller 31 or a vehicle controller 40. When the vehicle controller is a central controller 31, the central controller 31 can implement the driving torque control function of the vehicle controller 40. When the vehicle controller is a vehicle controller 40, the vehicle controller 40 can implement the braking torque control function of the central controller 31. Alternatively, the vehicle controller can also be a controller cluster composed of multiple controllers, for example, the controller cluster includes but is not limited to the central controller 31 and the vehicle controller 40.

[0228] It can be understood that after the above conditions for starting the vehicle pendulum motion are met, the vehicle controller will calculate the driving torque given value according to the accelerator pedal opening, and determine the braking torque given value based on the principle of drive-brake balance. The vehicle controller first controls the braking system to output the braking torque given value to the brake wheel according to the instruction, and then controls the driving system to output the driving torque given value to the front axle wheel and / or the rear axle wheel according to the instruction, so that the vehicle starts the pendulum motion.

[0229] Furthermore, during the pendulum motion of the vehicle, the vehicle controller will detect the wheel speed in real time, and automatically adjust the driving and braking torque based on the wheel slip rate to achieve closed-loop control of the front and rear axle speeds. In addition, the vehicle controller will identify the degree of road adhesion based on the wheel speed and the driving force output by the drive system, thereby adaptively adjusting the target slip amount.

[0230] In addition, during the pendulum parking process, if the vehicle controller detects that a vehicle failure has occurred or the user manually stops the pendulum parking function, the vehicle returns to the normal driving mode and the pendulum parking function stops.

[0231] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method for realizing pendulum-style in-and-out parking, the vehicle control method is used to control the braking system and front drive motor of the vehicle after the user starts the pendulum-style in-and-out parking function of the vehicle, the vehicle control method comprising: In response to the user turning the steering wheel of the vehicle to the right by an angle greater than a preset angle and the user operating the accelerator pedal of the vehicle by an opening angle greater than a first preset opening angle, controlling the braking system to brake the left rear wheel of the vehicle and controlling the front drive motor to drive the two front wheels of the vehicle to rotate in the opposite direction so that the vehicle is parked; In response to the user turning the steering wheel of the vehicle to the left by an angle greater than a preset angle and the user operating the accelerator pedal of the vehicle by an opening greater than a first preset opening, the braking system is controlled to brake the right rear wheel of the vehicle and the front drive motor is controlled to drive the two front wheels of the vehicle to rotate forward so that the vehicle can leave the garage.

2. The vehicle control method according to claim 1, characterized in that: The vehicle control method further includes: During the process of the vehicle entering the warehouse or leaving the warehouse, the speed of the front-drive motor is first controlled to increase from zero to a value greater than a first preset value, and then the speed of the front-drive motor is controlled to decrease to be equal to the first preset value.

3. The vehicle control method according to claim 1, characterized in that: Controlling the front drive motor to drive the two front wheels of the vehicle to rotate in the opposite direction or controlling the front drive motor to drive the two front wheels of the vehicle to rotate in the forward direction includes: First, the speed of the front-drive motor is controlled to increase from zero to a second preset value according to the first speed change rate, and then the speed of the front-drive motor is controlled to decrease from the second preset value to equal to the first preset value according to the second speed change rate, and the first speed change rate is greater than the second speed change rate.

4. The vehicle control method according to claim 3, characterized in that: The vehicle control method further comprises: After the opening of the accelerator pedal is greater than or equal to the first preset opening, controlling the speed of the front drive motor to increase from zero to the second preset value within a first period of time; In a second time period after the first time period, controlling the rotation speed of the front drive motor to decrease to the first preset value; In a third time period after the second time period, controlling the rotation speed of the front drive motor to be maintained at a first preset value; After the third period, in response to the accelerator pedal opening being equal to zero, the vehicle is controlled to exit the pendulum garage entry and exit function.

5. The vehicle control method according to claim 4, characterized in that: The length of the second period is greater than the length of the first period.

6. The vehicle control method according to claim 4 or 5, characterized in that: The vehicle control method comprises: In the third period, when the opening of the accelerator pedal is greater than or equal to the first preset opening and less than the second preset opening, the torque output by the front drive motor is controlled to increase linearly with the increase of the opening of the accelerator pedal; In the third time period, when the opening of the accelerator pedal is greater than or equal to the second preset opening, the torque output by the front drive motor is controlled to be a fixed value.

7. The vehicle control method according to claim 1, characterized in that: The vehicle control method is also used to control the rear drive motor of the vehicle after the user starts the vehicle pendulum-type in-and-out garage function, and the vehicle control method also includes: During the process of the vehicle entering the warehouse, controlling the rear drive motor of the vehicle to drive the right rear wheel of the vehicle to rotate in a forward direction; During the process of the vehicle leaving the warehouse, controlling the rear drive motor of the vehicle to drive the left rear wheel of the vehicle to rotate in the opposite direction; The torque value output by the rear-drive motor is smaller than the torque value output by the front-drive motor, and the direction of the torque output by the rear-drive motor is opposite to the direction of the torque output by the front-drive motor.

8. The vehicle control method according to claim 1, characterized in that: The vehicle control method further comprises: During the process of the vehicle entering or exiting the warehouse, the torque output by the front drive motor is controlled to increase, and at the same time, the braking system is controlled to increase the braking force output to the left rear wheel or the right rear wheel.

9. The vehicle control method according to claim 1, characterized in that: The vehicle control method comprises: During the process of the vehicle leaving the warehouse or entering the warehouse, when the opening of the accelerator pedal decreases from greater than the first preset opening to less than the first preset opening, the two front wheels are first controlled to stop rotating and then the right rear wheel or the left rear wheel is braked.

10. The vehicle control method according to claim 1, characterized in that: The vehicle control method comprises: When the slip rate of the front axle of the vehicle is greater than a first preset slip rate during the rotation of the two front wheels, controlling the torque output by the front drive motor to decrease; When the slip rate of the front axle of the vehicle is less than a second preset slip rate during the rotation of the two front wheels, controlling the torque output by the front drive motor to increase; The first preset slip ratio is greater than the second preset slip ratio.

11. The vehicle control method according to claim 1, characterized in that: The vehicle control method further includes: During the process of the vehicle leaving the warehouse or entering the warehouse, when the change value of the steering wheel angle is greater than a preset angle change value or when the vehicle speed is greater than a preset speed threshold, the two front wheels are controlled to stop rotating.

12. The vehicle control method according to claim 1, characterized in that: The user-activated vehicle pendulum-style in-and-out parking function includes: The user turns the steering wheel of the vehicle to the right or to the left at an angle greater than the preset angle and operates the brake pedal of the vehicle to an opening greater than a preset opening.

13. The vehicle control method according to claim 1, characterized in that: The user starting the vehicle pendulum-style in-and-out garage function includes: the user clicking the vehicle pendulum-style in-and-out garage function button on the central control screen of the vehicle.

14. A vehicle controller for realizing pendulum-style entry and exit of vehicles, characterized in that: The vehicle controller is configured to execute the vehicle control method according to any one of claims 1 to 13.

15. A vehicle, characterized in that: The vehicle includes the vehicle controller of claim 14.

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