Vehicle control method, electronic device, system, vehicle, and storage medium

Abstract

This application discloses a vehicle control method, electronic device, system, vehicle, and storage medium. This application controls vehicle braking based on the vehicle's center of gravity offset, enabling the vehicle to remain stable throughout the braking process. This reduces situations where the vehicle experiences significant center of gravity offset during braking, such as sideslip, fishtailing, nose-diving, and jerking, thus maintaining better braking performance and improving vehicle braking stability.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle control method, electronic device, system, vehicle, and storage medium. Background Technology

[0002] In vehicle braking control technology, vehicles are typically decelerated in advance to achieve comfortable braking by delaying the braking distance and reducing the rate of change of braking deceleration. However, such braking requires meeting braking distance requirements and is not suitable for all braking conditions. In braking conditions with short braking distances, it can easily lead to unstable vehicle braking. Summary of the Invention

[0003] This application provides a vehicle control method, electronic device, system, vehicle, and storage medium, which improves the stability of vehicle braking control and at least partially solves the above-mentioned technical problems.

[0004] To achieve the above objectives, according to a first aspect of this application, a vehicle control method is provided, comprising:

[0005] Braking control of the vehicle is performed based on the vehicle's center of gravity offset.

[0006] Optionally, the braking control of the vehicle based on the vehicle's center of gravity offset includes:

[0007] Braking control is performed on the vehicle based on the center of gravity offset to keep the center of gravity offset of the vehicle within a set offset range.

[0008] Optionally, the step of braking the vehicle based on the center of gravity offset to control the vehicle's center of gravity offset within a set offset includes:

[0009] The braking control of the front and rear axles of the vehicle is performed according to braking parameters obtained from the vehicle braking signal;

[0010] Based on the vehicle's center of gravity offset, braking control is applied to the vehicle to keep the center of gravity offset within the set offset range.

[0011] Optionally, the braking parameters include braking intensity;

[0012] The step of controlling the braking of the front and rear axles of the vehicle according to braking parameters includes:

[0013] Based on the braking intensity, the front axle braking force and rear axle braking force of the vehicle are obtained;

[0014] The vehicle's motor outputs front axle braking force to the front axle and rear axle braking force to the rear axle to brake the vehicle.

[0015] Optionally, obtaining the front axle braking force and rear axle braking force of the vehicle based on the braking intensity includes:

[0016] Based on the braking intensity, determine the current front axle load and the current rear axle load of the vehicle;

[0017] The front axle braking force is determined based on the current front axle load, and the rear axle braking force is determined based on the current rear axle load.

[0018] Optionally, determining the current front axle load and current rear axle load of the vehicle based on braking intensity includes:

[0019] The current front axle load is determined based on the vehicle's sprung weight under static load, initial center of gravity height, first distance between the initial center of gravity position and the front axle, second distance between the initial center of gravity position and the rear axle, and the braking intensity; and / or

[0020] The current rear axle load is determined based on the sprung weight of the vehicle under static load, the initial center of gravity height, the first distance between the initial center of gravity position and the front axle, the second distance between the initial center of gravity position and the rear axle, and the braking intensity.

[0021] Optionally, the current front axle load is calculated using the following formula:

[0022]

[0023] Among them, F f1 The current front axle load is given by m, the sprung weight is given by g, the acceleration due to gravity is given by a0, the first distance is given by b0, and the second distance is given by h. g0 Let z be the initial centroid height, and z be the braking intensity.

[0024] Optionally, the current rear axle load is calculated using the following formula:

[0025]

[0026] Among them, F r1 The current rear axle load is given by m, the sprung weight is given by g, the acceleration due to gravity is given by a0, the first distance is given by b0, and the second distance is given by h. g0 Let z be the initial centroid height, and z be the braking intensity.

[0027] Optionally, before performing braking control on the vehicle based on the vehicle's center of gravity offset to control the center of gravity offset within the set offset range, the vehicle control method further includes: acquiring the vehicle's center of gravity offset during braking.

[0028] Optionally, the braking parameters include braking intensity, and obtaining the vehicle's center of gravity offset during braking includes:

[0029] The load transfer amount of the vehicle is obtained based on the braking intensity;

[0030] The centroid offset is obtained based on the load transfer amount.

[0031] Optionally, obtaining the load transfer amount of the vehicle based on the braking intensity includes:

[0032] The load transfer amount is determined based on the vehicle's sprung weight under static load, initial center of gravity height, first distance between the initial center of gravity position and the front axle, second distance between the initial center of gravity position and the rear axle, and the braking intensity.

[0033] Optionally, the load transfer amount is calculated using the following formula:

[0034]

[0035] Among them, F z Where m is the load transfer amount, g is the gravitational acceleration, a0 is the first distance, b0 is the second distance, and h is the second distance. g0 Let z be the initial center of mass height, and z be the braking intensity. Optionally, obtaining the center of mass offset based on the load transfer amount includes:

[0036] The load transfer amount is input into the centroid offset detection model to obtain the centroid offset, wherein the centroid offset detection model is a model that characterizes the relationship between the load transfer amount and the centroid offset.

[0037] Optionally, obtaining the centroid offset based on the load transfer amount includes:

[0038] Based on the load transfer amount, the centroid offset is obtained through a preset relationship function, wherein the preset relationship function is a quantization relationship function between the load transfer amount and the centroid offset of the vehicle.

[0039] Optionally, the centroid offset includes a centroid height offset;

[0040] The braking control of the vehicle based on the center of gravity offset, to control the center of gravity offset of the vehicle within a set offset range, includes:

[0041] When the center of gravity height offset is greater than a first threshold, the vehicle's suspension is height adjusted so that the center of gravity height offset is less than or equal to the first threshold.

[0042] Optionally, adjusting the height of the vehicle's suspension includes:

[0043] Raise the front suspension height of the vehicle; and / or

[0044] Lower the rear suspension height of the vehicle.

[0045] Optionally, adjusting the height of the vehicle's suspension includes:

[0046] The adjustment height of the suspension is obtained based on the current center of gravity height, the initial center of gravity height, and the first threshold.

[0047] The suspension height is adjusted according to the stated adjustment height.

[0048] Optionally, the adjustment height is calculated using the following formula:

[0049]

[0050] Where H is the adjustment height, h g1 h is the height of the centroid at the current moment. g0 The initial centroid height, Δh g The threshold is the first threshold.

[0051] Optionally, the centroid offset includes a centroid forward shift;

[0052] The braking control of the vehicle based on the center of gravity offset, to control the center of gravity offset of the vehicle within a set offset range, includes:

[0053] When the forward displacement of the center of gravity is greater than the second threshold, the front axle braking force and rear axle braking force of the vehicle are adjusted so that the forward displacement of the center of gravity is less than or equal to the second threshold.

[0054] Optionally, adjusting the front axle braking force and rear axle braking force of the vehicle includes:

[0055] By controlling the vehicle's motor, the front axle braking force output by the front axle of the vehicle is reduced; and by controlling the vehicle's motor, the rear axle braking force output by the rear axle of the vehicle is increased.

[0056] Optionally, it also includes:

[0057] When the centroid offset is within the set offset range, the road surface recognition parameters of the vehicle are obtained;

[0058] The braking torque of the vehicle's motor is determined based on the road surface recognition parameters, so as to control the motor to output the corresponding braking force, which includes the front axle braking force and the rear axle braking force.

[0059] According to a second aspect of this application, an electronic device is provided, comprising:

[0060] The memory is configured to store instructions; and

[0061] The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the vehicle control method described above.

[0062] According to a third aspect of this application, a vehicle control system is provided, including the aforementioned electronic equipment.

[0063] According to a fourth aspect of this application, a vehicle is provided, including the aforementioned electronic equipment or the aforementioned vehicle control system.

[0064] According to a fifth aspect of this application, a computer-readable storage medium is provided that stores instructions which, when executed by a processor, cause the processor to perform the vehicle control method described above.

[0065] In summary, this application controls vehicle braking based on the vehicle's center of gravity offset, enabling the vehicle to remain stable throughout the braking process. This reduces situations where the center of gravity offset is large, such as sideslip, fishtailing, nose-diving, and jerking, thus maintaining better braking performance and improving vehicle braking stability.

[0066] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0067] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0068] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0069] Figure 1 This is a schematic flowchart of a vehicle control method provided in one embodiment of this application;

[0070] Figure 2 This is a flowchart illustrating a vehicle control method provided in another embodiment of this application;

[0071] Figure 3 This is a flowchart illustrating the principle of comfort braking control for a vehicle provided in the embodiments of this application;

[0072] Figure 4 This is a flowchart of a vehicle comfort braking torque control method provided in the embodiments of this application;

[0073] Figure 5 This is a schematic diagram of the structure of a vehicle control device provided in the embodiments of this application;

[0074] Figure 6 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0075] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0076] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified. In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to implement and use this application. In the following description, details are set forth for illustrative purposes. It should be understood that those skilled in the art will recognize that this application can be implemented without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid unnecessary detail that would obscure the description of this application. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0077] Vehicle braking control refers to the process of controlling a vehicle to slow down or stop its movement. Figure 1 This is a flowchart illustrating a vehicle control method provided in one embodiment of this application. Figure 1 As shown, in one embodiment, the vehicle control method may include step 101, which will be described in detail below.

[0078] Step 101: Perform braking control on the vehicle based on the vehicle's center of gravity offset.

[0079] In this embodiment, braking control of the vehicle can be performed in response to a vehicle braking signal. The vehicle braking signal refers to the signal indicating that the vehicle has entered braking mode. Receiving a vehicle braking signal indicates that the vehicle needs to brake, i.e., to slow down from its current speed to a stop; therefore, braking control can be performed on the vehicle.

[0080] However, during vehicle braking, the vehicle's inertia, gravity, and suspension system can easily cause a shift in the center of gravity, resulting in a center of gravity offset. The vehicle's center of gravity, or center of mass, is the point where all of the vehicle's weight is evenly distributed. Center of gravity offset refers to the change in the vehicle's center of gravity relative to its stationary position during braking. The position of the vehicle's center of gravity affects its stability, handling, and safety. When a vehicle brakes, if the center of gravity shifts, it can easily lead to increased braking distance and braking instability, increasing the risk of skidding, fishtailing, nose-diving, and jerking due to significant center of gravity offset.

[0081] Therefore, this application embodiment can set a predetermined offset range. This predetermined offset range is the range of center-of-gravity offset that the vehicle maintains during braking. As an example, in step 101, braking control of the vehicle can be performed based on the center-of-gravity offset to keep the vehicle's center-of-gravity offset within the predetermined offset range. Keeping the vehicle's center-of-gravity offset within this predetermined offset range can reduce the risk of sideslip or fishtailing during braking, improving the stability of the vehicle's braking process. In summary, this application embodiment performs braking control of the vehicle based on the vehicle's center-of-gravity offset, keeping the vehicle's center-of-gravity offset within the predetermined offset range. This reduces situations where the vehicle experiences large center-of-gravity offsets such as sideslip, fishtailing, nose-diving, and jerking during braking, maintaining better braking performance and improving the vehicle's braking stability and ride comfort.

[0082] Figure 2 This is a flowchart illustrating a vehicle control method provided in another embodiment of this application. Figure 2 As shown, in another embodiment, the vehicle control method may include steps 201-202, which will be described in detail below.

[0083] Step 201: Apply brakes to the front and rear axles of the vehicle according to the braking parameters, which are obtained from the vehicle's braking signals.

[0084] Step 202: Based on the vehicle's center of gravity offset, apply braking control to the vehicle to keep the center of gravity offset within the set offset range.

[0085] In this embodiment, braking parameters refer to parameters related to vehicle braking. As an example, braking parameters may include braking intensity. Braking intensity refers to the vehicle's ability or efficiency to decelerate during braking, and is typically related to the vehicle's speed, such as the distance and time required to decelerate from a certain speed to a stop.

[0086] A vehicle's braking system is typically designed to apply braking force to both the front and rear axles to ensure stability and effectiveness during braking. Therefore, braking can be applied to the front and rear axles separately based on braking parameters, thus controlling the vehicle's braking process. Next, during braking, braking adjustments are made based on the vehicle's center of gravity offset; that is, the braking parameters for the front and rear axles are adjusted to keep the center of gravity offset within a set range, thereby improving vehicle braking stability.

[0087] As an example, in step 201, the front axle braking force and rear axle braking force can be obtained according to the braking intensity and a preset braking force distribution rule, respectively. The preset braking force distribution rule refers to the rule for distributing braking force between the front and rear axles, which can be determined based on factors such as the actual driving conditions of the vehicle. Then, the vehicle's motors are controlled to output front axle braking force and rear axle braking force, respectively, to brake the vehicle. The front axle braking force refers to the braking force applied to the front wheels by the motor driving the front axle during vehicle braking. The rear axle braking force refers to the braking force applied to the rear wheels by the motor driving the rear axle during vehicle braking. By adjusting the front and rear axle braking forces, the braking efficiency and stability of the vehicle can be improved.

[0088] To obtain the front and rear axle braking forces of a vehicle, the current front and rear axle loads of the vehicle can be determined first based on the braking intensity. Then, the front axle braking force is determined based on the current front axle load, and the rear axle braking force is determined based on the current rear axle load.

[0089] In this embodiment, load refers to the weight of the vehicle. Front axle load refers to the portion of the vehicle's total weight borne by the front axle, which may include the vehicle's own weight and additional weights, such as the impact of passengers and cargo, on the front axle. Rear axle load refers to the portion of the vehicle's total weight borne by the rear axle, which may also include the vehicle's own weight and additional weights. Therefore, current front axle load refers to the vehicle's front axle load at the current moment, and current rear axle load refers to the vehicle's rear axle load at the current moment.

[0090] As an example, the current front axle load is determined based on the vehicle's sprung weight under static load, initial center of gravity height, a first distance between the initial center of gravity position and the front axle, a second distance between the initial center of gravity position and the rear axle, and braking intensity; and / or the current rear axle load is determined based on the vehicle's sprung weight under static load, initial center of gravity height, a first distance between the initial center of gravity position and the front axle, a second distance between the initial center of gravity position and the rear axle, and braking intensity. Here, sprung weight refers to the portion of the vehicle's weight supported by the suspension system, which may include the weight of the vehicle body, passengers, cargo, and other weights transmitted to the wheels through the suspension system. Initial center of gravity height refers to the height of the vehicle's center of gravity under static load. The first distance refers to the distance between the initial center of gravity position and the front axle, and the second distance refers to the distance between the initial center of gravity position and the rear axle.

[0091] Specifically, assume the initial height of the vehicle's center of gravity under static load is h. g0 The initial distance between the initial center of gravity and the front axle is a0, the initial distance between the initial center of gravity and the rear axle is b0, and the initial front axle load is F. f0 The initial rear axle load is F r0 The required braking torque of the vehicle under different braking decelerations can be calculated through testing. Then, based on the ideal braking force distribution method, the magnitude of the braking torque of the front and rear axles can be calculated. Finally, the change in the center of gravity position can be calculated based on the vehicle speed during braking.

[0092] When a vehicle is stationary, the initial front axle load can be determined based on the vehicle's sprung weight, the first distance between the initial center of gravity and the front axle, and the second distance between the initial center of gravity and the rear axle; and / or the initial rear axle load can be determined based on the same parameters. Stationary load refers to the load on the front and rear axles of the vehicle when it is not moving. The initial front axle load and initial rear axle load refer to the front and rear axle loads when the vehicle is not moving.

[0093] The initial front axle load can be calculated using the following formula:

[0094]

[0095] The initial rear axle load can be calculated using the following formula:

[0096]

[0097] Among them, F f0 For the initial front axle load, F r0 The initial rear axle load is given by m, the sprung weight is given by g, the acceleration due to gravity is given by a0, the first distance is given by b0, and the second distance is given by h. g0 Let z be the initial centroid height, and z be the braking intensity.

[0098] Assuming the current braking intensity is z, the sprung weight of the vehicle is m, and the rolling radius of the wheel is r, the required braking torque can be expressed as T = zgmr, where g is the acceleration due to gravity. Ignoring air resistance and rolling resistance, and ensuring the braking intensity satisfies road adhesion requirements... When the load is static, the distribution of the ideal braking force can be calculated based on the position of the center of mass under static load.

[0099] Based on the ideal braking force distribution, the current front axle load F is obtained. f1 It can be calculated using the following formula:

[0100]

[0101] Current rear axle load F r1 It can be calculated using the following formula:

[0102]

[0103] Therefore, vehicle parameters during braking can be continuously updated based on the braking force distribution value. For example, the center of gravity height at time t1 is h. g1 At time t1, the distance between the center of gravity and the front axle is a1, and the distance between the center of gravity and the rear axle is b1. The current front axle load is F. f1 The current rear axle load is F r1 .

[0104] To more accurately control vehicle braking based on the vehicle's center of gravity offset, the vehicle's center of gravity offset during braking can be obtained before step 202.

[0105] In this embodiment, the center of gravity offset can be determined based on the vehicle's load transfer. Load transfer refers to the redistribution of the vehicle's weight among different axles and wheels due to inertial forces during braking. In this embodiment, load transfer refers to the change in the front axle load and the rear axle load of the vehicle.

[0106] Specifically, the load transfer amount of the vehicle can be obtained first based on the braking intensity. Then, the center of gravity offset can be obtained based on the load transfer amount.

[0107] Specifically, the load transfer amount of the vehicle obtained based on the braking intensity can be determined based on the sprung weight of the vehicle under static load, the initial center of gravity height, the first distance between the initial center of gravity position and the front axle, the second distance between the initial center of gravity position and the rear axle, and the braking intensity.

[0108] As an example, the load transfer amount F z It can be calculated using the following formula:

[0109]

[0110] In the embodiments of this application, the load transfer amount and the centroid offset amount have a corresponding relationship. Examples are given below in two different ways.

[0111] The first approach involves inputting the load transfer amount into a centroid offset detection model to obtain the centroid offset. This centroid offset detection model characterizes the relationship between the load transfer amount and the centroid offset; essentially, it's a predictive model for the centroid offset based on the load transfer amount. In one example, training data can be obtained by using centroid offsets and load transfer amounts from a large amount of experimental data to train the model, resulting in a model for calculating the centroid offset. For instance, the training data could include load transfer amounts corresponding to different centroid offsets, thus training the model to obtain the centroid offset detection model.

[0112] The second method involves calculating the center of gravity offset based on the load transfer amount using a pre-defined relationship function. This pre-defined relationship function is a quantified function relating the load transfer amount and the center of gravity offset for a specific vehicle. For example, this function can be derived from a large amount of experimental data and characterize the quantified correlation between the center of gravity offset and the load transfer amount. In one example, multiple data sets, each including a load offset and its corresponding center of gravity offset, can be used. Curve fitting based on these data sets yields a function expressing the relationship between the center of gravity offset and the load transfer amount, which can then be used to calculate the center of gravity offset.

[0113] In this embodiment, the centroid offset may include a centroid height offset and a centroid forward shift. The centroid height offset corresponds to the load transfer amount, and the centroid forward shift may also correspond to the load transfer amount. Therefore, in one example, the corresponding centroid height offset and centroid forward shift can be obtained based on the load transfer amount.

[0114] The center of gravity height offset refers to the change in the vehicle's center of gravity in the vertical direction. When the center of gravity height offset is too large, it indicates a significant pitching angle, failing to meet the conditions for comfortable braking. The center of gravity forward displacement refers to the change in the vehicle's center of gravity in the horizontal direction. When the center of gravity forward displacement is too large, it indicates a pronounced forward lurch, also failing to meet the requirements for comfortable braking. Therefore, in this embodiment, braking control of the vehicle can be based on the center of gravity height offset and center of gravity forward displacement.

[0115] In one example, a first threshold can be set to determine the vehicle's center of gravity height offset. This first threshold is the threshold used to determine if the vehicle's center of gravity height offset is excessive. When the center of gravity height offset exceeds the first threshold, it indicates that the vehicle does not meet the conditions for comfortable braking. Therefore, during braking, the vehicle's suspension height needs to be adjusted until the center of gravity height offset is less than or equal to the first threshold.

[0116] A vehicle's suspension can include front and rear suspensions. When the vehicle's center of gravity deviates too much from its normal height, it indicates that the vehicle is pitching. Therefore, it is necessary to raise the height of the front suspension and / or lower the height of the rear suspension to effectively control the pitch phenomenon. As an example, a vehicle's suspension can be an active suspension, which refers to an adjustable suspension.

[0117] Specifically, the adjustment height for the vehicle suspension can be calculated based on the current center of gravity height, the initial center of gravity height, and a first threshold. Then, the vehicle suspension is height-adjusted according to this adjustment height. This adjustment height is the height used to adjust the suspension. Then, the height of the vehicle's active front suspension and / or the height of the vehicle's active rear suspension are adjusted based on this adjustment height. For example, the height of the vehicle's active front suspension is increased by this adjustment height, and / or the height of the vehicle's active rear suspension is decreased by this adjustment height.

[0118] The height adjustment can be calculated using the following formula:

[0119]

[0120] Where H represents the adjusted height, and h g1 h is the height of the center of mass at the current moment. g0 Let Δh be the initial centroid height. g This is the first threshold.

[0121] In another example, a second threshold can be set to judge the amount of forward displacement of the vehicle's center of gravity. This second threshold is the threshold used to determine if the forward displacement of the vehicle's center of gravity is excessive. When the forward displacement exceeds the second threshold, it indicates that the vehicle is lurching forward, and the front and rear axle braking forces can be adjusted to make the forward displacement of the center of gravity less than or equal to the second threshold.

[0122] Since lurching forward indicates that the braking force on the rear axle is relatively small and the braking force on the front axle is relatively large, the phenomenon of lurching forward can be improved by controlling the vehicle's motor to reduce the braking force output from the front axle and by controlling the vehicle's motor to increase the braking force output from the rear axle.

[0123] In this embodiment, when the center of gravity offset is within a set offset range, it indicates that the vehicle's braking is currently stable. At this time, road surface recognition parameters of the vehicle's current location can be obtained. Road surface recognition parameters refer to parameter information corresponding to the condition of the road surface where the vehicle is located, obtained through road surface recognition. For example, road surface recognition parameters may include road surface adhesion. Then, based on the road surface recognition parameters, the braking torque output by the vehicle's motor is determined, and the braking torque demand signal is transmitted to the motor. The motor can quickly respond by outputting negative torque as the braking torque. This braking force can include front axle braking force output to the front axle and rear axle braking force output to the rear axle. In one example, the rear axle of the vehicle can also be equipped with dual motors to meet the increased braking torque demand.

[0124] The following specific embodiments illustrate the control method for vehicle comfort braking.

[0125] First, combine Figure 3 The control principle of vehicle comfort braking is explained, including steps 301-306.

[0126] Step 301: Determine the initial center of gravity position, initial front axle load, and initial rear axle load of the vehicle under static load. Specifically, first obtain the initial center of gravity position of the vehicle under static load, including the initial center of gravity height h. g0 Initial center of gravity position distance from the front axle a0, initial center of gravity position distance from the rear axle b0, initial front axle load F f0 Initial rear axle static load F r0 .

[0127] Step 302: Set the offset range and provide the relationship between braking intensity and center of gravity offset. Specifically, the vehicle braking torque requirement under different braking decelerations can be calculated through testing. Then, the front and rear axle braking torques can be calculated according to the ideal braking force distribution method, and the change in center of gravity position can be calculated based on the vehicle speed during braking.

[0128] Step 303: Calculate the load transfer amount based on the braking intensity input by the driver. Specifically, calculate the ideal braking force distribution result according to the initial center of gravity position of the static load. Continuously update the vehicle parameters during braking based on the braking force distribution value. Calculate the load transfer amount at the current moment based on the braking intensity in real time.

[0129] Step 304: Adjust the height of the front and rear suspensions based on the center of gravity height offset, and adjust the braking force of the front and rear axles based on the center of gravity forward shift.

[0130] The center of gravity height offset can be the difference between the center of gravity height at any given moment and the initial center of gravity height, representing the impact of changes in center of gravity height on the vehicle's pitch. Based on a first threshold corresponding to the center of gravity height offset, if the center of gravity height offset is greater than the first threshold, it indicates that the vehicle's pitch is too large, failing to meet the requirements for comfortable braking, and the height of the vehicle's front and rear suspensions needs to be adjusted.

[0131] The forward shift of the center of gravity can be the difference between the horizontal position of the center of gravity at any given moment and the initial horizontal position of the center of gravity, representing the impact of changes in the horizontal position of the center of gravity on the degree of forward lurch of the vehicle. Based on the second threshold corresponding to the forward shift of the center of gravity, if the forward shift of the center of gravity is greater than the second threshold, it indicates that the degree of forward lurch of the vehicle is too large, which does not meet the requirements for comfortable braking, and the braking force of the front and rear axles of the vehicle needs to be adjusted.

[0132] Step 305: Combine the road surface adhesion identification results and the real-time output front and rear axle load values ​​to calculate the braking torque of the front and rear axles output by the motor.

[0133] Step 306: The motor outputs braking torque to the front and rear axles. Then, return to step 303 to perform real-time judgment of the braking process.

[0134] Combined Figure 4 This example illustrates a method for controlling the comfort braking torque of a vehicle. This control method may include steps 401-411.

[0135] Step 401: Obtain the vehicle's braking intensity.

[0136] Step 402: Distribute the braking force between the front and rear axles according to the ideal braking torque.

[0137] Step 403: Calculate the front axle load and the rear axle load.

[0138] Step 404: Obtain the centroid height offset.

[0139] Step 405: Determine whether the centroid height offset is greater than the first threshold. If not, proceed to step 406; if yes, proceed to step 407.

[0140] Step 406: Adjust the front and rear suspension heights so that the center of gravity height offset is less than or equal to the first threshold, update the front axle load and rear axle load, and proceed to step 407.

[0141] Step 407: Obtain the centroid forward shift amount.

[0142] Step 408: Determine whether the centroid forward shift is greater than the second threshold. If not, proceed to step 409; if yes, proceed to step 410.

[0143] Step 409: Adjust the braking force of the front and rear axles and update the vertical load of the front and rear axles.

[0144] Step 410: Calculate the braking torque of the front and rear axles based on the road surface identification parameters.

[0145] Step 411: The motor outputs braking torque to the front and rear axles.

[0146] This application's embodiments, based on the driver's braking intensity requirements, establish the relationship between load transfer and center of gravity change under ideal braking force distribution according to vehicle static load data, enabling pre-judgment of comfort. Simultaneously, a first and second threshold for determining center of gravity offset are set, judging braking comfort conditions from two dimensions: changes in center of gravity height and changes in center of gravity forward shift. Furthermore, combining road surface information and axle load analysis, it proposes addressing the nodding and lurching issues during vehicle braking by adjusting the front and rear axle suspensions and the front and rear axle braking force redistribution method.

[0147] Figure 5 This is a schematic diagram of the structure of a vehicle control device 500 provided in an embodiment of this application. Figure 5 As shown, the vehicle control device 500 may include a control module 501. The control module 501 is used to perform braking control on the vehicle based on the vehicle's center of gravity offset.

[0148] The control module 501 can be used to execute step 101 in the embodiment of the above vehicle control method. For the specific implementation of these modules and more details, please refer to the corresponding method section. They will not be described in detail here.

[0149] Figure 6 This is a structural block diagram of an electronic device 600 provided in an embodiment of this application. Figure 6 As shown, the electronic device 600 includes a memory 601 and a processor 602. The memory 601 is configured to store instructions. The processor 602 is configured to retrieve instructions from the memory and, when executing the instructions, to implement the vehicle control method described above.

[0150] This application also provides a vehicle control system for executing the above-described electronic equipment.

[0151] This application also provides a vehicle, including a vehicle control system or electronic device according to embodiments of this application. The vehicle in this application can be a gasoline-powered vehicle, a plug-in hybrid electric vehicle, or a new energy vehicle, etc., and this application does not specifically limit it.

[0152] This application also provides a computer-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the vehicle control method described above.

[0153] Since the instructions stored in the vehicle control device, system, electronic device, vehicle, and computer-readable storage medium can execute the steps in any of the vehicle control methods provided in the embodiments of this application, the beneficial effects that any of the vehicle control methods provided in the embodiments of this application can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0154] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0155] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0156] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0157] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0158] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0159] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0160] Computer-readable media include both permanent and non-permanent, removable and non-removable media, which can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient media, such as modulated communication signals and carrier waves.

[0161] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0162] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A vehicle control method characterized by, The method comprises: controlling braking of the vehicle based on the vehicle's center of mass offset.

2. The vehicle control method according to claim 1, characterized by, The controlling braking of the vehicle based on the vehicle's center of mass offset comprises: controlling braking of the vehicle based on the center of mass offset to control the vehicle's center of mass offset within a set offset range.

3. The vehicle control method according to claim 2, characterized by, The controlling braking of the vehicle based on the center of mass offset to control the vehicle's center of mass offset within a set offset range comprises: controlling braking of the front axle and the rear axle of the vehicle according to braking parameters, the braking parameters being obtained according to a vehicle braking signal; controlling braking of the vehicle based on the vehicle's center of mass offset to control the center of mass offset within the set offset range.

4. The vehicle control method according to claim 3, characterized by The braking parameters comprise braking intensity. The controlling braking of the front axle and the rear axle of the vehicle according to braking parameters comprises: obtaining front axle braking force and rear axle braking force of the vehicle according to the braking intensity; controlling the motor of the vehicle to output the front axle braking force to the front axle and the rear axle braking force to the rear axle to brake the vehicle.

5. The vehicle control method according to claim 4, characterized by The obtaining front axle braking force and rear axle braking force of the vehicle according to the braking intensity comprises: determining current front axle load and current rear axle load of the vehicle according to the braking intensity; determining the front axle braking force according to the current front axle load and determining the rear axle braking force according to the current rear axle load.

6. The vehicle control method according to claim 5, characterized by The determining current front axle load and current rear axle load of the vehicle according to the braking intensity comprises: determining the current front axle load according to the sprung weight of the vehicle under static load, initial center of mass height, first distance between the initial center of mass position and the front axle, second distance between the initial center of mass position and the rear axle, and the braking intensity; and / or determining the current rear axle load according to the sprung weight of the vehicle under static load, the initial center of mass height, the first distance between the initial center of mass position and the front axle, and the second distance between the initial center of mass position and the rear axle, and the braking intensity.

7. The vehicle control method according to claim 6, characterized by, The current front axle load is calculated by the following formula: where F f1 is the current front axle load, m is the sprung mass, g is the acceleration due to gravity, a0 is the first distance, b0 is the second distance, h g0 is the initial height of the center of mass, and z is the brake intensity.

8. The vehicle control method according to claim 6, characterized by The current rear axle load is calculated by the following formula: where F r1 is the current axle load, m is the sprung mass, g is the acceleration due to gravity, a0 is the first distance, b0 is the second distance, h g0 is the initial height of the center of mass, and z is the brake intensity.

9. The vehicle control method according to claim 3, characterized by, Before the controlling braking of the vehicle based on the vehicle's center of mass offset to control the center of mass offset within the set offset range, the vehicle control method further comprises: obtaining the center of mass offset of the vehicle during braking.

10. The vehicle control method according to claim 9, characterized by The braking parameters comprise braking intensity, and the obtaining the center of mass offset of the vehicle during braking comprises: obtaining load transfer amount of the vehicle according to the braking intensity; obtaining the center of mass offset according to the load transfer amount.

11. The vehicle control method according to claim 10, characterized by, The obtaining load transfer amount of the vehicle according to the braking intensity comprises: determining the load transfer amount according to the sprung weight of the vehicle under static load, initial center of mass height, first distance between the initial center of mass position and the front axle, second distance between the initial center of mass position and the rear axle, and the braking intensity.

12. The vehicle control method according to claim 11, characterized by, The load transfer amount is calculated by the following formula: where F z is the load transfer amount, m is the sprung mass, g is the gravitational acceleration, a0 is the first distance, b0 is the second distance, h g0 is the initial height of the center of mass, and z is the braking intensity.

13. The vehicle control method according to claim 10, characterized by, The step of obtaining the centroid offset based on the load transfer amount includes: The load transfer amount is input into the centroid offset detection model to obtain the centroid offset, wherein the centroid offset detection model is a model that characterizes the relationship between the load transfer amount and the centroid offset.

14. The vehicle control method according to claim 10, characterized by, The step of obtaining the centroid offset based on the load transfer amount includes: Based on the load transfer amount, the centroid offset is obtained through a preset relationship function, wherein the preset relationship function is a quantization relationship function between the load transfer amount and the centroid offset of the vehicle.

15. The vehicle control method according to any one of claims 2 to 14, characterized by, The centroid offset includes the centroid height offset; The step of braking the vehicle based on the center of gravity offset to control the vehicle's center of gravity offset within a set offset range includes: When the center of gravity height offset is greater than a first threshold, the vehicle's suspension is height adjusted so that the center of gravity height offset is less than or equal to the first threshold.

16. The vehicle control method according to claim 15, characterized by The height adjustment of the vehicle's suspension includes: Raise the front suspension height of the vehicle; and / or Lower the rear suspension height of the vehicle.

17. The vehicle control method according to claim 15, characterized by, The height adjustment of the vehicle's suspension includes: The adjustment height of the suspension is obtained based on the current center of gravity height, the initial center of gravity height, and the first threshold. The suspension height is adjusted according to the stated adjustment height.

18. The vehicle control method according to claim 17, characterized by, The adjustment height is calculated using the following formula: where H is the adjusted height, h g1 is the initial height of the centroid, and Δh g0 is the initial height of the centroid, and Δh g is the first threshold value.

19. The vehicle control method according to any one of claims 2 to 14, characterized by, The centroid offset includes the centroid forward shift; The step of braking the vehicle based on the center of gravity offset to control the vehicle's center of gravity offset within a set offset range includes: When the forward displacement of the center of gravity is greater than the second threshold, the front axle braking force and rear axle braking force of the vehicle are adjusted so that the forward displacement of the center of gravity is less than or equal to the second threshold.

20. The vehicle control method according to claim 19, characterized by, The adjustment of the front axle braking force and rear axle braking force of the vehicle includes: By controlling the vehicle's motor, the front axle braking force output by the front axle of the vehicle is reduced; and by controlling the vehicle's motor, the rear axle braking force output by the rear axle of the vehicle is increased.

21. The vehicle control method according to any one of claims 2 to 14, characterized by, Also includes: When the centroid offset is within the set offset range, the road surface recognition parameters of the vehicle are obtained; The braking torque of the vehicle's motor is determined based on the road surface recognition parameters, so as to control the motor to output the corresponding braking force, which includes the front axle braking force and the rear axle braking force.

22. An electronic device, comprising: include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the vehicle control method according to any one of claims 1 to 21.

23. A vehicle control system characterized by comprising: Including the electronic device according to claim 22.

24. A vehicle characterized by comprising: This includes the electronic device according to claim 22 or the vehicle control system according to claim 23.

25. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed by a processor, cause the processor to perform the vehicle control method according to any one of claims 1 to 21.

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