A vehicle control method, device, equipment and storage medium

Abstract

The present application discloses a vehicle control method, device, equipment and storage medium, including: obtaining the current state information of the vehicle stability control system; performing prediction processing on the deflection direction of the vehicle when the current state information is in the working state; when the predicted deflection direction is opposite to the current deflection direction, obtaining the first limited driving torque at the current moment and the second limited driving torque at the previous moment of the vehicle stability control system; when the first limited driving torque is greater than the second limited driving torque, taking the second limited driving torque as the target torque increase base; controlling the target torque increase base to increase according to the current torque increase gradient information to obtain the target intervention driving torque; controlling the drive motor to respond to the target intervention driving torque and drive the vehicle to travel. The present invention makes a preliminary judgment when the intervention of the vehicle stability control system becomes weak. When the deflection direction that the vehicle is about to enter is opposite to the current deflection direction, it controls the torque increase base to increase in a gradient manner, improving the smoothness of vehicle turning.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle control, and particularly to a vehicle control method, device, equipment, and storage medium. Background Art

[0002] With the continuous enrichment of materials, people's pursuit of vehicle functions is getting higher and higher, the requirements for driving performance and driving pleasure are increasing day by day, the driving conditions are becoming more intense, and the scenario applications are also increasing. At the same time, automobile manufacturers are also continuously increasing the functional requirements for vehicles, and improving the requirements for the safety performance of vehicle body stability and driving control performance. Therefore, the stability, controllability, and safety of vehicle driving become more important.

[0003] At present, when the driving direction of a vehicle becomes unstable during driving, the vehicle intervenes and adjusts through its own vehicle body stability control system. However, when the driving direction changes repeatedly, the vehicle body stability control system will repeatedly switch between intervening and not intervening in the drive torque control according to the vehicle body dynamic performance. When the vehicle body stability system does not intervene, the vehicle speed will increase rapidly, and when intervening in the drive torque control and actively increasing the wheel cylinder pressure for braking on the wheels, the vehicle speed will decrease. The vehicle speed will show a phenomenon of being sometimes fast and sometimes slow, making the entire control process less smooth, reducing safety, and resulting in a poor subjective evaluation by the driver. Summary of the Invention

[0004] The present disclosure provides a vehicle control method, device, equipment, and storage medium to at least solve the problem of how to improve the turning smoothness in related technologies. The technical solution of the present disclosure is as follows:

[0005] According to a first aspect of an embodiment of the present disclosure, a vehicle control method is provided, including:

[0006] Obtaining the current state information of the vehicle body stability control system;

[0007] When the current state information of the vehicle body stability control system is in the working state, performing a prediction process on the deflection direction of the vehicle to obtain a predicted deflection direction;

[0008] When the predicted deflection direction is opposite to the current deflection direction, obtaining a first restricted drive torque at the current moment and a second restricted drive torque at the previous moment of the vehicle body stability control system;

[0009] When the first restricted drive torque is greater than the second restricted drive torque, using the second restricted drive torque as the target torque increase base;

[0010] Controlling the target torque increase base to increase at the current torque increase gradient information to obtain a target intervention drive torque;

[0011] The control drives the driving motor to respond to the target intervention driving torque and drive the vehicle to travel.

[0012] In a possible implementation, the predicting and processing the deflection direction of the vehicle to obtain the predicted deflection direction includes:

[0013] Obtain the current driving data of the vehicle and the preset driving data threshold;

[0014] According to the current driving data and the preset driving data threshold, predict and process the deflection direction of the vehicle to obtain the predicted deflection direction.

[0015] Further, the current driving data includes the current steering wheel angle, the current steering wheel angle change rate, the current yaw rate, the current yaw rate change rate, and the current output driving torque;

[0016] The preset driving data threshold includes a first threshold for the angle, a second threshold for the angle change rate, a second threshold for the angular velocity change rate, and a second threshold for the torque; the predicted deflection direction being opposite to the current deflection direction includes:

[0017] The current steering wheel angle is less than the first threshold for the angle, the current steering wheel angle change rate is greater than the second threshold for the angle change rate, the current steering wheel angle decreases, the current yaw rate change rate is greater than the second threshold for the angular velocity change rate, the current yaw rate decreases, and the current output driving torque is greater than the second threshold for the torque.

[0018] Further, the controlling the target torque increase base to increase by the current torque increase gradient information to obtain the target intervention driving torque includes:

[0019] Control the target torque increase base to increase by the current torque increase gradient information to the target output driving torque, and use the target output driving torque as the target intervention driving torque; wherein, the target output driving torque is the current input torque corresponding to the current throttle pedal opening of the vehicle.

[0020] Further, the controlling the target torque increase base to increase by the current torque increase gradient information to obtain the target intervention driving torque includes:

[0021] Obtain the prior output driving torque of the vehicle at the previous moment;

[0022] Obtain the target output driving torque of the vehicle, where the target output driving torque is the current input torque corresponding to the current throttle pedal opening of the vehicle;

[0023] Update the target torque increase base based on the minimum of the target output drive torque, the first limited drive torque, and the previous output drive torque;

[0024] Control the updated target torque increase base to increase according to the current torque increase gradient information to obtain the target intervention drive torque.

[0025] Further, before controlling the target torque increase base to increase according to the current torque increase gradient information to obtain the target intervention drive torque, the method further includes:

[0026] Obtain the current road surface adhesion coefficient and the current vehicle speed of the vehicle;

[0027] Determine the current torque increase gradient information according to the current road surface adhesion coefficient and the current vehicle speed.

[0028] Further, the method further includes:

[0029] If it is detected that the current state information of the vehicle stability control system jumps to a non-working state during the process of the target torque increase base increasing, determine the moment when the vehicle stability control system jumps to the non-working state;

[0030] Obtain the duration of the non-working state of the vehicle stability control system;

[0031] When the duration is greater than a preset duration threshold, stop the increasing operation.

[0032] According to another aspect of the present application, a drive torque control device for a vehicle is also disclosed, and the device includes:

[0033] A state information acquisition module, configured to acquire the current state information of the vehicle stability control system;

[0034] A deflection direction prediction module, configured to perform a prediction process on the deflection direction of the vehicle when the current state information of the vehicle stability control system is in a working state to obtain a predicted deflection direction;

[0035] A limited drive torque acquisition module, configured to acquire the first limited drive torque at the current moment and the second limited drive torque at the previous moment of the vehicle stability control system within a preset period when the predicted deflection direction is opposite to the current deflection direction;

[0036] A target torque increase base determination module, configured to use the second limited drive torque as the target torque increase base when the first limited drive torque is greater than the second limited drive torque;

[0037] A target intervention drive torque determination module, configured to control the target torque increase base to increase according to the current torque increase gradient information to obtain the target intervention drive torque;

[0038] A vehicle drive control module is configured to control a drive motor to drive the vehicle in response to the target intervention drive torque.

[0039] According to another aspect of the present application, an electronic device is further disclosed, including:

[0040] A processor;

[0041] A memory for storing instructions executable by the processor;

[0042] Wherein, the processor is configured to execute the instructions to implement the drive torque control method of the vehicle as described above.

[0043] According to another aspect of the present application, a computer-readable storage medium is further disclosed. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device can execute the drive torque control method of the vehicle as described above.

[0044] According to another aspect of the embodiments of the present disclosure, a computer program product is provided, including computer instructions. When the computer instructions are executed by a processor, the computer is caused to execute the drive torque control method of the vehicle as described above.

[0045] The technical solutions provided by the embodiments of the present disclosure at least bring the following beneficial effects:

[0046] In the vehicle control method of the present invention, the current state information of the vehicle body stability control system is first obtained; when the current state information of the vehicle body stability control system is in a working state, a prediction process is performed on the deflection direction of the vehicle to obtain a predicted deflection direction; when the predicted deflection direction is opposite to the current deflection direction, the first limited drive torque at the current moment and the second limited drive torque at the previous moment of the vehicle body stability control system are obtained; when the first limited drive torque is greater than the second limited drive torque, the second limited drive torque is used as the target torque increase base; the target torque increase base is controlled to increase incrementally with the current torque increase gradient information to obtain a target intervention drive torque; the drive motor is controlled to respond to the target intervention drive torque to drive the vehicle to travel. Therefore, the present invention first makes a preliminary judgment when the intervention of the vehicle body stability control system weakens, and when it is judged that the deflection direction that the vehicle is about to enter is opposite to the current deflection direction, the drive torque is controlled to slowly increase with a certain base number to limit the release of the drive torque, so that the driving speed increases slowly and the smoothness of vehicle turning is improved.

[0047] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure, and do not constitute an improper limitation of the present disclosure.

[0049] Figure 1 is a flowchart of a vehicle control method provided by this embodiment;

[0050] Figure 2 is a schematic diagram of the application environment of a vehicle control method provided by this embodiment;

[0051] Figure 3 is a flowchart of another vehicle control method provided by this embodiment;

[0052] Figure 4 is a flowchart of another vehicle control method provided by this embodiment;

[0053] Figure 5 is a structural block diagram of a vehicle control device shown according to an exemplary embodiment.

[0054] Figure 6 A block diagram of an electronic device for a vehicle control method shown according to an exemplary embodiment. Detailed implementation manners

[0055] In order to enable those of ordinary skill in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0056] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned accompanying drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present disclosure described here can be implemented in an order other than those illustrated or described here. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0057] Please refer to Figure 2 , Figure 2 is a schematic diagram of the application environment of a vehicle control method shown according to an exemplary embodiment. As Figure 2 shown, the application environment may include a body controller 01 and a body stability control system 02 located on the vehicle.

[0058] In an optional embodiment, the body control module 01 and the vehicle stability control system 02 can be connected based on the CAN bus. The body control module 01 can obtain the status information of the vehicle stability control system 02, and the vehicle stability control system 02 can intervene in the driving torque during the vehicle driving process.

[0059] It should be noted that the following figure shows a possible step sequence, and in fact, it is not limited that it must be strictly in this order. Some steps can be executed in parallel without depending on each other.

[0060] Figure 1 It is a flowchart of a vehicle control method provided by an embodiment of the present invention. As Figure 1 shown, the following steps can be included:

[0061] S100. Obtain the current status information of the vehicle stability control system.

[0062] Specifically, the execution subject of this method can be the body control module (BCM), and this body control module is used to obtain the information transmitted by sensors or other devices. Obtain the current status information of the Vehicle Stability Control (VSC) system, specifically, it can be to obtain whether the vehicle stability control system is currently in a working state or a non-working state. Exemplarily, there is an indication mark on the vehicle indicating the working state of the vehicle stability control system, and the body control module can determine whether the vehicle stability control system is in a working state or a non-working state by obtaining the information of the indication mark of the vehicle stability control system. For example, when the indication mark is in a highlighted state, it is determined that the vehicle stability control system is in a working state, and when the indication mark is in a gray state, it is determined that the vehicle stability control system is in a non-working state. When the current status information of the vehicle stability control system is in a working state, the vehicle stability control system intervenes in the driving torque of the drive motor, and when the current status information of the vehicle stability control system is in a non-working state, the vehicle stability control system stops intervening in the driving torque of the drive motor.

[0063] S102. When the current status information of the vehicle stability control system is in a working state, perform a prediction process on the deflection direction of the vehicle to obtain a predicted deflection direction.

[0064] S104. When the predicted deflection direction is opposite to the current deflection direction, obtain the first limited driving torque at the current moment and the second limited driving torque at the previous moment of the vehicle stability control system.

[0065] In a possible implementation, the current driving data and the preset driving data threshold of the vehicle can be obtained first; then, based on the current driving data and the preset driving data threshold, the deflection direction of the vehicle can be predicted to obtain the predicted deflection direction. Specifically, the current driving data includes the current steering wheel angle, the current steering wheel angle change rate, the current yaw rate, the current yaw rate change rate, and the current output drive torque;

[0066] The preset driving data threshold includes a first threshold for the angle, a second threshold for the angle change rate, a second threshold for the angular velocity change rate, and a second threshold for the torque; the predicted deflection direction being opposite to the current deflection direction includes: the current steering wheel angle being less than the first threshold for the angle, the current steering wheel angle change rate being greater than the second threshold for the angle change rate, the current steering wheel angle decreasing, the current yaw rate change rate being greater than the second threshold for the angular velocity change rate, the current yaw rate decreasing, and the current output drive torque being greater than the second threshold for the torque.

[0067] It can be understood that when any one of the following conditions is met: the current steering wheel angle is greater than or equal to the first threshold for the angle, or the current steering wheel angle change rate is less than or equal to the second threshold for the angle change rate, or the current steering wheel angle is increasing, or the current yaw rate change rate is less than or equal to the second threshold for the angular velocity change rate, or the current yaw rate is increasing, or the current output drive torque is less than or equal to the second threshold for the torque, it is considered that the predicted deflection direction is the same as the current deflection direction.

[0068] Specifically, the first limited drive torque refers to the limited output drive torque of the body stability control system for the drive motor at the current moment to control the drive motor to drive the vehicle at the first limited drive torque, and the second limited drive torque refers to the limited output drive torque of the body stability control system for the drive motor at the previous moment to control the drive motor to drive the vehicle at the second limited drive torque.

[0069] S106. When the first limited drive torque is greater than the second limited drive torque, take the second limited drive torque as the target torque increase base.

[0070] S108. Control the target torque increase base to increase according to the current torque increase gradient information to obtain the target intervention drive torque.

[0071] Specifically, when the first limiting driving torque is greater than the second limiting driving torque, it indicates that the intervention of the vehicle stability control system on the driving motor is weakened, and the dynamic control of the vehicle stability control system is weakened. This will cause instantaneous release or instantaneous increase of the driving torque under conditions such as snake-like driving, resulting in the vehicle being quickly accelerated or quickly decelerated, leading to poor ride comfort and handling performance. At this time, the second limiting driving torque can be used as the target torque increase base, and the target torque increase base is incremented according to the current torque increase gradient information to obtain the target intervention driving torque.

[0072] Further, before the target torque increase base is incremented according to the current torque increase gradient information to obtain the target intervention driving torque, the current torque increase gradient information can be determined first. Specifically, the current torque increase gradient information can be obtained based on the following steps:

[0073] Obtain the current road surface adhesion coefficient and the current vehicle speed.

[0074] Determine the current torque increase gradient information according to the current road surface adhesion coefficient and the current vehicle speed.

[0075] Specifically, the current torque increase gradient information can be the product of the current road surface adhesion coefficient and the current vehicle speed.

[0076] It can be understood that by making a preliminary judgment when the intervention of the vehicle stability control system becomes weaker, and when it is judged that the deflection direction the vehicle is about to enter is opposite to the current deflection direction, the driving torque is controlled to increase slowly with a certain base number to limit the release of the driving torque, so that the driving speed increases slowly and the smoothness of vehicle turning is improved.

[0077] Further, if it is detected that the current state information of the vehicle stability control system jumps to a non-working state during the process of the target torque increase base increasing, determine the moment when the vehicle stability control system jumps to the non-working state.

[0078] Further, in a possible implementation scheme, if it is detected that the current state information of the vehicle stability control system jumps to a non-working state during the process of the target torque increase base increasing, at this time, it can be considered that the vehicle stability control system no longer intervenes in the vehicle, and at this time, the specific time when the vehicle stability control system stops intervening can be obtained.

[0079] Obtain the duration of the non-working state of the vehicle stability control system;

[0080] When the duration is greater than the preset duration threshold, stop the increment operation.

[0081] Specifically, the preset duration threshold can be set in advance. Exemplarily, it can be 5 minutes, 6 minutes, etc., and can be specifically set according to actual requirements. When the duration of the non-operating state of the vehicle stability control system is greater than the preset duration threshold, it indicates that the vehicle stability control system has not intervened in vehicle driving for some time. At this time, it can be considered that the vehicle is not turning repeatedly, and the increment operation of the target torque increment base can be stopped. Specifically, the torque corresponding to when the increment operation is stopped can be taken as the target driving intervention driving torque at this time.

[0082] Further, in another possible implementation, during the process of the target torque increment base increasing, obtain the second corner threshold, the first corner change rate threshold, the first angular velocity change rate threshold, and the first torque threshold, where the second corner threshold is greater than the first corner threshold, the first corner change rate threshold is less than the second corner change rate threshold, the first angular velocity change rate threshold is less than the second angular velocity change rate threshold, and the first torque threshold is less than the second torque threshold;

[0083] If an activation signal of the brake pedal is received, or it is monitored that the current steering wheel angle of the vehicle is greater than the second corner threshold, or the current steering wheel angle change rate is less than the first corner change rate threshold, or the current lateral angular velocity change rate is less than the first angular velocity change rate threshold, or the current output driving torque is less than the first torque threshold, then stop the increment operation.

[0084] S110. Control the drive motor to respond to the target intervention driving torque and drive the vehicle to travel.

[0085] Specifically, after determining the target intervention driving torque, control the drive motor to respond to the target intervention driving torque and drive the vehicle to travel, so as to realize the control of the vehicle through the increased torque.

[0086] By adding control logic, when it is determined that the intervention of the vehicle stability control system becomes weaker, the deflection direction that the vehicle is about to enter is pre-judged in advance. When the deflection direction that the vehicle is about to enter is opposite to the current deflection direction, control the driving torque to increase slowly at a certain base number to limit the release of the driving torque, so that the driving speed increases slowly, and it is possible to avoid the phenomenon that the vehicle driving direction switches repeatedly caused by repeatedly rotating the steering wheel, and the vehicle speed is sometimes fast and sometimes slow and difficult to control under the unstable working condition, thereby improving the smoothness of vehicle turning.

[0087] Figure 3 It is a flowchart of a vehicle control method provided by an embodiment of the present invention. As Figure 3 shown, the following steps may be included:

[0088] S100. Obtain the current state information of the vehicle stability control system.

[0089] S102. When the current state information of the vehicle stability control system is in the working state, perform a prediction process on the deflection direction of the vehicle to obtain a predicted deflection direction.

[0090] S104. When the predicted deflection direction is opposite to the current deflection direction, obtain the first limited driving torque at the current moment and the second limited driving torque at the previous moment of the vehicle stability control system.

[0091] S106. When the first limited driving torque is greater than the second limited driving torque, use the second limited driving torque as the target torque increase base.

[0092] S108. Control the target torque increase base to increase according to the current torque increase gradient information to obtain a target intervention driving torque.

[0093] Specifically, S108: Controlling the target torque increase base to increase according to the current torque increase gradient information to obtain a target intervention driving torque can specifically be:

[0094] S200. Control the target torque increase base to increase according to the current torque increase gradient information until the current base torque reaches the target output driving torque, and use the target output driving torque as the target intervention driving torque.

[0095] Specifically, the target torque increase base can be controlled to increase according to the current torque increase gradient information until the target torque increase base increases to the target output driving torque, where the target output driving torque is the current input torque corresponding to the current throttle pedal opening of the vehicle. It can be understood that controlling the target torque increase base to increase according to the current torque increase gradient information can be to control the target torque increase base to increase according to the current torque increase gradient information once or to continuously increase the target torque increase base according to the current torque increase gradient information. The number of increments of the target torque increase base is determined based on the difference between the target torque increase base and the target output driving torque. Further, it can be understood that when the torque obtained by the last increment of the target torque increase base is greater than the target output driving torque, the torque before the last increment of the target torque increase base is used as the target output driving torque to avoid the problem that the torque after the increment is too large and the current input torque corresponding to the current throttle pedal opening is not sufficient to provide the torque after the increment.

[0096] S110. Control the drive motor to respond to the target intervention driving torque and drive the vehicle to travel.

[0097] It can be understood that for steps S100 to S108 and the parts not introduced in step S110, reference can be made to the above relevant introduction, which will not be elaborated here.

[0098] Figure 4 is a flowchart of a vehicle control method provided by an embodiment of the present invention. As Figure 4 shown, it may include the following steps:

[0099] S100. Obtain the current state information of the vehicle stability control system.

[0100] S102. When the current state information of the vehicle stability control system is in the working state, perform a prediction process on the deflection direction of the vehicle to obtain the predicted deflection direction.

[0101] S104. When the predicted deflection direction is opposite to the current deflection direction, obtain the first limited driving torque at the current moment and the second limited driving torque at the previous moment of the vehicle stability control system.

[0102] S106. When the first limited driving torque is greater than the second limited driving torque, use the second limited driving torque as the target torque increase base number.

[0103] S108. Control the target torque increase base number to increase according to the current torque increase gradient information to obtain the target intervention driving torque.

[0104] Specifically, S108: Controlling the target torque increase base number to increase according to the current torque increase gradient information to obtain the target intervention driving torque may specifically include:

[0105] S300. Obtain the prior output driving torque of the vehicle at the previous moment.

[0106] S302. Obtain the target output driving torque of the vehicle.

[0107] Specifically, the target output driving torque is the current input torque corresponding to the current throttle pedal opening of the vehicle.

[0108] S304. Update the target torque increase base number based on the minimum driving torque among the target output driving torque, the first limited driving torque, and the prior output driving torque.

[0109] S306. Control the updated target torque increase base number to increase according to the current torque increase gradient information to obtain the target intervention driving torque.

[0110] S110. Control the drive motor to respond to the target intervention driving torque and drive the vehicle to travel.

[0111] It can be understood that for the parts not introduced in steps S100 to S108 and step S110, reference can be made to the above relevant introduction, which will not be elaborated here.

[0112] It can be understood that updating the minimum driving torque among the target output driving torque, the first limiting driving torque, and the previous output driving torque of the vehicle to the target torque increase base can avoid the problem that when the first limiting driving torque or the previous output driving torque is greater than the target output driving torque of the vehicle, the current input torque corresponding to the current throttle pedal opening is insufficient to provide the torque corresponding to the first limiting driving torque or the previous output driving torque.

[0113] Further, as Figure 5 shown, Figure 5 FIG. is a structural block diagram of a vehicle control device provided by an embodiment of the present application. The device includes:

[0114] A status information acquisition module, configured to acquire the current status information of the vehicle stability control system;

[0115] A deflection direction prediction module, configured to perform a prediction process on the deflection direction of the vehicle when the current status information of the vehicle stability control system is in a working state, and obtain a predicted deflection direction;

[0116] A limiting driving torque acquisition module, configured to acquire a first limiting driving torque at the current moment and a second limiting driving torque at the previous moment of the vehicle stability control system within a preset period when the predicted deflection direction is opposite to the current deflection direction;

[0117] A target torque increase base determination module, configured to use the second limiting driving torque as the target torque increase base when the first limiting driving torque is greater than the second limiting driving torque;

[0118] A target intervention driving torque determination module, configured to control the target torque increase base to increase at the current torque increase gradient information to obtain a target intervention driving torque;

[0119] A vehicle driving control module, configured to control the driving motor to respond to the target intervention driving torque and drive the vehicle to travel.

[0120] Further, the deflection direction prediction module includes:

[0121] An acquisition unit, configured to acquire the current driving data of the vehicle and a preset driving data threshold;

[0122] A prediction processing unit, configured to perform a prediction process on the deflection direction of the vehicle according to the current driving data and the preset driving data threshold, and obtain a predicted deflection direction.

[0123] Further, the target intervention driving torque determination module includes:

[0124] The first determination unit is configured to control the target torque increase base to increase to the target output driving torque at the current torque increase gradient information, and use the target output driving torque as the target intervention driving torque; wherein, the target output driving torque is the current input torque corresponding to the current throttle pedal opening of the vehicle.

[0125] Further, the target intervention driving torque determination module further includes:

[0126] The prior output driving torque acquisition unit is configured to acquire the prior output driving torque of the vehicle at the previous moment;

[0127] The target output driving torque acquisition unit is configured to acquire the target output driving torque of the vehicle, and the target output driving torque is the current input torque corresponding to the current throttle pedal opening of the vehicle;

[0128] The update unit is configured to update the target torque increase base based on the minimum driving torque among the target output driving torque, the first limited driving torque, and the prior output driving torque;

[0129] The second determination unit is configured to control the updated target torque increase base to increase at the current torque increase gradient information to obtain the target intervention driving torque.

[0130] Further, the device further includes a current torque increase gradient information determination module, configured to acquire the current road surface adhesion coefficient and the current vehicle speed of the vehicle, and determine the current torque increase gradient information according to the current road surface adhesion coefficient and the current vehicle speed.

[0131] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0132] Figure 6 is a block diagram of an electronic device for a vehicle control method shown according to an exemplary embodiment. The electronic device may be a server, and its internal structure diagram may be as Figure 6 shown. The electronic device includes a processor, a memory, and a network interface connected through a system bus. Among them, the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is configured to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a vehicle control method.

[0133] Those skilled in the art can understand, Figure 6The structure shown is only a block diagram of some of the structures related to the present disclosure, and does not constitute a limitation on the electronic device to which the present disclosure is applied. The specific electronic device may include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0134] In an exemplary embodiment, an electronic device is further provided, including: a processor; a memory for storing instructions executable by the processor; wherein, the processor is configured to execute the instructions to implement the vehicle control method as in the embodiments of the present disclosure.

[0135] In an exemplary embodiment, a computer-readable storage medium is further provided. When the instructions in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device can execute the vehicle control method in the embodiments of the present disclosure. The computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0136] In an exemplary embodiment, a computer program product containing instructions is further provided. When it runs on a computer, the computer is enabled to execute the vehicle control method in the embodiments of the present disclosure.

[0137] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it may include the processes of the embodiments of the above methods. Among them, any reference to the memory, storage, database, or other media used in the various embodiments provided in the present application may include non-volatile and / or volatile memories. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0138] Other embodiments of the present disclosure will be readily apparent to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and examples are only to be considered as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0139] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A vehicle control method, characterized in that, Including: Obtain the current state information of the vehicle stability control system; When the current state information of the vehicle stability control system is in the working state, perform a prediction process on the deflection direction of the vehicle to obtain a predicted deflection direction; When the predicted deflection direction is opposite to the current deflection direction, obtain the first limited driving torque at the current moment and the second limited driving torque at the previous moment of the vehicle stability control system; When the first limited driving torque is greater than the second limited driving torque, use the second limited driving torque as the target torque increase base; Control the target torque increase base to increase at the current torque increase gradient information to obtain a target intervention driving torque, including: controlling the target torque increase base to increase to the target output driving torque at the current torque increase gradient information, and using the target output driving torque as the target intervention driving torque, and the control of increasing the target torque increase base at the current torque increase gradient information is to continuously increase the target torque increase base at the current torque increase gradient information; Control the drive motor to respond to the target intervention driving torque and drive the vehicle to travel.

2. The vehicle control method according to claim 1, wherein The performing a prediction process on the deflection direction of the vehicle to obtain a predicted deflection direction includes: Obtain the current driving data of the vehicle and a preset driving data threshold; According to the current driving data and the preset driving data threshold, perform a prediction process on the deflection direction of the vehicle to obtain a predicted deflection direction.

3. The vehicle control method according to claim 2, wherein The current driving data includes the current steering wheel angle, the current steering wheel angle change rate, the current yaw rate, the current yaw rate change rate, and the current output driving torque; The preset driving data threshold includes a first threshold for the angle, a second threshold for the angle change rate, a second threshold for the angular velocity change rate, and a second threshold for the torque; The predicted deflection direction being opposite to the current deflection direction includes: The current steering wheel angle is less than the first threshold for the angle, the current steering wheel angle change rate is greater than the second threshold for the angle change rate, the current steering wheel angle decreases, the current yaw rate change rate is greater than the second threshold for the angular velocity change rate, the current yaw rate decreases, and the current output driving torque is greater than the second threshold for the torque.

4. The vehicle control method according to claim 1, characterized in that The controlling the target torque increase base to increase at the current torque increase gradient information to obtain a target intervention driving torque includes: Obtain the previous output driving torque of the vehicle at the previous moment; Obtain the target output driving torque of the vehicle, and the target output driving torque is the current input torque corresponding to the current throttle pedal opening of the vehicle; Update the target torque increase base based on the minimum driving torque among the target output driving torque, the first limited driving torque, and the previous output driving torque; Control the updated target torque increase base to increase at the current torque increase gradient information to obtain a target intervention driving torque.

5. The vehicle control method according to claim 1, characterized in that Before the controlling the target torque increase base to increase at the current torque increase gradient information to obtain a target intervention driving torque, the method further includes: Obtain the current road adhesion coefficient and the current vehicle speed; Determine the current torque increasing gradient information according to the current road surface adhesion coefficient and the current vehicle speed.

6. The vehicle control method according to claim 1 or 4, characterized in that The method further includes: If it is detected that the current state information of the vehicle stability control system jumps to a non-operating state during the process of the target torque increasing base increasing, determine the moment when the vehicle stability control system jumps to the non-operating state; Obtain the duration of the non-operating state of the vehicle stability control system; When the duration is greater than a preset duration threshold, stop the increasing operation.

7. A driving torque control device for a vehicle, characterized in that, The device includes: A state information acquisition module, configured to acquire the current state information of the vehicle stability control system; A deflection direction prediction module, configured to predict the deflection direction of the vehicle to obtain a predicted deflection direction when the current state information of the vehicle stability control system is in an operating state; A restricted driving torque acquisition module, configured to acquire a first restricted driving torque at the current moment and a second restricted driving torque at the previous moment of the vehicle stability control system within a preset period when the predicted deflection direction is opposite to the current deflection direction; A target torque increasing base determination module, configured to use the second restricted driving torque as the target torque increasing base when the first restricted driving torque is greater than the second restricted driving torque; A target intervention driving torque determination module, configured to control the target torque increasing base to increase according to the current torque increasing gradient information to obtain a target intervention driving torque, including: controlling the target torque increasing base to increase to a target output driving torque according to the current torque increasing gradient information, and using the target output driving torque as the target intervention driving torque, and the controlling the target torque increasing base to increase according to the current torque increasing gradient information is to control the target torque increasing base to continuously increase according to the current torque increasing gradient information; A vehicle driving control module, configured to control the driving motor to respond to the target intervention driving torque and drive the vehicle to travel.

8. An electronic device, characterized in that, Including: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions to implement the vehicle driving torque control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, When the instructions in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is enabled to execute the vehicle driving torque control method according to any one of claims 1 to 6.

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