Vehicle control method, system and 6×6 vehicle

Abstract

The embodiments of the present application relate to the field of automotive technology, and more specifically, to a vehicle control method, system, electronic device, and vehicle. The control method includes: when the vehicle is in an assisted steering state, obtaining the vehicle's steering information; wherein the steering information includes at least the vehicle's turning angle and turning direction; when the steering information is steering information indicating that the vehicle is in a turning state, determining a target wheel to be braked from a plurality of rear wheels based on the turning direction and turning angle; and outputting a wheel control signal corresponding to the target wheel to control the vehicle to perform a preset braking action on the target wheel. By determining the wheel that is suitable for the current turning situation and braking it according to different turning situations, it is achieved to meet different turning situations, effectively reduce the turning radius, and improve the steering assist effect.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of automotive technology, and more specifically, to a vehicle control method, system, and 6×6 vehicle. Background Art

[0002] When a vehicle encounters a sharp turn that requires continuous operation while driving in low-speed cruise mode, it often activates the Turning Assistant by Braking (TAB) function. The EPB is clamped on one side to apply brakes to the inner rear wheel and control it within the set slip rate. This improves the vehicle's off-road performance, effectively reduces the vehicle's turning radius, and thus improves turning performance.

[0003] For 6×6 models, due to the increase in the vehicle's wheelbase, simply applying brakes to the inner rear wheel cannot meet different turning conditions, and thus cannot effectively reduce the turning radius, resulting in poor steering assist effect. Summary of the Invention

[0004] Embodiments of the present application provide a vehicle control method, system, and 6×6 vehicle, which aim to solve the problem of poor steering assist effect when braking only the inner rear wheel.

[0005] A first aspect of an embodiment of the present application provides a vehicle control method, the control method comprising:

[0006] When the vehicle is in an assisted steering state, obtaining steering information of the vehicle; wherein the steering information includes at least a turning angle and a turning direction of the vehicle;

[0007] When the steering information indicates that the vehicle is in a turning state, determining a target wheel to be braked from a plurality of rear wheels according to the turning direction and the turning angle;

[0008] A wheel control signal corresponding to the target wheel is output to control the vehicle to perform a preset braking action on the target wheel.

[0009] Optionally, the rotation angle is a steering wheel rotation angle; and determining a target wheel to be braked from a plurality of rear wheels according to the rotation direction and the rotation angle comprises:

[0010] When the rotation angle is within a first angle range, determining a wheel on the rear axle among the rear wheels located on one side of the rotation direction as the target wheel;

[0011] When the rotation angle is within a second angle range, a wheel located at a middle bridge among the rear wheels located on one side of the rotation direction is determined as the target wheel.

[0012] Optionally, determining a target wheel to be braked from a plurality of rear wheels according to the rotation direction and the rotation angle includes:

[0013] When the rotation direction is a first direction, determining the target wheel from the plurality of rear wheels located in the first direction based on a rotation angle;

[0014] When the turning direction is a second direction, the target wheel is determined from the plurality of rear wheels located in the second direction based on a turning angle.

[0015] Optionally, the preset braking action includes:

[0016] controlling an EPB system of the vehicle to brake the target wheel within a first preset time period;

[0017] At the end of the first preset time period, stopping braking of the target wheel for a second preset time period;

[0018] Repeat the above steps until it is detected that the vehicle leaves the turning state.

[0019] Optionally, the method further includes:

[0020] When it is detected that the steering information is steering information indicating that the vehicle is in a turning state, the vehicle's center axle inter-axle differential lock is controlled to be updated from a disconnected state to a locked state, so that the vehicle's center axle and rear axle are changed from a series state to a parallel state.

[0021] Optionally, the method further includes:

[0022] When detecting that the TAB button is triggered, in response to the first steering state control signal output when the TAB button is triggered, controlling the vehicle to enter the auxiliary steering state;

[0023] When the vehicle is in the assisted steering state and it is detected that the TAB button is triggered again, the vehicle is controlled to exit the assisted steering state in response to a second steering state control signal.

[0024] Optionally, the method further includes:

[0025] When the vehicle enters the assisted steering state and exits the assisted steering state, a corresponding state change prompt signal is output through the vehicle's instrument panel.

[0026] A second aspect of an embodiment of the present application provides a vehicle control device, the control device comprising:

[0027] An acquisition module, configured to acquire steering information of the vehicle when the vehicle is in an assisted steering state; wherein the steering information includes at least a turning angle and a turning direction of the vehicle;

[0028] a determination module, configured to determine, when the steering information indicates that the vehicle is in a turning state, a target wheel to be braked from a plurality of rear wheels according to the turning direction and the turning angle;

[0029] The execution module is used to output a wheel control signal corresponding to the target wheel to control the vehicle to perform a preset braking action on the target wheel.

[0030] A third aspect of an embodiment of the present application provides an electronic device, including:

[0031] memory for storing computer programs;

[0032] The processor is used to execute the computer program stored in the memory to implement the above control method.

[0033] A fourth aspect of an embodiment of the present application is a 6×6 vehicle, comprising the above-mentioned control device to implement the above-mentioned control method.

[0034] A vehicle control method, system and 6×6 vehicle provided by the present application are used. After the vehicle needs to turn and enters the assisted steering state, steering information related to the vehicle and steering, including the turning angle and the turning direction, is obtained in real time. When the steering information is detected as steering information representing that the vehicle is in a turning state, the 6×6 vehicle brakes different wheels when turning, and the turning effect is also different. Therefore, the turning side situation of the turn is determined according to the turning angle and the turning direction in the steering information, thereby determining the target wheel that needs to be braked, and then controlling the vehicle to perform a preset braking action on the target wheel. By determining the wheel that is suitable for the current turning situation to brake according to different turning situations, it is achieved to meet different turning situations, effectively reduce the turning radius, and improve the steering assist effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0036] Figure 1 This is a flow chart of a control method proposed in one embodiment of the present application;

[0037] Figure 2This is a schematic diagram of a process for determining a target wheel according to an embodiment of the present application;

[0038] Figure 3 This is a schematic diagram of a process for determining a target wheel according to another embodiment of the present application;

[0039] Figure 4 This is a flow chart of formulating a preset braking action according to an embodiment of the present application;

[0040] Figure 5 This is a schematic diagram of a process for changing the auxiliary steering state proposed in one embodiment of the present application;

[0041] Figure 6 This is a schematic diagram of a process for automatically entering an assisted steering state according to an embodiment of the present application;

[0042] Figure 7 This is a module diagram of a control device proposed in one embodiment of the present application;

[0043] Figure 8 This is a schematic diagram of a module of an electronic device proposed in one embodiment of the present application. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0045] Compared to 4X4 off-road vehicles, the 6X6 has an additional axle and two wheels at the rear end, reducing the load on each wheel and improving the vehicle's overall carrying capacity. The increased number of drive wheels and tires provides a larger tire contact patch and multiple points of contact, allowing for flexible power distribution and outstanding off-road escape capabilities in challenging road conditions. Based on two-, four-, or six-wheel drive configurations, the 6X6 features five differential locks, including a central differential lock on the transfer case, which primarily switches the vehicle from two-wheel drive to four-wheel drive; a mid-axle differential lock, which primarily switches the vehicle from four-wheel drive to six-wheel drive; a mid-axle inter-wheel differential lock, which primarily locks the left and right drive wheels; a rear axle inter-wheel differential lock, which primarily locks the left and right drive wheels; and a front axle inter-wheel differential lock, which primarily locks the left and right drive wheels.

[0046] When a vehicle encounters a sharp turn that requires continuous operation while driving in low-speed cruise mode, it often activates the Turning Assistant by Braking (TAB) function. The EPB is clamped on one side to apply brakes to the inner rear wheel and control it within the set slip rate. This improves the vehicle's off-road performance, effectively reduces the vehicle's turning radius, and thus improves turning performance.

[0047] For 6×6 models, due to the increase in the vehicle's wheelbase, simply applying brakes to the inner rear wheel cannot meet different turning conditions, and thus cannot effectively reduce the turning radius, resulting in poor steering assist effect.

[0048] Example 1

[0049] In view of this, the first embodiment of the present application provides a vehicle control method, referring to Figure 1 , control methods include:

[0050] S1, when the vehicle is in an assisted steering state, obtaining steering information of the vehicle, wherein the steering information at least includes a turning angle and a turning direction of the vehicle.

[0051] When a vehicle is driving, normal turns or lane changes can be completed smoothly under normal conditions. However, when the vehicle makes sharp turns or large angle turns, it is often necessary to control the vehicle to enter an assisted steering state to reduce the vehicle's turning radius.

[0052] After a 6×6 vehicle enters the assisted steering state, it begins to obtain steering information related to turning to determine the vehicle's turning intention, thereby assisting the vehicle in coping with different turning situations in different ways. The turning information includes the turning angle and turning direction. The turning information can be the turning angle of the steering wheel or the turning angle of the front wheels, or the turning angle output by the vehicle's steering angle sensor. The vehicle's steering intention can be analyzed through the turning angle and steering angle.

[0053] S2, when the steering information is steering information indicating that the vehicle is in a turning state, determining a target wheel to be braked from a plurality of rear wheels according to a turning direction and a turning angle.

[0054] When it is determined based on the steering information that the vehicle is about to turn, the wheel on which side needs to be braked is determined based on the turning direction. If the 6×6 vehicle is located in the middle of the turning direction, the wheel on the middle axle and the rear axle that needs to be braked is determined based on the turning angle.

[0055] When the vehicle's turning angle is small, that is, the vehicle's turning diameter is large, so the required turning wheelbase (the distance between the braked power axle and the front axle) of the vehicle itself is large. Therefore, when the vehicle's turning angle is small, the rear axle wheels are braked. When the vehicle's turning angle is large, that is, the vehicle's turning diameter is small, so the required turning wheelbase (the distance between the braked power axle and the front axle) of the vehicle itself is small. Therefore, when the vehicle's turning angle is small, the middle axle wheels are braked.

[0056] S3, outputting a wheel control signal corresponding to the target wheel to control the vehicle to perform a preset braking action on the target wheel.

[0057] After determining the target wheel, the vehicle is controlled to perform a preset braking action on the target wheel, reducing the rotation of the inner wheel when turning, thereby reducing the moving distance of the vehicle when turning, and thus achieving the effect of reducing the turning radius.

[0058] After the vehicle needs to turn and enters the assisted steering state, the steering information related to the vehicle and steering is obtained in real time, including the turning angle and turning direction. When the steering information is detected as the steering information representing that the vehicle is in a turning state, the 6×6 model brakes different wheels when turning, and the turning effect is also different. Therefore, the turning side situation of this turn is determined according to the turning angle and turning direction in the steering information, thereby determining the target wheel that needs to be braked, and then controlling the vehicle to perform the preset braking action on the target wheel. By determining the wheel that is suitable for this turning situation to brake according to different turning situations, it is achieved to meet different turning situations, effectively reduce the turning radius, and improve the steering assist effect.

[0059] In some embodiments, the turning angle can be a steering wheel turning angle. According to the turning direction and the turning angle, the target wheel to be braked is determined from the plurality of rear wheels, and the target wheel to be braked is determined by referring to Figure 2 ,include:

[0060] S101: When the rotation angle is within a first angle range, a wheel on the rear axle among the rear wheels located on one side of the rotation direction is determined as a target wheel.

[0061] First, the current turning intention is determined based on the turning angle, thereby determining whether to select the center axle wheel or the rear axle wheel as the braking target when turning in a 6×6 vehicle model. This achieves the effect of changing the vehicle wheelbase when turning, thereby changing the turning radius. Then, based on the turning direction, the target wheel is determined on either the center axle or the rear axle.

[0062] Among them, the first angle range is the steering wheel angle when the vehicle turns at a small angle. In this embodiment, the first angle range can be greater than 180° and less than or equal to 360°. In this case, the angle changes slowly when the vehicle turns, that is, the turning radius is larger. Therefore, giving the vehicle a larger wheelbase when turning can achieve this. Therefore, the wheel on the rear axle of the vehicle closer to the turning direction is used as the braking target, that is, it is determined as the target wheel.

[0063] In some embodiments, when the vehicle is in an assisted turning state and the first angle range is a turning angle greater than 180° and less than or equal to 360°, the differential lock between the center axles of the vehicle is updated from a disconnected state to a locked state. In this way, even if the power axle where the target wheel is located slips, the other power axle can provide power to get the vehicle out of the slipping state, effectively improving the driving performance of the vehicle.

[0064] The rotation direction may be the rotation direction of the steering wheel, or the rotation direction of the wheels, or may be determined according to the lateral acceleration or yaw angle direction of the vehicle.

[0065] S102: When the rotation angle is within a second angle range, a wheel located at the middle bridge among the rear wheels located on one side of the rotation direction is determined as a target wheel.

[0066] The second angle interval is a steering wheel angle that represents a large-angle turn of the vehicle, i.e., a sharp turn. In this embodiment, the second angle interval can be greater than 360° and less than or equal to 540°. At this time, the angle of the vehicle changes rapidly when turning, and the turning amplitude is large, i.e., the turning radius is small when turning. Therefore, a smaller wheelbase is required for the vehicle when turning. Therefore, the wheel on the side of the wheel on the vehicle's mid-bridge close to the direction of rotation is used as the braking target, i.e., it is determined as the target wheel.

[0067] In some embodiments, when the vehicle is in an assisted turning state and the first angle range is a turning angle greater than 360° and less than or equal to 540°, the differential lock between the center axles of the vehicle is updated from a disconnected state to a locked state. In this way, even if the power axle where the target wheel is located slips, the other power axle can provide power to get the vehicle out of the slipping state, effectively improving the vehicle's driving performance.

[0068] The first angle interval and the second angle interval can be calibrated according to the actual vehicle conditions, the driver's driving habits or the driving terrain to improve the applicability of the method.

[0069] In some embodiments, the target wheel to be braked is determined from the plurality of rear wheels according to the rotation direction and the rotation angle, and the target wheel to be braked is determined according to the rotation direction and the rotation angle. Figure 3 ,include:

[0070] S201 : When the rotation direction is a first direction, determine a target wheel from a plurality of rear wheels located in the first direction based on the rotation angle.

[0071] First, the target wheel is determined based on the turning direction, either on the center axle or the rear axle. Then, the current turning intention is determined based on the turning angle. This determines whether the center axle wheel or the rear axle wheel in a 6×6 vehicle model should be selected as the braking target during cornering, thereby changing the vehicle wheelbase during cornering and thus the turning radius.

[0072] First, the direction of the target wheel is determined according to the rotation direction, including the left direction and the right direction. When the rotation direction is the first direction, for example, the left direction, the target wheel is one of the middle axle and the rear axle located on the left side, and then it is determined whether it is the middle axle wheel or the rear axle wheel according to the rotation angle.

[0073] The rotation angle may be a steering wheel rotation angle, or a front axle wheel rotation angle, or other features that can predict or characterize the vehicle rotation angle.

[0074] S202: When the rotation direction is the second direction, determine a target wheel from a plurality of rear wheels located in the second direction based on the rotation angle.

[0075] When the rotation direction is the second direction, for example, the right side, the target wheel is the one on the right side between the middle axle and the rear axle, and then it is determined whether it is the middle axle wheel or the rear axle wheel according to the rotation angle.

[0076] In some embodiments, reference Figure 4 , the preset braking actions include:

[0077] S301 , controlling the EPB system of the vehicle to brake a target wheel within a first preset time period.

[0078] When the vehicle turns, the shorter the arc path of the wheel located at the rear of the vehicle, the smaller the turning radius of the vehicle. Therefore, when the vehicle is in the assisted steering state, the turning radius of the vehicle is reduced by reducing the rotation amount of the target wheel. Therefore, when the vehicle is in the assisted steering state, the EPB system that controls the vehicle first brakes the target wheel for a period of time, that is, brakes the target wheel within a first preset time period to reduce the moving distance of the target wheel, shorten the moving path of the vehicle when turning, and achieve the effect of reducing the turning radius of the vehicle.

[0079] At this time, since the wheel speeds at both ends of the power axle where the target wheel is located are different, the inter-wheel differential lock of the power axle where the target wheel is located needs to be disengaged. When the vehicle makes a small turn, that is, when the target wheel is a rear axle wheel, the rear axle inter-wheel differential lock is controlled to be disengaged to achieve the target wheel on the rear axle to be braked while the other end wheel continues to rotate. When the vehicle makes a sharp turn, that is, when the target wheel is a middle axle wheel, the middle axle inter-wheel differential lock is controlled to be disengaged to achieve the target wheel on the middle axle to be braked while the other end wheel continues to rotate, reducing damage to the vehicle.

[0080] S302: When the first preset time period ends, stop braking the target wheel for a second preset time period.

[0081] Since the vehicle is in a moving state when turning, braking the target wheel all the time will result in a too small turning radius, which may cause damage or danger to the vehicle. Therefore, the target wheel cannot be braked for a long time. Therefore, after the first preset time period ends, braking the target wheel is stopped within a second preset time period.

[0082] S303, repeat the above steps until it is detected that the vehicle is out of the turning state.

[0083] In the same turning action, the target wheels are alternately braked and stopped, that is, the EPB system uses slip control to perform a preset "clamp and release" braking action on the wheels, thereby effectively reducing damage to the vehicle and effectively achieving the effect of reducing the turning radius.

[0084] Among them, the length of the first preset time period and the length of the second preset time period can be calibrated according to the model and performance of the vehicle, or determined in real time according to the current driving conditions, such as terrain and vehicle speed, to achieve better turning effect.

[0085] In some embodiments, the method further comprises:

[0086] When the steering information is detected as steering information indicating that the vehicle is in a turning state, the vehicle's center axle inter-axle differential lock is controlled to be updated from a disconnected state to a locked state, so that the vehicle's center axle and rear axle are changed from a series state to a parallel state.

[0087] Among them, when the vehicle enters the turning assist state and executes the above method, due to the different wheel speeds at both ends of the power axle where the target wheel is located, the inter-wheel differential lock of the vehicle's center axle or rear axle is in a disconnected state. At this time, the drive axle where the target wheel of the vehicle is located is prone to slipping. Therefore, when the vehicle is in the assisted turning state, the vehicle's center axle inter-axle differential lock is controlled to be updated from a disconnected state to a locked state. In this way, even if the power axle where the target wheel is located slips, the other power axle can provide power to make the vehicle out of the slipping state, effectively improving the vehicle's driving performance.

[0088] In some embodiments, reference Figure 5 , the method further comprises:

[0089] S401 , when it is detected that the TAB button is triggered, in response to a first steering state control signal output when the TAB button is triggered, controlling the vehicle to enter an auxiliary steering state.

[0090] The auxiliary steering function of the vehicle is often started or turned off by a control button. In this embodiment, the auxiliary steering function is turned on or off by a TAB button.

[0091] When the vehicle is in a normal driving state, if the TAB button is detected to be triggered, it can be considered that the driver is about to control the vehicle to turn. Therefore, the signal of the TAB button being triggered is sent to the EPB via CAN communication, controlling the vehicle to turn on the assisted steering function, the vehicle enters the assisted steering state, and begins to execute the above-mentioned control method for turning.

[0092] S402 , when the vehicle is in the assisted steering state and it is detected that the TAB button is triggered again, in response to a second steering state control signal, the vehicle is controlled to exit the assisted steering state.

[0093] When the vehicle is in the assisted steering state, when the TAB button is triggered again, it can be considered that the vehicle has completed the turn or the driver does not need to continue using the assisted steering function, so the vehicle is controlled to exit the assisted steering state.

[0094] In some embodiments, reference Figure 6 , the method further comprises:

[0095] S501, obtaining the driving intention of the vehicle.

[0096] During the driving process of the vehicle, the vehicle's route is obtained through GPS and other means to determine the vehicle's driving intention; the route in front of the vehicle can also be obtained through cameras and other means to determine the vehicle's driving intention.

[0097] S502: When it is detected that the driving intention of the vehicle indicates that the vehicle is about to turn, the vehicle is controlled to automatically enter an assisted steering state.

[0098] When it is detected that the vehicle is about to pass a turning road, it can be considered that the vehicle is about to turn, that is, the driver needs to control the vehicle to turn, so the vehicle is automatically controlled to enter the assisted steering state to execute the above method without the need for manual control by the driver.

[0099] S503: When the vehicle is in the assisted steering state and it is detected that the vehicle has completed turning, the vehicle is controlled to exit the assisted steering state.

[0100] In another embodiment, the assisted steering function can also be automatically turned on or off according to the vehicle's turning information. For example, when the steering information is detected as steering information indicating that the vehicle is in a turning state, the vehicle automatically enters the assisted steering state. When the vehicle returns to the straight state, the vehicle automatically exits the assisted steering state, thereby reducing the operating process during driving and improving the adaptability of the vehicle.

[0101] In some embodiments, the method further comprises:

[0102] When the vehicle enters and exits the assisted steering state, a corresponding state change prompt signal is output through the vehicle's instrument panel.

[0103] When the vehicle enters the assisted steering state, that is, the assisted steering function is turned on, the corresponding indicator light on the vehicle dashboard can light up, or the corresponding voice prompt can be output, prompting the driver that the vehicle has entered the assisted steering state. When the vehicle exits the assisted steering state, the corresponding indicator light on the dashboard goes out, or the corresponding voice prompt is output.

[0104] Example 2

[0105] Based on the same inventive concept, another embodiment of the present application provides a vehicle control device, referring to Figure 7 , the control device 5 includes:

[0106] The acquisition module 51 is configured to acquire the vehicle's steering information when the vehicle is in the assisted steering state, wherein the steering information at least includes the vehicle's steering angle and steering direction.

[0107] The acquisition module 51 may be an angle sensor on a steering wheel or an angle sensor on a wheel, or may be other modules for acquiring vehicle rotation information, such as a steering angle sensor of the vehicle.

[0108] The determination module 52 is configured to determine a target wheel to be braked from among the plurality of rear wheels according to a turning direction and a turning angle when the turning information indicates that the vehicle is in a turning state.

[0109] The determination module 52 may be provided on the vehicle controller, or integrated on an integrated EPB or ECU (stand-alone EPB) to analyze the rotation information and determine the target wheel.

[0110] The execution module 53 is used to output a wheel control signal corresponding to the target wheel to control the vehicle to perform a preset braking action on the target wheel.

[0111] The execution module 53 may be an EPB, which implements braking of the target wheel.

[0112] In some embodiments, the determination module 52 is further configured to perform the following steps:

[0113] When the turning angle is within the first angle range, a wheel on the rear axle among the rear wheels located on one side of the turning direction is determined as the target wheel.

[0114] When the rotation angle is within the second angle range, the wheel located at the middle bridge among the rear wheels located on one side of the rotation direction is determined as the target wheel.

[0115] In some embodiments, the determination module 52 is further configured to perform the following steps:

[0116] When the turning direction is a first direction, a target wheel is determined from a plurality of rear wheels located in the first direction based on the turning angle.

[0117] When the turning direction is the second direction, the target wheel is determined from the plurality of rear wheels located in the second direction based on the turning angle.

[0118] In some embodiments, the execution module 53 is further configured to perform the following steps:

[0119] The EPB system of the vehicle is controlled to brake the target wheel within a first preset time period.

[0120] At the end of the first preset time period, braking of the target wheel is stopped for a second preset time period.

[0121] Repeat the above steps until it is detected that the vehicle is out of the turning state.

[0122] In some embodiments, the control device further includes a differential lock control module 54 to implement the following steps:

[0123] When the steering information is detected as steering information indicating that the vehicle is in a turning state, the vehicle's center axle inter-axle differential lock is controlled to be updated from a disconnected state to a locked state, so that the vehicle's center axle and rear axle are changed from a series state to a parallel state.

[0124] In some embodiments, the control device further includes a trigger module 55, and the trigger module 55 includes a TAB button to implement the following steps:

[0125] When it is detected that the TAB button is triggered, the vehicle is controlled to enter the auxiliary steering state in response to the first steering state control signal output when the TAB button is triggered.

[0126] When the vehicle is in the assisted steering state and it is detected that the TAB button is triggered again, the vehicle is controlled to exit the assisted steering state in response to the second steering state control signal.

[0127] In some embodiments, the control device further includes a prompt module 56 to implement the following steps:

[0128] When the vehicle enters and exits the assisted steering state, a corresponding state change prompt signal is output through the vehicle's instrument panel.

[0129] Based on the same inventive concept, another embodiment of the present application provides an electronic device, referring to Figure 8 ,include:

[0130] Memory for storing computer programs.

[0131] The processor is used to execute the computer program stored in the memory to implement the above control method.

[0132] Based on the same inventive concept, another embodiment of the present application provides a 6×6 vehicle, including the above-mentioned control device to implement the above-mentioned control method.

[0133] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0134] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0135] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, devices, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0136] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0137] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0138] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0139] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0140] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0141] The above is a detailed introduction to a vehicle control method, system and 6×6 vehicle provided by the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of the present application. At the same time, for those skilled in the art, according to the idea of the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present application.

Claims

1. A vehicle control method, characterized in that: The control method includes: When the vehicle is in an assisted steering state, obtaining steering information of the vehicle; wherein the steering information includes at least a turning angle and a turning direction of the vehicle, wherein the turning angle is a steering wheel turning angle; When the steering information indicates that the vehicle is in a turning state, determining a target wheel to be braked from a plurality of rear wheels according to the turning direction and the turning angle; Outputting a wheel control signal corresponding to the target wheel to control the vehicle to perform a preset braking action on the target wheel; Determining a target wheel to be braked from a plurality of rear wheels according to the rotation direction and the rotation angle includes: When the rotation angle is within a first angle range, determining a wheel on the rear axle among the rear wheels located on one side of the rotation direction as the target wheel; When the rotation angle is within a second angle range, a wheel located at a middle bridge among the rear wheels located on one side of the rotation direction is determined as the target wheel.

2. The control method according to claim 1, characterized in that: Determining a target wheel to be braked from a plurality of rear wheels according to the rotation direction and the rotation angle includes: When the rotation direction is a first direction, determining the target wheel from the plurality of rear wheels located in the first direction based on a rotation angle; When the turning direction is a second direction, the target wheel is determined from the plurality of rear wheels located in the second direction based on a turning angle.

3. The control method according to claim 1, characterized in that: Preset braking actions include: controlling an EPB system of the vehicle to brake the target wheel within a first preset time period; At the end of the first preset time period, stopping braking of the target wheel for a second preset time period; Repeat the above steps until it is detected that the vehicle leaves the turning state.

4. The control method according to claim 1, wherein: The method further comprises: When it is detected that the steering information is steering information indicating that the vehicle is in a turning state, the vehicle's center axle inter-axle differential lock is controlled to be updated from a disconnected state to a locked state, so that the vehicle's center axle and rear axle are changed from a series state to a parallel state.

5. The control method according to claim 1, characterized in that: The method further comprises: When detecting that the TAB button is triggered, in response to the first steering state control signal output when the TAB button is triggered, controlling the vehicle to enter the auxiliary steering state; When the vehicle is in the assisted steering state and it is detected that the TAB button is triggered again, the vehicle is controlled to exit the assisted steering state in response to a second steering state control signal.

6. The control method according to claim 1, characterized in that: The method further comprises: obtaining a driving intention of the vehicle; When detecting that the driving intention of the vehicle indicates that the vehicle is about to turn, controlling the vehicle to automatically enter an assisted steering state; When the vehicle is in an assisted steering state, after detecting that the vehicle has completed turning, the vehicle is controlled to exit the assisted steering state.

7. The control method according to claim 5, characterized in that: The method further comprises: When the vehicle enters the assisted steering state and exits the assisted steering state, a corresponding state change prompt signal is output through the vehicle's instrument panel.

8. A vehicle control device, characterized in that: The control device comprises: an acquisition module, configured to acquire steering information of the vehicle when the vehicle is in an assisted steering state; wherein the steering information includes at least a turning angle and a turning direction of the vehicle, wherein the turning angle is a steering wheel turning angle; a determination module, configured to determine, when the steering information indicates that the vehicle is in a turning state, a target wheel to be braked from a plurality of rear wheels according to the turning direction and the turning angle; an execution module, configured to output a wheel control signal corresponding to the target wheel, so as to control the vehicle to perform a preset braking action on the target wheel; The determination module is specifically configured to: when the rotation angle is within a first angle range, determine the wheel on the rear axle among the rear wheels located on one side of the rotation direction as the target wheel; when the rotation angle is within a second angle range, determine the wheel on the middle axle among the rear wheels located on one side of the rotation direction as the target wheel.

9. A 6×6 vehicle, characterized in that: The control device according to claim 8 is included to implement the control method according to claims 1-7.

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