Control Method for Vehicle Driving Deviation, Vehicle Controller and Vehicle

Abstract

The present invention provides a control method for vehicle driving deviation, a vehicle controller and a vehicle. The method includes: judging in real time whether the vehicle meets the preset preconditions for driving deviation according to the steering wheel state information, driving state information and wheel state information, and judging whether the vehicle meets the preset recognition conditions for driving deviation according to the left and right wheel speed difference information and the preset wheel speed difference threshold; if the vehicle meets both the preset preconditions for driving deviation and the preset recognition conditions for driving deviation, the vehicle controller of the vehicle determines that the vehicle has driving deviation and generates a fault message; if the vehicle does not meet the preset preconditions for driving deviation or the preset recognition conditions for driving deviation, continue to judge whether the vehicle meets the preset preconditions for driving deviation and whether the vehicle meets the preset recognition conditions for driving deviation. This solution has a simpler monitoring process for driving deviation, lower cost, and will generate a fault message to remind the driver when the vehicle driving deviation is monitored, improving the safety of the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle driving state control, and particularly relates to a control method for vehicle driving deviation, a vehicle controller and a vehicle. Background Art

[0002] At present, automobiles have become a commonly used means of transportation for people. However, as the driving mileage of the vehicle increases, the four-wheel alignment data of the vehicle will change. Especially for vehicles that often drive on complex road conditions, it is easier to cause the four-wheel alignment data to change, which in turn causes the vehicle to deviate. In addition, in other situations such as uneven distribution of the weight of items in the vehicle, resulting in a large difference in the body weight on the left and right sides; or tire deflation; or aging of components on the chassis, the vehicle is also prone to deviation.

[0003] Vehicle deviation means that when the vehicle is driving on a flat road surface, although it is supposed to be going straight, the vehicle still deviates to the left or right. The straight-line driving deviation of the vehicle will lead to unstable vehicle control, affecting the handling and stability of the vehicle. When the deviation is serious, it will affect the driving safety of the vehicle.

[0004] The existing method for judging whether a vehicle is driving deviating is generally as mentioned in the patent document CN107161081B. Cameras are arranged outside the vehicle body, and the relative movement between the vehicle and the surrounding environment is judged through the image information collected by the cameras, and at the same time, the steering wheel angle is combined for judgment. However, this method not only requires complex analysis and calculation programs, has high requirements for software and hardware, but also has a relatively high cost for vehicle layout and a relatively low calculation efficiency. Summary of the Invention

[0005] The purpose of the present invention is to solve the problems in the prior art that the method for judging vehicle driving deviation has a complex analysis process, high requirements for software and hardware, a relatively high cost for vehicle layout, and a relatively low calculation efficiency.

[0006] To solve the above problems, an embodiment of the present invention discloses a control method for vehicle driving deviation, including: obtaining in real time the steering wheel state information, driving state information, wheel state information, and left and right wheel speed difference information of the vehicle; judging whether the vehicle meets a preset deviation prerequisite condition according to the steering wheel state information, driving state information, and wheel state information; and judging whether the vehicle meets a preset deviation determination condition according to the left and right wheel speed difference information and a preset wheel speed difference threshold.

[0007] If the vehicle meets both the preset deviation prerequisite condition and the preset deviation determination condition at the same time, the vehicle controller of the vehicle determines that the vehicle has driving deviation and generates a fault message.

[0008] If the vehicle does not meet the preset preconditions for deviation or the preset deviation determination conditions, continue to determine whether the vehicle meets the preset preconditions for deviation and whether the vehicle meets the preset deviation determination conditions.

[0009] With the above solution, only the steering wheel state information, driving state information, wheel state information, and left and right wheel speed difference information of the vehicle are measured by sensors set at various positions on the vehicle body. Then, using the above information and a preset wheel speed difference threshold, it is determined whether the vehicle meets the preset preconditions for deviation and the deviation determination conditions. When both conditions are met simultaneously, it is determined that the vehicle is deviating. There is no need to set cameras around the vehicle body and use complex algorithms for calculation. The analysis process is relatively simple, the requirements for software and hardware are not high, the cost of the vehicle layout is saved, and the calculation efficiency is improved. Moreover, when the vehicle controller determines that the vehicle meets both the preset preconditions for deviation and the preset deviation determination conditions, it will also generate a fault message to remind the driver, improving the safety of the vehicle.

[0010] According to another specific embodiment of the present invention, for the vehicle driving deviation control method disclosed in the embodiment of the present invention, the steering wheel state information includes the steering wheel angle of the vehicle; the driving state information includes the vehicle speed; the wheel state information includes at least one of the wheel acceleration difference between the left and right wheels of the vehicle, the tire pressure difference between the left and right wheels, and the body weight difference between the left and right sides; and the preset preconditions for deviation include: the steering wheel angle is 0° and the continuous duration is greater than or equal to a preset time threshold; the vehicle speed is greater than or equal to a preset first speed threshold; and the wheel states on both sides of the vehicle are the same; where when at least one of the following conditions is met, the wheel states on both sides of the vehicle are the same: the absolute value of the wheel acceleration difference between the left and right wheels is less than or equal to a preset acceleration difference threshold; the absolute value of the tire pressure difference between the left and right wheels is less than or equal to a preset tire pressure difference threshold; and the absolute value of the body weight difference between the left and right sides is less than or equal to a preset weight difference threshold.

[0011] With the above solution, taking the vehicle speed being greater than or equal to the preset first speed threshold as a precondition for deviation can improve the driving and riding experience as much as possible while ensuring the safety of the vehicle. Moreover, taking the wheel states on both sides of the vehicle being the same as a preset precondition for deviation can avoid false detection when the deviation of the vehicle is caused by a large difference in body weight between the left and right sides of the vehicle, a large difference in wheel acceleration between the left and right wheels, or a large tire pressure difference, improving the accuracy of control.

[0012] According to another specific embodiment of the present invention, in the control method for vehicle driving deviation disclosed in the embodiments of the present invention, when all of the following conditions are satisfied, the wheel states on the left and right sides of the vehicle are the same: the absolute value of the difference in wheel acceleration between the left and right wheels is less than or equal to a preset acceleration difference threshold; the absolute value of the difference in tire pressure between the left and right wheels is less than or equal to a preset tire pressure difference threshold; and the absolute value of the difference in vehicle body weight between the left and right sides is less than or equal to a preset weight difference threshold.

[0013] With the above solution, the wheel acceleration of the left and right wheels, the difference in tire pressure between the left and right wheels, and the vehicle body weight on the left and right sides are all collected, and it is comprehensively determined whether the wheel states of the vehicle are the same, so as to improve the accuracy of judging the vehicle state consistency.

[0014] According to another specific embodiment of the present invention, in the control method for vehicle driving deviation disclosed in the embodiments of the present invention, the difference in wheel acceleration between the left and right wheels is the difference in wheel acceleration between the left front wheel and the right front wheel of the vehicle; the difference in tire pressure between the left and right wheels is the difference in tire pressure between the left front wheel and the right front wheel of the vehicle.

[0015] With the above solution, since the front wheels of the vehicle are steering wheels and the steering of the steering wheel also controls the steering of the vehicle by controlling the front wheels, only collecting the wheel state information of the front wheels can reduce the amount of data collected, improve the processing efficiency, and also reduce the installation of corresponding sensors and other measuring elements, reducing the overall vehicle layout cost.

[0016] According to another specific embodiment of the present invention, in the control method for vehicle driving deviation disclosed in the embodiments of the present invention, the left and right wheel speed difference information is the difference in wheel speed between the left front wheel and the right front wheel of the vehicle; and the preset deviation determination conditions include:

[0017] The absolute value of the difference in wheel speed between the left front wheel and the right front wheel is greater than or equal to a preset wheel speed difference threshold.

[0018] With the above solution, using the left and right wheel speed difference information as the basis for judging whether the vehicle meets the deviation determination conditions, since the wheel speed difference is directly related to the direction of the vehicle, collecting the wheel speed difference can improve the accuracy of judging vehicle driving deviation. And when determining the wheel speed difference threshold, the influence of weight and vehicle speed is considered, which can make the determined wheel speed difference threshold more accurate. Also, since the front wheels of the vehicle are steering wheels and the steering of the steering wheel also controls the steering of the vehicle by controlling the front wheels, only collecting the left and right wheel speed difference information of the front wheels can reduce the amount of data collected, improve the processing efficiency, and also reduce the installation of corresponding sensors and other measuring elements, reducing the overall vehicle layout cost.

[0019] According to another specific embodiment of the present invention, for the control method of vehicle driving deviation disclosed in the embodiment of the present invention, the range of the preset time threshold is from 2 s to 4 s; the range of the preset first speed threshold is from 50 Km / h to 60 Km / h; the absolute value of the wheel acceleration difference between the left and right wheels is inversely proportional to the vehicle body weight, where the range of the vehicle body weight is from 1 t to 2 t, and the range of the preset acceleration difference threshold is from 0 g to 0.1 g; the absolute value of the tire pressure difference between the left and right wheels is directly proportional to the tire temperature, where the range of the tire temperature is from 80 °C to 100 °C, and the range of the preset tire pressure difference threshold is from 0.1 bar to 0.3 bar; the range of the preset weight difference threshold is from 100 kg to 200 kg; the wheel speed difference between the left front wheel and the right front wheel is inversely proportional to both the vehicle body weight and the vehicle speed, where the range of the preset wheel speed difference threshold is from 60 r / min to 80 r / min.

[0020] With the above solution, when setting each threshold, the influence of vehicle own conditions such as vehicle weight, tire temperature, vehicle speed, etc. is fully considered, which can improve the accuracy of determining each threshold.

[0021] According to another specific embodiment of the present invention, for the control method of vehicle driving deviation disclosed in the embodiment of the present invention, after the vehicle control unit generates a fault message, it further includes: the vehicle control unit generates a fault display message indicating a vehicle chassis fault according to the fault message and outputs the fault display message to the central control screen of the vehicle; and, the vehicle control unit determines whether the driving speed of the vehicle is greater than a preset second speed threshold; where the second speed threshold is greater than the first speed threshold; if so, the vehicle control unit generates engine control information and outputs the engine control information to the engine controller of the vehicle to limit the output torque range of the engine to a preset first torque range; if not, the vehicle control unit generates engine control information and outputs the engine control information to the engine controller of the vehicle to limit the output torque range of the engine to a preset second torque range.

[0022] With the above solution, when the vehicle drives deviatingly, a fault display message indicating a vehicle chassis fault is generated and output to the central control screen, which can remind the driver to check the vehicle chassis in time, avoid traffic accidents, and improve the driving safety of the vehicle. Moreover, when the vehicle drives deviatingly and the vehicle speed is greater, the probability of the vehicle being in danger is greater. At this time, it is necessary to limit the output torque of the engine to a smaller range, thereby improving the driving safety of the vehicle; if the vehicle speed is relatively low, the driver can relatively easily control the vehicle when it drives deviatingly. At this time, the output torque of the engine can be limited to a relatively high range, which does not affect the normal driving of the driver on the premise of ensuring driving safety and improves the driving experience.

[0023] According to another specific embodiment of the present invention, for the control method of vehicle driving deviation disclosed in the embodiment of the present invention, the range of the preset second speed threshold is 60 Km / h to 70 Km / h; the preset first torque range is 100 N·m to 150 N·m; the preset second torque range is 150 N·m to 200 N·m.

[0024] An embodiment of the present invention discloses a vehicle controller, including a memory and a processor. The memory is used to store a control program, and when the processor processes the control program, it executes the steps of the control method for vehicle driving deviation described in any of the above embodiments.

[0025] An embodiment of the present invention discloses a vehicle, including the vehicle controller described in the above embodiment.

[0026] The beneficial effects of the present invention are as follows:

[0027] For the control method of vehicle driving deviation provided in this solution, only by using sensors arranged at various positions on the vehicle body to measure the steering wheel state information, driving state information, wheel state information, and left and right wheel speed difference information of the vehicle, and then using the above information and a preset wheel speed difference threshold to judge whether the vehicle meets the preset deviation prerequisite conditions and deviation determination conditions, and when both conditions are met, it is determined that the vehicle is deviating. There is no need to set cameras around the vehicle body and use complex algorithms for calculation. The analysis process is relatively simple, the requirements for software and hardware are not high, the cost of vehicle layout is saved, and the calculation efficiency is also improved. Moreover, when the vehicle controller determines that the vehicle simultaneously meets the preset deviation prerequisite conditions and the preset deviation determination conditions, it will also generate a fault message to remind the driver, improving the safety of the vehicle.

[0028] For the vehicle controller and vehicle provided in this solution, since the processor of the vehicle controller executes the steps of the control method for vehicle driving deviation described in any of the above embodiments when processing the control program, and the vehicle includes the vehicle controller, it can make the monitoring process of the vehicle for driving deviation simpler and less costly, and will generate a fault message to remind the driver when it detects that the vehicle is driving deviating, improving the safety of the vehicle. Description of the Drawings

[0029] Figure 1 is a flowchart of the control method for vehicle driving deviation provided by an embodiment of the present invention;

[0030] Figure 2 is another flowchart of the control method for vehicle driving deviation provided by an embodiment of the present invention;

[0031] Figure 3 is another flowchart of the control method for vehicle driving deviation provided by an embodiment of the present invention. Detailed implementation manners

[0032] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention will be introduced in conjunction with preferred embodiments, this does not mean that the features of this invention are limited to this implementation manner. On the contrary, the purpose of introducing the invention in conjunction with the implementation manner is to cover other alternatives or modifications that may extend based on the claims of the present invention. In order to provide a deep understanding of the present invention, many specific details will be included in the following description. The present invention can also be implemented without using these details. In addition, in order to avoid confusing or obscuring the key points of the present invention, some specific details will be omitted in the description. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0033] It should be noted that in this specification, similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0034] In the description of this embodiment, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "bottom", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the invention product is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0035] The terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0036] In the description of this embodiment, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this embodiment can be understood according to specific situations.

[0037] To make the purpose, technical solution and advantages of the present invention clearer, the implementation manners of the present invention will be further described in detail below with reference to the drawings.

[0038] Embodiment 1:

[0039] To solve the problems in the prior art that the analysis process of the method for judging vehicle driving deviation is complex, has high requirements for software and hardware, has a high cost for vehicle layout, and has relatively low calculation efficiency, an embodiment of the present invention provides a control method for vehicle driving deviation. Specifically, referring to Figure 1 . The control method for vehicle driving deviation provided in this embodiment includes:

[0040] Obtain the steering wheel state information, driving state information, wheel state information, and left and right wheel speed difference information of the vehicle in real time, judge whether the vehicle meets the preset deviation prerequisite conditions according to the steering wheel state information, driving state information, and wheel state information, and judge whether the vehicle meets the preset deviation determination conditions according to the left and right wheel speed difference information and the preset wheel speed difference threshold;

[0041] If the vehicle meets both the preset deviation prerequisite conditions and the preset deviation determination conditions, the vehicle's vehicle controller determines that the vehicle has driving deviation and generates a fault message;

[0042] If the vehicle does not meet the preset deviation prerequisite conditions or the preset deviation determination conditions, continue to judge whether the vehicle meets the preset deviation prerequisite conditions and whether the vehicle meets the preset deviation determination conditions.

[0043] Specifically, the steering wheel state information, driving state information, wheel state information, and left and right wheel speed difference information of the vehicle are measured by sensors arranged at various positions on the vehicle body. Each sensor is connected to the vehicle controller, and it is judged whether the vehicle meets the preset deviation prerequisite conditions according to the information measured by each sensor; and it is judged whether the vehicle meets the preset deviation determination conditions according to the information measured by each sensor and the wheel speed difference threshold pre-stored in the vehicle controller. Moreover, the wheel speed difference threshold is comprehensively determined according to factors such as vehicle type, vehicle speed, road surface friction, and tire friction coefficient. The larger the wheel speed difference threshold, the greater the left and right wheel speed difference of the vehicle is required to be recognized as vehicle driving deviation. The smaller the wheel speed difference threshold, the smaller the left and right wheel speed difference of the vehicle is required to be recognized as vehicle driving deviation. Therefore, when the vehicle type is large, the vehicle speed is fast, the road surface friction is small, or the tire friction coefficient is small, the wheel speed difference threshold is generally set to be relatively small to improve the driving safety of the vehicle. When the vehicle type is small, the vehicle speed is slow, the road surface friction is large, or the tire friction coefficient is large, the wheel speed difference threshold is set to be large to ensure the driving experience of the occupants.

[0044] More specifically, in this embodiment, the vehicle is considered to be running off course only when it simultaneously meets the preset prerequisite conditions for running off course and the preset recognition conditions for running off course. Meeting only one of them indicates that the vehicle is not running off course. Moreover, the judgment of whether the prerequisite conditions for running off course and the preset recognition conditions for running off course are met can be executed simultaneously, or the prerequisite conditions for running off course can be judged first, or the recognition conditions for running off course can be judged first. Of course, in this embodiment, it is preferably to judge whether the prerequisite conditions for running off course and the recognition conditions for running off course are met simultaneously to improve the execution efficiency of this method.

[0045] With such steps, this solution only measures the steering wheel state information, driving state information, wheel state information, and left and right wheel speed difference information of the vehicle through sensors arranged at various positions on the vehicle body, and then uses the above information and the preset wheel speed difference threshold to judge whether the vehicle meets the preset prerequisite conditions for running off course and the recognition conditions for running off course, and determines that the vehicle is running off course when both conditions are met simultaneously. There is no need to set up cameras around the vehicle body and use complex algorithms for calculation. The analysis process is relatively simple, the requirements for software and hardware are not high, the cost of vehicle layout is saved, and the calculation efficiency is also improved. Moreover, when the vehicle controller judges that the vehicle simultaneously meets the preset prerequisite conditions for running off course and the preset recognition conditions for running off course, it will also generate a fault message to remind the driver, improving the safety of the vehicle.

[0046] Furthermore, in the control method for vehicle running deviation according to the present invention, the steering wheel state information includes the steering wheel angle of the vehicle. The steering wheel angle can be measured by a steering wheel angle sensor installed in the steering column under the steering wheel. The driving state information includes the vehicle speed, which is measured by a vehicle speed sensor arranged in the vehicle drive axle. The wheel state information includes at least one of the wheel acceleration difference between the left and right wheels of the vehicle, the tire pressure difference between the left and right wheels, and the body weight difference between the left and right sides. Among them, the wheel acceleration difference between the left and right wheels can be calculated based on the wheel speeds of the left and right wheels, or measured by a gyroscope arranged at the vehicle body directly above the vertical of the tire, and the wheel speed of the wheel can be measured by a wheel speed sensor arranged on the wheel. The tire pressure difference between the left and right wheels is calculated from the tire pressure values of the left and right wheels, and the tire pressure value of the wheel can be measured by a tire pressure sensor arranged inside the wheel. The body weight difference between the left and right sides can be calculated from the weights on the left and right sides of the vehicle body, and the weights on the left and right sides of the vehicle body are measured by pressure sensors arranged on the chassis, or measured by an air spring controller.

[0047] Furthermore, in the method for controlling vehicle driving deviation according to the present invention, the preset deviation prerequisite conditions include: the steering wheel angle is 0° and the continuous duration is greater than or equal to a preset time threshold; the vehicle speed is greater than or equal to a preset first speed threshold; and the wheel states on both sides of the vehicle are the same. Specifically, the steering wheel angle being 0° is to determine that the vehicle is not steering at that time and the driver's intention is to control the vehicle to drive straight, that is, to judge whether the driver has an active steering. And the steering wheel angle remaining at 0° for a period of time is to prevent misjudgment of sudden changes in the steering wheel angle during actual driving, which can improve the accuracy of judgment. Also, since the driver can relatively easily control the vehicle when it deviates during low-speed driving, non-intervention in control at this time can improve the driver's driving experience. When the vehicle speed is greater than or equal to the first speed threshold, if the vehicle deviates, control is intervened. Therefore, taking the vehicle speed being greater than or equal to the preset first speed threshold as a deviation prerequisite condition can improve the driving experience as much as possible while ensuring vehicle safety. More specifically, the range of the preset time threshold is from 2 s to 4 s; for example, it can be 2 s, 2.8 s, 4 s, or other times within this range, and it can be set shorter as the vehicle speed increases to improve vehicle safety. The range of the preset first speed threshold is from 50 Km / h to 60 Km / h; for example, it can be 50 Km / h, 55.5 Km / h, 60 Km / h, or other values within this range, and it can be set smaller as the vehicle body weight increases to improve vehicle safety.

[0048] Further, in the method for controlling vehicle driving deviation according to the present invention, when at least one of the following conditions is satisfied, the wheel states on the left and right sides of the vehicle are the same: the absolute value of the difference in wheel acceleration between the left and right wheels is less than or equal to a preset acceleration difference threshold; the absolute value of the difference in tire pressure between the left and right wheels is less than or equal to a preset tire pressure difference threshold; and the absolute value of the difference in vehicle body weight between the left and right sides is less than or equal to a preset weight difference threshold. Specifically, the preset acceleration difference threshold, the preset tire pressure difference threshold, and the preset weight difference threshold are all stored in the vehicle control unit in advance. After the vehicle control unit receives the information on the difference in wheel acceleration between the left and right wheels, the difference in tire pressure between the left and right wheels, and the difference in vehicle body weight between the left and right sides, it directly takes the absolute value of each and then compares it with the threshold stored in advance to determine whether the wheel states on the left and right sides are the same. More specifically, the absolute value of the difference in wheel acceleration between the left and right wheels is inversely proportional to the vehicle body weight, where the range of the vehicle body weight is 1t to 2t, and the range of the preset acceleration difference threshold is 0g to 0.1g; that is to say, when the vehicle weight is 1t, the acceleration difference threshold can be 0.1g, when the vehicle weight is 1.5t, the acceleration difference threshold can be 0.05g, and when the vehicle weight is 2t, the acceleration difference threshold can be 0.02g. It should be understood that the vehicle body weight refers to the vehicle's own weight plus the actual load. If the vehicle is relatively light and the wheel states on both sides of the vehicle are the same, the difference in wheel acceleration between the two sides will be within a reasonable range and the difference will be relatively large. If the vehicle is heavier and the wheel states on both sides of the vehicle are the same, the difference in wheel acceleration between the two sides will be affected by gravity and become smaller. This embodiment adaptively adjusts the acceleration difference threshold according to the vehicle weight, fully considering the influence of the vehicle weight, which can make the adjustment more accurate. The absolute value of the difference in tire pressure between the left and right wheels is directly proportional to the tire temperature, where the range of the tire temperature is 80°C to 100°C, for example, it can be 80°C, 90.5°C, 100°C, or other temperature values within this range, and the range of the preset tire pressure difference threshold is 0.1bar to 0.3bar, for example, it can be 0.1bar, 0.15bar, 0.3bar, or other values within this range. If the temperature inside the tire is relatively high and the wheel states on both sides of the wheel are the same, the difference in tire pressure between the two sides may be relatively large; if the temperature inside the tire is relatively low and the states on both sides of the wheel are the same, the difference in tire pressure between the two sides will be slightly smaller. When setting the range of the tire pressure difference threshold in this embodiment, the influence of tire temperature on tire pressure is considered, which improves the accuracy of determining the prerequisite for deviation, and further improves the accuracy of driving deviation control. The range of the preset weight difference threshold is 100kg to 200kg; for example, it can be 100kg, 150kg, 200kg, and it is related to the seating position of the vehicle occupants and the weight of the items placed.If the absolute value of the difference in vehicle body weight between the left and right sides is large, the probability of the vehicle running off course will increase. In this case, monitoring whether the vehicle is running off course will reduce the accuracy of the monitoring.

[0049] More specifically, in this embodiment, when any one of the following three conditions is satisfied: the absolute value of the difference in wheel acceleration between the left and right wheels is less than or equal to a preset acceleration difference threshold; the absolute value of the difference in tire pressure between the left and right wheels is less than or equal to a preset tire pressure difference threshold; and the absolute value of the difference in vehicle body weight between the left and right sides is less than or equal to a preset weight difference threshold, it can be determined that the wheel states on the left and right sides of the vehicle are consistent, thereby reducing the calculation amount and improving the processing efficiency. Moreover, in this embodiment, when obtaining the wheel state information, only the information corresponding to the specific conditions that are consistent with the wheel states on the left and right sides of the vehicle can be collected. For example, if the condition that the absolute value of the difference in wheel acceleration between the left and right wheels is less than or equal to a preset acceleration difference threshold is used as the criterion for determining that the wheel states on the left and right sides of the vehicle are consistent, then when obtaining the vehicle state information, only the information on the difference in wheel acceleration between the left and right wheels of the vehicle can be obtained. In this way, the calculation amount can be further reduced and the processing efficiency can be improved. In addition, in this embodiment, making the wheel states on the left and right sides of the vehicle consistent as a preset prerequisite for running off course can avoid false detection when the vehicle runs off course due to a large difference in weight between the left and right sides of the vehicle body, a large difference in wheel acceleration between the left and right sides, or a large difference in tire pressure, thereby improving the accuracy of control.

[0050] Furthermore, in the control method for vehicle running off course according to the present invention, the difference in wheel acceleration between the left and right wheels is the difference in wheel acceleration between the left front wheel and the right front wheel of the vehicle; the difference in tire pressure between the left and right wheels is the difference in tire pressure between the left front wheel and the right front wheel of the vehicle. That is to say, in this embodiment, when obtaining the wheel state information of the vehicle, only the wheel acceleration and tire pressure values corresponding to the left front wheel and the right front wheel are obtained. Since the front wheels of the vehicle are steering wheels and the steering of the steering wheel controls the vehicle by controlling the front wheels, collecting only the wheel state information of the front wheels can reduce the data collection amount, improve the processing efficiency, and also reduce the installation of corresponding sensors and other measuring components, thereby reducing the overall vehicle layout cost.

[0051] Further, in the control method for vehicle running deviation according to the present invention, the left-right wheel speed difference information is the speed difference between the left front wheel and the right front wheel of the vehicle; and, the preset deviation determination condition includes: the absolute value of the speed difference between the left front wheel and the right front wheel is greater than or equal to a preset wheel speed difference threshold. Specifically, the speed difference between the left front wheel and the right front wheel is inversely proportional to both the vehicle body weight and the vehicle speed. Among them, the range of the preset wheel speed difference threshold is 60 r / min to 80 r / min. For example, it can be 60 r / min, 68.5 r / min, 80 r / min, or other values within this range. In this embodiment, the heavier the vehicle body weight and the higher the vehicle speed, the smaller the wheel speed difference threshold is set. That is, the heavier the vehicle body and the higher the vehicle speed, the preset deviation determination condition is satisfied when the wheel speed difference between the left and right wheels is relatively small; while when the vehicle body weight is lighter and the vehicle speed is lower, the wheel speed difference between the left and right wheels is relatively large to satisfy the preset deviation determination condition. In such a way, the left-right wheel speed difference information is used as the basis for judging whether the vehicle meets the deviation determination condition. Since the wheel speed difference is directly related to the direction of the vehicle, collecting the wheel speed difference can improve the accuracy of judging vehicle running deviation. And when determining the wheel speed difference threshold, the influence of weight and vehicle speed is considered, which can make the determined wheel speed difference threshold more accurate. More specifically, since the front wheels of the vehicle are steering wheels, and the steering wheel controls the vehicle's steering by controlling the front wheels, only collecting the left-right wheel speed difference information of the front wheels can reduce the data collection volume, improve the processing efficiency, and also reduce the installation of corresponding sensors and other measuring components, thereby reducing the overall vehicle layout cost.

[0052] Further, in the control method for vehicle running deviation according to the present invention, after the vehicle control unit generates a fault message, it further includes: the vehicle control unit generates a fault display message indicating a vehicle chassis fault according to the fault message and outputs the fault display message to the central control screen of the vehicle. In such a way, when the vehicle runs with deviation, a fault display message indicating a vehicle chassis fault is generated and output to the central control screen, which can remind the driver to check the vehicle chassis in time, avoid traffic accidents, and improve the driving safety of the vehicle.

[0053] Further, in the control method for vehicle running deviation according to the present invention, after the vehicle control unit generates a fault message, it further includes: the vehicle control unit judges whether the running speed of the vehicle is greater than a preset second speed threshold; wherein, the second speed threshold is greater than the first speed threshold;

[0054] If so, the vehicle control unit generates engine control information and outputs the engine control information to the engine controller of the vehicle to limit the output torque range of the engine to a preset first torque range;

[0055] If not, the vehicle control unit generates engine control information and outputs the engine control information to the engine controller of the vehicle to limit the output torque range of the engine to a preset second torque range.

[0056] Specifically, the range of the preset second speed threshold is 60 Km / h to 70 Km / h; for example, it can be 60 Km / h, 65 Km / h, 70 Km / h, or other values within this range. The preset first torque range is 100 N·m to 150 N·m, for example, it can be 100 N·m, 125.5 N·m, 150 N·m, or other values within this range. The preset second torque range is 150 N·m to 200 N·m, for example, it can be 150 N·m, 185 N·m, 200 N·m, or other values within this range. That is to say, when the vehicle is running off-course and the vehicle speed is higher, the probability of the vehicle being in danger is greater. At this time, it is necessary to limit the output torque of the engine to a smaller range to improve the driving safety of the vehicle; if the vehicle speed is relatively low, the driver can relatively easily control the vehicle when it is running off-course. At this time, the output torque of the engine can be limited to a relatively high range, which does not affect the normal driving of the driver on the premise of ensuring driving safety and improves the driving experience.

[0057] It should also be noted that in the actual setting process, for different vehicle models, the preset acceleration difference threshold, the preset tire pressure difference threshold, the preset weight difference threshold, and the preset wheel speed difference threshold may all be different, and the specific values can be obtained through vehicle test calibration. The specific method can be: ensure that the vehicle weights on the left and right sides of the test vehicle are exactly the same, adjust the tire pressures on the left and right sides, and the test vehicle conducts a straight-line running-off-course test according to the vehicle running-off-course setting standard, so that the vehicle running-off-course amount is equal to 1.5 m, and record the tire pressure difference P0 between the left and right sides of the vehicle, the acceleration difference a01 between the left and right sides, and the wheel speed difference C01 between the left and right sides at this time. Ensure that the tire pressures on the left and right sides of the test vehicle are exactly the same, adjust the weights on the left and right sides, and the test vehicle conducts a straight-line running-off-course test according to the vehicle running-off-course setting standard, so that the vehicle running-off-course amount is equal to 1.5 m, and record the weight difference G0 between the left and right sides of the vehicle, the acceleration difference a02 between the left and right sides, and the wheel speed difference C02 between the left and right sides at this time; and take the maximum value of a01 and a02 as a0, and the maximum value of C01 and C02 as C0.

[0058] Embodiment 2:

[0059] Based on the above vehicle running-off-course control method, this embodiment provides another vehicle running-off-course control method. Specifically, refer to Figure 2 This embodiment of the vehicle running-off-course control method is only different from that of Embodiment 1 in the judgment condition for the wheel states on the left and right sides of the vehicle to be the same.

[0060] Specifically, in this embodiment, when all of the following conditions are satisfied simultaneously, the wheel states on the left and right sides of the vehicle are the same: the absolute value of the difference in wheel acceleration between the left and right wheels is less than or equal to a preset acceleration difference threshold; the absolute value of the difference in tire pressure between the left and right wheels is less than or equal to a preset tire pressure difference threshold; and the absolute value of the difference in vehicle body weight between the left and right sides is less than or equal to a preset weight difference threshold. That is to say, when judging whether the wheel states on the left and right sides are the same, it is necessary to collect the wheel acceleration of the left and right wheels, the difference in tire pressure between the left and right wheels, and the vehicle body weight on the left and right sides, and comprehensively judge whether the wheel states of the vehicle are the same, so as to improve the accuracy of judging the vehicle state consistency. Moreover, in this embodiment, when collecting information, the wheel acceleration of the left and right wheels, the difference in tire pressure between the left and right wheels, and the vehicle body weight on the left and right sides are collected simultaneously, which can improve the efficiency of information collection.

[0061] Embodiment 3:

[0062] Based on the above vehicle driving deviation control method, this embodiment provides another vehicle driving deviation control method. Specifically, refer to Figure 3 . The difference between the vehicle driving deviation control method provided in this embodiment and that in Embodiment 1 is only that the judgment conditions for the wheel states on the left and right sides of the vehicle being the same are different.

[0063] Specifically, in this embodiment, when all of the following conditions are sequentially satisfied, the wheel states on the left and right sides of the vehicle are the same: the absolute value of the difference in wheel acceleration between the left and right wheels is less than or equal to a preset acceleration difference threshold; the absolute value of the difference in tire pressure between the left and right wheels is less than or equal to a preset tire pressure difference threshold; and the absolute value of the difference in vehicle body weight between the left and right sides is less than or equal to a preset weight difference threshold. That is to say, when judging whether the wheel states on the left and right sides are the same, it is necessary to collect the wheel acceleration of the left and right wheels, the difference in tire pressure between the left and right wheels, and the vehicle body weight on the left and right sides, and comprehensively judge whether the wheel states of the vehicle are the same, so as to improve the accuracy of judging the vehicle state consistency. Moreover, in this embodiment, when collecting information, the wheel acceleration of the left and right wheels, the difference in tire pressure between the left and right wheels, and the vehicle body weight on the left and right sides are collected sequentially. When any condition is not satisfied, the information of the steering wheel angle is collected again. With such steps, only one type of data is collected each time, which can reduce the data processing volume.

[0064] Embodiment 4:

[0065] Based on the above vehicle driving deviation control method, this embodiment provides a vehicle controller, including a memory and a processor.

[0066] Among them, the memory is used to store the control program. When the processor processes the control program, it executes the steps of the control method for vehicle driving deviation described in any of the above embodiments.

[0067] Specifically, the memory is used to store the control program. When the processor processes the control program, it executes the steps of the steering wheel angle correction method for the vehicle described in the above embodiments. Among them, the memory may include non-permanent memory in computer-readable media, random access memory (RAM) and / or non-volatile memory, etc., such as read-only memory (ROM) or flash memory (flash RAM). The controller is a hardware circuit with data processing functions, such as a CPU, etc.

[0068] Embodiment 5:

[0069] Based on the above vehicle controller, this embodiment further provides a vehicle, including the vehicle controller in the above embodiment.

[0070] The vehicle described in this embodiment includes, but is not limited to, traditional fuel vehicles, and can also be hybrid vehicles, pure electric vehicles, etc. As long as it is necessary to monitor and control driving deviation, it falls within the protection scope of the present invention.

[0071] Although the present invention has been illustrated and described by referring to some preferred embodiments of the present invention, those of ordinary skill in the art should understand that the above content is a further detailed description of the present invention in combination with specific embodiments, and it cannot be determined that the specific implementation of the present invention is only limited to these descriptions. Those skilled in the art can make various changes in form and details, including making several simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A control method for vehicle driving deviation, characterized in that Including: Obtain the steering wheel status information, driving status information, wheel status information, and left and right wheel speed difference information of the vehicle in real time, determine whether the vehicle meets the preset prerequisite conditions for pulling to one side according to the steering wheel status information, the driving status information, and the wheel status information, and determine whether the vehicle meets the preset recognition conditions for pulling to one side according to the left and right wheel speed difference information and the preset wheel speed difference threshold; If the vehicle meets both the preset prerequisite conditions for pulling to one side and the preset recognition conditions for pulling to one side, the vehicle's vehicle controller determines that the vehicle has a driving pull to one side and generates a fault message; If the vehicle does not meet the preset prerequisite conditions for pulling to one side or the preset recognition conditions for pulling to one side, continue to determine whether the vehicle meets the preset prerequisite conditions for pulling to one side and whether the vehicle meets the preset recognition conditions for pulling to one side; The steering wheel status information includes the steering wheel angle of the vehicle; The driving status information includes the vehicle speed of the vehicle; The wheel status information includes at least one of the wheel acceleration difference between the left and right wheels of the vehicle, the tire pressure difference between the left and right wheels, and the body weight difference between the left and right sides; and The preset prerequisite conditions for pulling to one side include: The steering wheel angle is 0° and the duration is greater than or equal to a preset time threshold; The vehicle speed is greater than or equal to a preset first speed threshold; and The wheel statuses of the left and right sides of the vehicle are the same; where When at least one of the following conditions is met, the wheel statuses of the left and right sides of the vehicle are the same: The absolute value of the wheel acceleration difference between the left and right wheels is less than or equal to a preset acceleration difference threshold; The absolute value of the tire pressure difference between the left and right wheels is less than or equal to a preset tire pressure difference threshold; and The absolute value of the body weight difference between the left and right sides is less than or equal to a preset weight difference threshold.

2. The control method for vehicle running deviation as claimed in claim 1, wherein When all of the following conditions are met, the wheel statuses of the left and right sides of the vehicle are the same: The absolute value of the wheel acceleration difference between the left and right wheels is less than or equal to a preset acceleration difference threshold; The absolute value of the tire pressure difference between the left and right wheels is less than or equal to a preset tire pressure difference threshold; and The absolute value of the body weight difference between the left and right sides is less than or equal to a preset weight difference threshold.

3. The control method for vehicle driving deviation as described in claim 2, wherein The wheel acceleration difference between the left and right wheels is the wheel acceleration difference between the left front wheel and the right front wheel of the vehicle; The tire pressure difference between the left and right wheels is the tire pressure difference between the left front wheel and the right front wheel of the vehicle.

4. The control method for vehicle driving deviation as claimed in claim 3, wherein, The left and right wheel speed difference information is the wheel speed difference between the left front wheel and the right front wheel of the vehicle; And The preset recognition conditions for pulling to one side include: The absolute value of the wheel speed difference between the left front wheel and the right front wheel is greater than or equal to the preset wheel speed difference threshold.

5. The control method for vehicle driving pull to one side according to claim 4, wherein The range of the preset time threshold is 2s to 4s; The range of the preset first speed threshold is 50Km / h to 60Km / h; The absolute value of the wheel acceleration difference between the left and right wheels is inversely proportional to the body weight, where the range of the body weight is 1t to 2t, and the range of the preset acceleration difference threshold is 0g to 0.1g; The absolute value of the tire pressure difference between the left and right wheels is directly proportional to the tire temperature, where the range of the tire temperature is 80°C to 100°C, and the range of the preset tire pressure difference threshold is 0.1 bar to 0.3 bar; The range of the preset weight difference threshold is 100 kg to 200 kg; The wheel speed difference between the left front wheel and the right front wheel is inversely proportional to both the vehicle body weight and the vehicle speed, where the range of the preset wheel speed difference threshold is 60 r / min to 80 r / min.

6. The control method for vehicle running deviation as claimed in claim 5, wherein After the vehicle controller generates a fault message, it further includes: The vehicle controller generates a fault display message indicating a vehicle chassis fault based on the fault message and outputs the fault display message to the vehicle's central control screen; and The vehicle controller determines whether the vehicle's driving speed is greater than a preset second speed threshold; where the second speed threshold is greater than the first speed threshold; If so, the vehicle controller generates engine control information and outputs the engine control information to the vehicle's engine controller to limit the engine's output torque range to a preset first torque range; If not, the vehicle controller generates engine control information and outputs the engine control information to the vehicle's engine controller to limit the engine's output torque range to a preset second torque range.

7. The control method for vehicle driving deviation as claimed in claim 6, wherein The range of the preset second speed threshold is 60 Km / h to 70 Km / h; The preset first torque range is 100 N·m to 150 N·m; The preset second torque range is 150 N·m to 200 N·m.

8. A vehicle controller, characterized in that, It includes: A memory for storing a control program; A processor that, when processing the control program, executes the steps of the control method for vehicle driving deviation as described in any one of claims 1-7.

9. A vehicle, characterized in that, It includes the vehicle controller as described in claim 8.

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