Vehicle control method and device, vehicle, equipment and product

Abstract

Embodiments of the present application provide a vehicle control method, device, vehicle, equipment and product. The vehicle control method comprises: obtaining the rotation speed of each of X wheels of a vehicle, X = n; obtaining the maximum value and the minimum value of the X rotation speeds; determining a Y target wheel when the difference between the maximum value and the minimum value is greater than a first rotation speed threshold; stopping the output of the Y target wheel; obtaining the torque of the Y target wheel at the maximum value as a Y target torque, Y = n-X+1; obtaining the rotation speed of each of X-1 wheels of the vehicle; determining the X-1 wheel as an n target wheel when X-1 equals 1; stopping the output of the n target wheel when the rotation speed of the n target wheel is greater than a second rotation speed threshold; obtaining the torque of the n target wheel at the rotation speed as an n target torque; obtaining a Y torque proportion of the Y target wheel and an n torque proportion of the n target wheel according to the Y target torque and the n target torque; and controlling the corresponding wheels according to the Y torque proportion and the n torque proportion.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicles, and particularly relates to a vehicle control method and device, a vehicle, equipment and a product. BACKGROUND

[0002] During vehicle driving, the actual driving road condition of the vehicle is relatively complex, and the vehicle may be trapped, for example, due to wheel slip, which affects driving safety. SUMMARY

[0003] The embodiments of the present application provide a vehicle control method, device, vehicle, equipment and product, which can reasonably allocate the torque output by each wheel when the vehicle is trapped due to wheel slip, promote the vehicle to escape from the trap as soon as possible, and improve driving safety.

[0004] In a first aspect, the embodiments of the present application provide a vehicle control method applied to a vehicle, wherein the vehicle includes n wheels, n≥2, and the method includes the following steps.

[0005] Obtaining the rotation speed of each of X wheels of the vehicle, X=n;

[0006] Taking the maximum value and the minimum value in the X rotation speeds, and determining the difference between the maximum value and the minimum value;

[0007] When the difference between the maximum value and the minimum value is greater than a first rotation speed threshold, determining that the wheel corresponding to the maximum value is a Yth target wheel, stopping the Yth target wheel from outputting, and obtaining the torque of the Yth target wheel at the maximum value as a Yth target torque, Y=n-X+1;

[0008] Obtaining the rotation speed of each of the remaining X-1 wheels of the vehicle;

[0009] When X-1 is equal to 1, determining that the wheel is an nth target wheel;

[0010] When the rotation speed of the nth target wheel is greater than a second rotation speed threshold, stopping the nth target wheel from outputting, and obtaining the torque of the nth target wheel at the rotation speed as an nth target torque;

[0011] According to the Yth target torque and the nth target torque, obtaining a Yth torque proportion of the Yth target wheel and an nth torque proportion of the nth target wheel;

[0012] According to the Yth torque proportion and the nth torque proportion, controlling the corresponding wheels.

[0013] In a second aspect, the embodiments of the present application provide a vehicle control device applied to a vehicle, wherein the vehicle includes n wheels, n≥2, and the device includes the following steps.

[0014] The first obtaining module obtains the rotation speed of each of X wheels of the vehicle, X=n;

[0015] The first determining module determines the difference between the maximum value and the minimum value in the X rotation speeds;

[0016] The second obtaining module determines the wheel corresponding to the maximum value as the Yth target wheel when the difference between the maximum value and the minimum value is greater than the first rotation speed threshold, stops the output of the Yth target wheel, and obtains the torque of the Yth target wheel at the maximum value as the Yth target torque, Y=n-X+1;

[0017] The third obtaining module obtains the rotation speed of each of the remaining X-1 wheels of the vehicle;

[0018] The second determining module determines the wheel as the nth target wheel when X-1 is equal to 1;

[0019] The fourth obtaining module stops the output of the nth target wheel when the rotation speed of the nth target wheel is greater than the second rotation speed threshold, and obtains the torque of the nth target wheel at the rotation speed as the nth target torque;

[0020] The first calculating module obtains the Yth torque proportion of the Yth target wheel and the nth torque proportion of the nth target wheel according to the Yth target torque and the nth target torque;

[0021] The first control module controls the corresponding wheel according to the Yth torque proportion and the nth torque proportion.

[0022] In a third aspect, an embodiment of the present application further provides a vehicle, which comprises a vehicle control device, and the vehicle control device is used to implement the vehicle control method.

[0023] In a fourth aspect, an embodiment of the present application provides an electronic device, which comprises:

[0024] a processor and a memory storing programs or instructions;

[0025] The processor implements the vehicle control method when executing the programs or instructions.

[0026] In a fifth aspect, an embodiment of the present application provides a readable storage medium, which stores programs or instructions, and the programs or instructions are executed by a processor to implement the vehicle control method.

[0027] In a sixth aspect, an embodiment of the present application provides a computer program product, and instructions in the computer program product are executed by a processor of an electronic device to enable the electronic device to perform the vehicle control method.

[0028] The vehicle control method, device, vehicle, equipment and product provided by the embodiments of the present application can obtain the rotation speeds of X wheels of a vehicle, X = n, take the maximum value and the minimum value in the X rotation speeds, determine the difference between the maximum value and the minimum value, determine the wheel corresponding to the maximum value as the Yth target wheel when the difference between the maximum value and the minimum value is greater than a first rotation speed threshold, stop the Yth target wheel from outputting, and obtain the torque of the Yth target wheel at the maximum value as the Yth target torque, Y = n-X+1, obtain the rotation speeds of the remaining X-1 wheels of the vehicle, determine the wheel as the nth target wheel when X-1 is equal to 1, stop the nth target wheel from outputting when the rotation speed of the nth target wheel is greater than a second rotation speed threshold, and obtain the torque of the nth target wheel at the rotation speed as the nth target torque, obtain the Yth torque proportion of the Yth target wheel and the nth torque proportion of the nth target wheel according to the Yth target torque and the nth target torque, and control the corresponding wheels according to the Yth torque proportion and the nth torque proportion. In this way, the torque of each wheel when starting to slip can be determined, and then the output torque of the corresponding wheel is distributed according to the proportion of the torque, so that the output torque of each wheel is the maximum value in this environment, which facilitates the vehicle to escape from the trouble and improves the driving safety. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced. Those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0030] Figure 1 is a flowchart of a vehicle control method provided by some embodiments of the present application;

[0031] Figure 2 is a flowchart of a vehicle control method provided by some embodiments of the present application;

[0032] Figure 3 is a flowchart of a vehicle control method provided by some embodiments of the present application;

[0033] Figure 4 is a flowchart of a vehicle control method provided by some embodiments of the present application

[0034] Figure 5 is a flowchart of a vehicle control method provided by some embodiments of the present application

[0035] Figure 6 is a flowchart of a vehicle control method provided by some embodiments of the present application

[0036] Figure 7 is a structural schematic diagram of a vehicle control device provided by some embodiments of the present application;

[0037] Figure 8 is a structural schematic diagram of an electronic device provided by some embodiments of the present application. DETAILED DESCRIPTION

[0038] Features and exemplary embodiments of various aspects of the present application will be described below in detail, in order to make the purposes, technical solutions and advantages of the present application more clear and apparent, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. The present application can be implemented without some of these specific details by those skilled in the art. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0039] It should be noted that, in this paper, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0040] In order to solve the problems in the prior art, the present application provides a vehicle control method, device, vehicle, equipment and product, which will be described in detail below in combination with the drawings.

[0041] Figure 1 is a flowchart of a vehicle control method provided by some embodiments.

[0042] As Figure 1 shown, in some optional embodiments of the present application, a vehicle control method is provided, applied to a vehicle, the vehicle including n wheels, n≥2, the method including:

[0043] S101, acquiring the rotation speed of each of X wheels of the vehicle, X=n;

[0044] S102, taking the maximum value and the minimum value of the X rotation speeds, and determining the difference between the maximum value and the minimum value;

[0045] S103, when the difference between the maximum value and the minimum value is greater than the first rotation speed threshold, determining the wheel corresponding to the maximum value as the Yth target wheel, stopping the Yth target wheel from outputting, and obtaining the torque of the Yth target wheel at the maximum value as the Yth target torque, Y = n - X + 1;

[0046] S104, obtaining the rotation speed of each of the remaining X-1 wheels on the vehicle;

[0047] S105, when X-1 is equal to 1, determining the wheel as the nth target wheel;

[0048] S106, when the rotation speed of the nth target wheel is greater than the second rotation speed threshold, stopping the nth target wheel from outputting, and obtaining the torque of the nth target wheel at the rotation speed as the nth target torque;

[0049] S107, obtaining the Yth torque proportion of the Yth target wheel and the nth torque proportion of the nth target wheel according to the Yth target torque and the nth target torque;

[0050] S108, controlling the corresponding wheel according to the Yth torque proportion and the nth torque proportion.

[0051] The vehicle control method of the embodiments of the present application can obtain the rotation speed of each of X wheels of a vehicle, X = n, take the maximum value and the minimum value among the X rotation speeds, determine the difference between the maximum value and the minimum value, when the difference between the maximum value and the minimum value is greater than the first rotation speed threshold, determine the wheel corresponding to the maximum value as the Yth target wheel, stop the Yth target wheel from outputting, and obtain the torque of the Yth target wheel at the maximum value as the Yth target torque, Y = n - X + 1, obtain the rotation speed of each of the remaining X-1 wheels on the vehicle, when X-1 is equal to 1, determine the wheel as the nth target wheel, when the rotation speed of the nth target wheel is greater than the second rotation speed threshold, stop the nth target wheel from outputting, and obtain the torque of the nth target wheel at the rotation speed as the nth target torque, obtain the Yth torque proportion of the Yth target wheel and the nth torque proportion of the nth target wheel according to the Yth target torque and the nth target torque, and control the corresponding wheel according to the Yth torque proportion and the nth torque proportion. In this way, the torque of each wheel when starting to slip can be determined, and then the output torque of the corresponding wheel is distributed according to the proportion of the torque, so that the output torque on each wheel is the maximum value in this environment, which facilitates the vehicle to escape from the trouble and improves the driving safety.

[0052] In S101, the obtained wheel rotation speed is the rotation speed of each wheel when the vehicle is in a trapped state, such as when the wheels are slipping.

[0053] In S102, the difference between the maximum value and the minimum value is determined, which can highlight the wheel with the largest difference among all the wheels and identify the abnormal wheel. It can be understood that when the vehicle is stuck, the wheels will continue to output in order to help the vehicle escape from the stuck environment. However, when the wheels are slipping, the actual load capacity of each wheel may be different due to the different environments of each wheel. Continuing to output the same torque to each wheel not only has poor actual effect, but also may cause damage to the driving source (such as a motor) due to the continuous idling of individual wheels, which seriously affects the driving safety.

[0054] In S103, the first rotation speed threshold is a standard for judging whether the wheels are slipping. In actual use of the vehicle, the output torque of each wheel is basically the same when the vehicle is running normally, and thus the rotation speed of each wheel is also basically the same. Therefore, when the difference between the maximum value and the minimum value of each wheel is greater than the first rotation speed threshold, it is considered that the wheel is slipping. It can be understood that the first rotation speed threshold can be set to different values according to different vehicle models, such as 40 rpm (Revolutions Per minute), 50 rpm, 60 rpm, etc.

[0055] In S103, due to the output logic of the driving source in the vehicle, each wheel is usually output with the same torque, and the target wheel is stopped. On the one hand, this can ensure the safety of the driving source, and on the other hand, it can reduce the interference of the determined target wheel to the remaining judgment process.

[0056] In S104, when the number of wheels on the vehicle is four, the X-1 wheels on the vehicle refer to the three remaining wheels on the vehicle. After the Yth target wheel is determined, the Yth target wheel is stopped, which can make the output torque of the driving source be distributed to the remaining three wheels when the threshold is judged, reduce the interference of the Yth target wheel, and make the judgment process more accurate.

[0057] In S105, when X-1 is equal to 1, the wheel is determined as the nth target wheel. It can be understood that when X-1 is equal to 1, there is only one remaining wheel. At this time, it is not possible to judge whether the wheel is slipping by the maximum value and the minimum value of the rotation speed of the remaining wheel, and it is necessary to directly judge whether the wheel is slipping by the rotation speed of the remaining wheel.

[0058] In S106, the second rotation speed threshold is a standard for judging whether the remaining wheel is slipping. It can be understood that the second rotation speed threshold can be set to different values according to different vehicle models, such as 400 rpm (Revolutions Per minute), 500 rpm, 600 rpm, etc.

[0059] In S107, the total torque of all wheels of the vehicle when slipping occurs can be obtained by the obtained Yth target torque and nth target torque. The Yth torque ratio refers to the proportion of the Yth target torque in the total torque, and the nth torque ratio refers to the proportion of the nth target torque in the total torque. It can be understood that the total torque is the sum of the target torques corresponding to all wheels.

[0060] In S108, by the Yth torque ratio and the nth torque ratio, in combination with the total torque output by the driving source, the output torque corresponding to each wheel can be obtained, so that the output torque on each wheel is the maximum torque in the environment, facilitating the vehicle to escape and improving driving safety.

[0061] In actual use, taking four wheels as an example, i.e. n=4, the vehicle control method can be:

[0062] Obtain the rotation speed of each of the four (X=n=4) wheels of the vehicle;

[0063] Determine the difference between the maximum value and the minimum value of the four rotation speeds;

[0064] When the difference between the maximum value and the minimum value is greater than a first rotation speed threshold, determine that the wheel corresponding to the maximum value is a first (Y=n-X+1=4-4+1=1) target wheel, stop the output of the first target wheel, and obtain the torque of the first target wheel at the maximum value as a first target torque;

[0065] When the number of remaining wheels is not one,

[0066] Obtain the rotation speed of each of the remaining three (X=X-1=4-1=3) wheels of the vehicle;

[0067] Determine the difference between the maximum value and the minimum value of the three rotation speeds;

[0068] When the difference between the maximum value and the minimum value is greater than a first rotation speed threshold, determine that the wheel corresponding to the maximum value is a second (Y=n-X+1=4-3+1=2) target wheel, stop the output of the second target wheel, and obtain the torque of the second target wheel at the maximum value as a second target torque;

[0069] When the number of remaining wheels is not one,

[0070] Obtain the rotation speed of each of the remaining two (X=X-1=3-1=2) wheels of the vehicle;

[0071] Determine the difference between the maximum value and the minimum value of the two rotation speeds;

[0072] When the difference between the maximum value and the minimum value is greater than the first rotation speed threshold, the wheel corresponding to the maximum value is determined as a third (Y = n - X + 1 = 4 - 2 + 1 = 3) target wheel, the third target wheel is stopped from outputting, and the torque of the third target wheel at the maximum value is obtained as a third target torque;

[0073] When the number of remaining wheels is one, the wheel is determined as a fourth (n = 4) target wheel;

[0074] When the rotation speed of the fourth target wheel is greater than the second rotation speed threshold, the fourth target wheel is stopped from outputting, and the torque of the fourth target wheel at the rotation speed is obtained as a fourth target torque;

[0075] According to the first target torque, the second target torque, the third target torque, and the fourth target torque, a first torque proportion, a second torque proportion, a third torque proportion, and a fourth torque proportion are obtained;

[0076] According to the first torque proportion, the second torque proportion, the third torque proportion, and the fourth torque proportion, the corresponding wheels are controlled.

[0077] Figure 2 is a flowchart of a vehicle control method provided by another embodiment of the application.

[0078] As shown in Figure 2 some optional embodiments of the application, according to the Yth target torque and the nth target torque, a Yth torque proportion of the Yth target wheel and an nth torque proportion of the nth target wheel are obtained, the step includes:

[0079] S207, according to the Yth target torque and the nth target torque, a total torque is obtained;

[0080] S208, according to the Yth target torque, the nth target torque, and the total torque, a Yth torque proportion of the Yth target wheel and an nth torque proportion of the nth target wheel are obtained.

[0081] In S207, the total torque is the sum of all target torques. For example, when n = 2, the total torque is the sum of the first target torque and the second target torque, and when n = 3, the total torque is the sum of the first target torque, the second target torque, and the third target torque. It can be understood that the Yth target torque refers to all target torques obtained when the number of wheels is not one.

[0082] In S208, the Yth torque ratio refers to the ratio of the Yth target torque in the total torque, for example, the percentage of the Yth target torque in the total torque, and the nth torque ratio refers to the ratio of the nth target torque in the total torque, for example, the percentage of the nth target torque in the total torque. It can be understood that the Yth target torque refers to the target torque obtained when the number of wheels is not one, and the Yth torque ratio refers to the ratio of the target torque in the total torque.

[0083] Figure 3 FIG. 4 is a flowchart of a vehicle control method according to some embodiments of the present application.

[0084] As shown in FIG. 4, in some optional embodiments of the present application, the step of controlling the corresponding wheels according to the Yth torque ratio and the nth torque ratio comprises: Figure 3

[0085] In S308, the total output torque refers to the total torque provided by the driving source in the vehicle. It can be understood that the total torque provided by the driving source can be determined according to the accelerator input by the driver.

[0086] In S309, the Yth output torque can be the product of the total output torque and the Yth torque ratio, and the nth output torque can be the product of the total output torque and the nth torque ratio. It can be understood that when the Yth torque ratio refers to the ratio of the target torque in the total torque, the Yth output torque refers to the output torque corresponding to the torque ratio.

[0087] In S310, the corresponding wheels output corresponding torques according to the Yth output torque and the nth output torque.

[0088] In S308, the total output torque refers to the total torque provided by the driving source in the vehicle. It can be understood that the total torque provided by the driving source can be determined according to the accelerator input by the driver.

[0089] In S309, the Yth output torque can be the product of the total output torque and the Yth torque ratio, and the nth output torque can be the product of the total output torque and the nth torque ratio. It can be understood that when the Yth torque ratio refers to the ratio of the target torque in the total torque, the Yth output torque refers to the output torque corresponding to the torque ratio.

[0090] Figure 4 FIG. 5 is a flowchart of a vehicle control method according to some embodiments of the present application.

[0091] As shown in FIG. 5, in some optional embodiments of the present application, after obtaining the rotational speeds of the X-1 wheels on the vehicle, before determining the nth target wheel when X-1 is equal to 1, the method further comprises: Figure 4 S451, when X-1 is not equal to 1, X-1 is assigned to X, and the step of obtaining the rotational speeds of the X wheels on the vehicle is returned.

[0092]

[0093] ​​In S451, returning to acquire the rotation speed of each of the X wheels of the vehicle means returning to S401 to acquire the rotation speed of each of the X wheels of the vehicle. Exemplarily, when n=4, X-1=3, that is, when X-1 is not equal to 1, 3 is assigned to X, and returning to acquire the rotation speed of each of the three wheels of the vehicle.

[0094] By setting S404, when X-1 is not equal to 1, the action of acquiring the target torque can be cycled until the target torque of all the wheels of the vehicle is obtained.

[0095] Figure 5 is a flowchart of a vehicle control method provided by some embodiments of the application.

[0096] As shown in Figure 5 , in some optional embodiments of the application, acquiring the rotation speed of each of the X wheels of the vehicle, X=n, comprises:

[0097] S501, receiving a target instruction;

[0098] S502, in response to the target instruction, acquiring the rotation speed of each of the X wheels of the vehicle, X=n.

[0099] By receiving the target instruction, the vehicle can enter the escape mode in response to the instruction, so as to integrate the resources carried on the vehicle and assist the vehicle in escaping.

[0100] In S501, the target instruction can be an instruction manually input by the driver according to the actual road conditions, such as voice instruction, text instruction, etc., or a button provided on the vehicle, and the driver can determine whether to escape according to the actual road conditions, such as clicking the button if the vehicle needs to escape, which is regarded as sending a target instruction to the vehicle.

[0101] In S502, in response to the target instruction, the vehicle can also enter a target state, which means that the vehicle enters an emergency state according to the target instruction. For example, the target state can be a trapped state, in which the resources on the vehicle can be actively mobilized to help the vehicle escape, such as giving priority to the calculation of the escape-related calculation, etc. Or, the external lights on the vehicle are turned on in the trapped state, so that the vehicle is more eye-catching, and the vehicle can attract external attention and thus receive external help.

[0102] Figure 6 is a flowchart of a vehicle control method provided by the sixth type of embodiments of the application.

[0103] As shown in Figure 6 , in some optional embodiments of the application, the vehicle control method further comprises:

[0104] S601, receiving the vehicle speed of the vehicle;

[0105] S602, when the vehicle speed is greater than the vehicle speed threshold, stop acquiring the rotation speed of each wheel on the vehicle.

[0106] By receiving the vehicle speed, the driving state of the vehicle can be intuitively judged, and it is determined whether the vehicle is still in the trapped state, so as to facilitate the vehicle to quickly return to normal work.

[0107] In S602, the vehicle speed threshold is a standard for judging whether the vehicle is in a trapped state. In the trapped state, the vehicle speed is usually zero or slow. When the vehicle speed is greater than the vehicle speed threshold, it is considered that the vehicle can return to normal work. It can be understood that the vehicle speed threshold can be set to different values according to different specific vehicle models, such as 4km / h, 5km / h, 6km / h, etc.

[0108] In S602, stopping acquiring the rotation speed of each wheel on the vehicle means stopping the step of acquiring the rotation speed of each of the X wheels of the vehicle, so as to stop judging the rotation speed of the wheels.

[0109] It can be understood that S601 and S602 can be independent of the step of controlling the wheels, such as real-time vehicle speed judgment, so as to stop judging the rotation speed of the wheels in time after the vehicle is out of the trapped state, reduce resource waste, and improve driving safety.

[0110] Figure 7 Some embodiments of the vehicle control device provided by the application provide a structural schematic diagram of the vehicle control device.

[0111] As shown in Figure 7 Some optional embodiments of the application provide a vehicle control device applied to a vehicle, the vehicle including n wheels, n≥2, and the device including:

[0112] The first acquisition module 701 acquires the rotation speed of each of the X wheels of the vehicle, X=n;

[0113] The first determination module 702 determines the difference between the maximum value and the minimum value of the X rotation speeds;

[0114] The second acquisition module 703 determines the Yth target wheel corresponding to the maximum value when the difference between the maximum value and the minimum value is greater than the first rotation speed threshold, stops outputting the Yth target wheel, and acquires the Yth target torque of the Yth target wheel at the maximum value, Y=n-X+1;

[0115] The third acquisition module 704 acquires the rotation speed of each of the remaining X-1 wheels on the vehicle;

[0116] The second determination module 705 determines the nth target wheel when X-1 is equal to 1;

[0117] The fourth acquisition module 706 stops the n th target wheel from outputting when the rotation speed of the n th target wheel is greater than the second rotation speed threshold, and acquires a torque of the n th target wheel at the rotation speed as an n th target torque;

[0118] The first calculation module 707 obtains an n th torque proportion of the n th target wheel according to the Y th target torque and the n th target torque.

[0119] The first control module 708 controls the corresponding wheel according to the Y th torque proportion and the n th torque proportion.

[0120] It should be noted that the information interaction, execution process and the like between the above-described apparatuses / units are based on the same concept as the method embodiments of the application, and are apparatuses corresponding to the road roughness identification method. All implementation manners in the above-described method embodiments are applicable to the embodiments of the apparatus, and the specific functions and technical effects brought by the implementation manners can be referred to the method embodiments part, and will not be described here.

[0121] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-described functional units and modules is exemplified, and in actual application, the above-described functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for the convenience of mutual distinction, and do not limit the protection scope of the application. The specific working process of the units and modules in the system can be referred to the corresponding process in the foregoing method embodiments, and will not be described here.

[0122] The embodiments of the application also provide a vehicle, which can include a vehicle control apparatus, and the vehicle control apparatus is used to implement any one of the vehicle control methods.

[0123] Figure 8 is a structural schematic diagram of an electronic device provided by some embodiments of the application.

[0124] As Figure 8 shown, the embodiments of the application also provide an electronic device, which includes a processor 801 and a memory 802 storing programs or instructions;

[0125] The processor 801 implements any one of the vehicle control methods when executing the programs or instructions.

[0126] By way of example, the programs can be segmented into one or more modules / units, one or more modules / units are stored in the memory 802 and executed by the processor 801 to complete the present application. One or more modules / units can be a series of program instruction segments capable of completing a specific function, which are used to describe the execution process of the program in the device.

[0127] Specifically, the processor 801 described above can include a central processing unit (CPU), or a specific integrated circuit (ASIC), or can be configured to implement one or more integrated circuits of the embodiments of the present application.

[0128] The memory 802 can include a mass storage for data or instructions. By way of example and not limitation, the memory 802 can include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disc, a magneto-optical disc, a magnetic tape, or a Universal Serial Bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 802 can include removable or non-removable (or fixed) media. Where appropriate, the memory 802 can be internal or external to the integrated gateway disaster recovery device. In certain embodiments, the memory 802 is non-volatile solid-state memory.

[0129] The memory can include read-only memory (ROM), random access memory (RAM), a disc storage medium device, an optical storage medium device, a flash memory device, an electrical, optical, or other physical / tangible memory storage device. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software that, when executed (e.g., by one or more processors), is operable to perform operations described with reference to the methods according to an aspect of the present disclosure.

[0130] The processor 801 implements any one of the above-described embodiments by reading and executing programs or instructions stored in the memory 802.

[0131] In one example, the electronic device can further include a communication interface 803 and a bus 810. Wherein the processor 801, the memory 802, the communication interface 803 are connected through the bus 810 and complete the communication between each other.

[0132] The communication interface 803 is mainly used to realize the communication between the modules, devices, units and / or devices in the embodiments of the present application.

[0133] Bus 810 includes a hardware, software, or both that couples components of the online data traffic metering device to each other. As an example but not a limitation, bus can include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand (IB) interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or another suitable bus or a combination of two or more of these. Where appropriate, bus 810 can include one or more buses. Although this application describes and shows a particular bus, this application contemplates any suitable bus or interconnect.

[0134] In addition, in combination with the method in the above-mentioned embodiments, the embodiments of the present application can provide a readable storage medium to implement. The readable storage medium has a program or instruction stored thereon; the program or instruction is executed by a processor to implement any one of the methods in the above-mentioned embodiments. The readable storage medium can be read by a machine such as a computer.

[0135] The embodiments of the present application further provide a chip, which includes a processor and a communication interface, the communication interface is coupled with the processor, the processor is used to run a program or instruction, to implement various processes of the above-mentioned method embodiments and achieve the same technical effects. To avoid repetition, details are not described here.

[0136] It should be understood that the chip mentioned in the embodiments of the present application can also be referred to as a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0137] The embodiments of the present application provide a computer program product, which is stored in a readable storage medium, and the program product is executed by at least one processor to implement various processes of the above-mentioned method embodiments and achieve the same technical effects. To avoid repetition, details are not described here.

[0138] It should be clear that the present application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of well-known methods are omitted here. In the above-mentioned embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the described and shown specific steps, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after understanding the spirit of the present application.

[0139] The functional modules shown in the structural block diagram described above can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a functional card, and the like. When implemented in software, the elements of the present application are program or code segments that are used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. The "machine-readable medium" can include any medium that can store or transfer information. Examples of the machine-readable medium include an electronic circuit, a semiconductor memory device, a ROM, a flash memory, an erasable ROM (EROM), a floppy diskette, a CD-ROM, an optical disk, a hard disk, a fiber optic medium, a radio frequency (RF) link, and the like. The code segments can be downloaded via a computer network, such as the Internet, an intranet, and the like.

[0140] It is also noted that the exemplary embodiments mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in an order different from the embodiments, or several steps can be performed simultaneously.

[0141] The aspects of the present disclosure can be described in the general context of methods, apparatuses (systems) and program products according to embodiments of the present disclosure. It should be understood that the various embodiments can be implemented in software, hardware, or a combination thereof. The various embodiments can be implemented in one or more computer systems or other processing systems. The various embodiments can also be implemented as or in a computer program product, which can include one or more computer program elements. The various embodiments can also be implemented as or in a program storage device or computer readable medium which can store the program product. The program storage device or computer readable medium can be a tangible device that can be read or accessed by a machine or computer. The program storage device or computer readable medium can be a memory device. The memory device can include, but is not limited to, read-only memory (ROM), volatile memory, non-volatile memory, flash memory, electronically programmable memory (EPROM), electrically erasable programmable memory (EEPROM), registers, hard disk, a removable disk, tape, auxiliary storage, or any suitable device or combination of devices that store data. The program elements can be provided on a single computer program product or on multiple computer program products.

[0142] The above merely describes a specific implementation of the present application. Those skilled in the art can clearly understand the specific working processes of the system, modules and units described above for the convenience and brevity of description, and can refer to the corresponding processes in the foregoing method embodiments, which will not be described herein again. It should be understood that the protection scope of the present application is not limited to this, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that, Applied to a vehicle, the vehicle comprising n wheels, n≥2, the method includes: Obtain the rotational speed of each of the X wheels of the vehicle, where X = n; Take the maximum and minimum values ​​among X rotational speeds, and determine the difference between the maximum and minimum values; When the difference between the maximum and minimum values ​​is greater than the first speed threshold, the wheel corresponding to the maximum value is determined as the Y-th target wheel, the Y-th target wheel stops outputting, and the torque of the Y-th target wheel at the maximum value is obtained as the Y-th target torque, Y = n - X + 1; Obtain the rotational speed of each of the remaining X-1 wheels on the vehicle; When X-1 equals 1, the wheel is determined to be the nth target wheel; When the rotational speed of the nth target wheel is greater than the second rotational speed threshold, the nth target wheel stops outputting, and the torque of the nth target wheel at the current rotational speed is obtained as the nth target torque; Based on the Y-th target torque and the n-th target torque, obtain the Y-th torque percentage of the Y-th target wheel and the n-th torque percentage of the n-th target wheel; Control the corresponding wheel based on the torque percentage of the Yth torque and the torque percentage of the nth torque.

2. The vehicle control method according to claim 1, characterized in that, The steps for obtaining the Y-th torque percentage of the Y-th target wheel and the n-th torque percentage of the n-th target wheel based on the Y-th target torque and the n-th target torque include: The total torque is obtained based on the Y-th target torque and the n-th target torque; Based on the Y-th target torque, the n-th target torque, and the total torque, the Y-th torque percentage of the Y-th target wheel and the n-th torque percentage of the n-th target wheel are obtained.

3. The vehicle control method according to claim 1, characterized in that, Based on the Y-th torque percentage and the n-th torque percentage, the corresponding wheel control steps include: Receive total output torque; Based on the Y-th torque ratio and the n-th torque ratio, the Y-th output torque and the n-th output torque of the corresponding wheel are obtained; Based on the Y-th output torque and the n-th output torque, control the corresponding wheel to output the corresponding torque.

4. The vehicle control method according to claim 1, characterized in that, After obtaining the rotational speeds of the remaining X-1 wheels on the vehicle, before determining that wheel is the nth target wheel when X-1 equals 1, the method further includes: When X-1 is not equal to 1, assign X-1 to X and return to the original value.

5. The vehicle control method according to claim 1, characterized in that, Obtaining the rotational speeds of each of the X wheels of the vehicle, where X = n, includes: Receive target instructions; In response to the target command, the rotational speeds of the X wheels of the vehicle, X = n, are obtained.

6. The vehicle control method according to claim 1, characterized in that, The method further includes: Receive the vehicle speed; When the vehicle speed exceeds the vehicle speed threshold, the acquisition of the rotational speed of each wheel on the vehicle is stopped.

7. A vehicle control device, characterized in that, Applied to a vehicle, the vehicle comprising n wheels, n≥2, the device comprises: The first acquisition module acquires the rotational speed of each of the X wheels of the vehicle, where X = n; The first determining module takes the maximum and minimum values ​​among X rotational speeds and determines the difference between the maximum and minimum values; The second acquisition module determines the wheel corresponding to the maximum value as the Y-th target wheel when the difference between the maximum value and the minimum value is greater than the first speed threshold, stops the output of the Y-th target wheel, and acquires the torque of the Y-th target wheel at the maximum value as the Y-th target torque, Y = n - X + 1; The third acquisition module acquires the rotational speed of each of the remaining X-1 wheels on the vehicle; The second determining module determines that when X-1 equals 1, the wheel is the nth target wheel; The fourth acquisition module, when the rotational speed of the nth target wheel is greater than the second rotational speed threshold, stops the output of the nth target wheel and acquires the torque of the nth target wheel at the current rotational speed as the nth target torque; The first calculation module obtains the Y-th torque ratio of the Y-th target wheel and the n-th torque ratio of the n-th target wheel based on the Y-th target torque and the n-th target torque; The first control module controls the corresponding wheel based on the Y-th torque ratio and the n-th torque ratio.

8. A vehicle, characterized in that, The vehicle includes a vehicle control device for implementing the vehicle control method as described in any one of claims 1-6.

9. An electronic device, characterized in that, The device includes: a processor and a memory storing programs or instructions; When the processor executes the program or instructions, it implements the vehicle control method as described in any one of claims 1-6.

10. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device causes the electronic device to perform the vehicle control method as described in any one of claims 1-6.

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