Vehicle control methods, devices and vehicles

Abstract

This invention discloses a vehicle control method, device, and vehicle. The method relates to the field of vehicle control and includes: acquiring target parameters of the vehicle, wherein the target parameters include: a target yaw rate parameter of the vehicle, rear-wheel steering feedforward calibration control parameters of the vehicle, and four-motor torque distribution feedforward control calibration parameters of the vehicle; determining the rear-wheel steering control parameters and the four-motor torque distribution parameters of the vehicle based on the target parameters; and controlling the vehicle based on the rear-wheel steering control parameters and the four-motor torque distribution parameters. This invention solves the technical problem of low control accuracy in related technologies.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and more specifically, to a vehicle control method, device, and vehicle. Background Technology

[0002] In existing technologies, when a vehicle is turning, the steering wheel angle is usually calculated based on the vehicle's yaw rate, and then the vehicle is controlled based on the steering wheel angle. However, for vehicles equipped with rear-wheel steering and four-motor independent drive, since both rear-wheel steering and four-motor vector control can change the vehicle's steering performance, relying solely on the steering wheel angle cannot accurately control the vehicle, resulting in low vehicle control accuracy.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a vehicle control method, device, and vehicle to at least solve the technical problem of low control accuracy in vehicle control in related technologies.

[0005] According to one aspect of the present invention, a vehicle control method is provided, comprising: acquiring target parameters of the vehicle, wherein the target parameters include: a target yaw rate parameter of the vehicle, a rear-wheel steering feedforward calibration control parameter of the vehicle, and a four-motor torque distribution feedforward control calibration parameter of the vehicle; determining rear-wheel steering control parameters and four-motor torque distribution parameters of the vehicle based on the target parameters; and controlling the vehicle based on the rear-wheel steering control parameters and the four-motor torque distribution parameters.

[0006] Optionally, based on the target parameters, the rear-wheel steering control parameters and the four-motor torque distribution parameters of the vehicle are determined, including: based on the target parameters, determining the target control quantity and the target feedback quantity of the vehicle, wherein the target control quantity includes: the rear-wheel steering feedforward control quantity and the rear-wheel steering feedback control quantity of the vehicle, and the target feedback quantity includes: the four-motor torque distribution feedforward quantity and the four-motor torque distribution feedback quantity of the vehicle; based on the target control quantity, the rear-wheel steering control parameters of the vehicle are determined; and based on the target feedback quantity, the four-motor torque distribution parameters of the vehicle are determined.

[0007] Optionally, the target control quantity of the vehicle is determined based on the target parameters, including: obtaining the rear wheel steering feedforward control quantity corresponding to the rear wheel steering feedforward calibration control parameters based on the first preset relationship; and determining the rear wheel steering feedback control quantity based on the target yaw rate parameter.

[0008] Optionally, determining the rear wheel steering feedback control quantity based on the target yaw rate parameter includes: determining the target yaw rate based on the target yaw rate parameter; obtaining the difference between the target yaw rate and the actual yaw rate to obtain a first difference; and determining the rear wheel steering feedback control quantity based on the first difference.

[0009] Optionally, the target feedback amount of the vehicle is determined based on the target parameters, including: obtaining the four-motor torque distribution feedforward amount corresponding to the four-motor torque distribution feedforward control calibration parameters based on the second preset relationship; and determining the four-motor torque distribution feedback amount based on the target yaw rate parameters.

[0010] Optionally, the torque distribution feedback amount of the four motors is determined based on the target yaw rate parameters, including: determining the target yaw rate based on the target yaw rate parameters; obtaining the difference between the target yaw rate and the actual yaw rate to obtain a first difference; determining the target torque distribution increment based on the first difference; and determining the torque distribution feedback amount of the four motors based on the target distribution increment.

[0011] Optionally, based on the target control quantity, the rear wheel steering control parameters of the vehicle are determined, including: obtaining the sum of the rear wheel steering feedforward control quantity and the rear wheel steering feedback control quantity to obtain the rear wheel steering control parameters.

[0012] Optionally, based on the target feedback quantity, the torque distribution parameters of the vehicle's four motors are determined, including: obtaining the sum of the four motor torque distribution feedforward quantity and the four motor torque distribution feedback quantity to obtain the four motor torque distribution parameters.

[0013] According to another aspect of the present invention, a vehicle control device is also provided, comprising: an acquisition module for acquiring target parameters of a vehicle, wherein the target parameters include: a target yaw rate parameter of the vehicle, a rear-wheel steering feedforward calibration control parameter of the vehicle, and a four-motor torque distribution feedforward control calibration parameter of the vehicle; a determination module for determining the rear-wheel steering control parameter and the four-motor torque distribution parameter of the vehicle based on the target parameters; and a control module for controlling the vehicle based on the rear-wheel steering control parameter and the four-motor torque distribution parameter.

[0014] According to another aspect of the present invention, a vehicle is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform any of the methods described above.

[0015] According to another aspect of the present invention, a computer-readable storage medium is also provided, characterized in that the computer-readable storage medium includes a stored program, wherein, when the program is running, the device on which the computer-readable storage medium is located executes any of the above methods.

[0016] According to another aspect of the present invention, an electronic device is also provided, including a memory and a processor, characterized in that the memory stores a computer program, and the processor is configured to run the computer program to perform any of the methods described above.

[0017] In this embodiment of the invention, the method involves acquiring target parameters of the vehicle; determining rear-wheel steering control parameters and four-motor torque distribution parameters based on the target parameters; and controlling the vehicle based on the rear-wheel steering control parameters and four-motor torque distribution parameters. It is readily apparent that by using the rear-wheel steering control parameters and four-motor torque distribution parameters, the rear-wheel steering and four-motor torque can be controlled collaboratively, significantly improving the vehicle's steering performance and achieving accurate vehicle control. This results in improved control accuracy and solves the technical problem of low control accuracy in related technologies. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0019] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram illustrating the implementation of an optional vehicle control method according to an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of a vehicle control device according to an embodiment of the present invention. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] Example 1

[0025] According to an embodiment of the present invention, a vehicle control method embodiment is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0026] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0027] Step S102: Obtain the target parameters of the vehicle, including: the target yaw rate parameters of the vehicle, the rear wheel steering feedforward calibration control parameters of the vehicle, and the four-motor torque distribution feedforward control calibration parameters of the vehicle.

[0028] The aforementioned vehicle can be any type of new energy vehicle equipped with rear-wheel steering and four independently driven motors. The aforementioned target parameters enable accurate vehicle control, for example, controlling the vehicle's steering, but are not limited to this. The aforementioned target yaw rate parameter enables the vehicle's yaw rate to reach the user's desired yaw rate (i.e., the target yaw rate). The aforementioned rear-wheel steering feedforward calibration control parameters determine the vehicle's rear-wheel steering feedforward control amount; the specific value is not limited in this embodiment, and the user can set it according to actual needs. The aforementioned four-motor torque distribution feedforward control calibration parameters determine the vehicle's four-motor torque distribution feedforward amount; the specific value is not limited in this embodiment, and the user can set it according to actual needs. It should be noted that a motor with two pairs of magnetic poles is a four-motor motor.

[0029] In one alternative embodiment, when vehicle control is required, in order to coordinate the control of the rear-wheel steering and the torque of the four motors to achieve accurate vehicle control, target parameters of the vehicle can first be obtained. For example, when accurate steering control of the vehicle is required, the target yaw rate parameters of the vehicle, the rear-wheel steering feedforward calibration control parameters of the vehicle, and the torque distribution feedforward control calibration parameters of the vehicle's four motors can first be obtained.

[0030] Step S104: Based on the target parameters, determine the rear wheel steering control parameters and the torque distribution parameters of the vehicle's four motors.

[0031] In one optional embodiment, the target yaw rate can first be determined based on the target yaw rate parameter in the target parameters. Then, the rear-wheel steering control parameters can be determined based on the target yaw rate, the vehicle's current actual yaw rate, and the vehicle's rear-wheel steering feedforward calibration control parameters. Simultaneously, the four-motor torque distribution parameters can also be determined based on the target yaw rate, the vehicle's current actual yaw rate, and the vehicle's four-motor torque distribution feedforward control calibration parameters. For example, after determining the target yaw rate, the difference between the target yaw rate and the actual yaw rate can first be obtained to get a first difference value. Then, the rear-wheel steering control parameters can be calculated based on the target yaw rate, the first difference value, and the rear-wheel steering feedforward calibration control parameters. Simultaneously, the four-motor torque distribution parameters can also be calculated based on the target yaw rate, the first difference value, and the four-motor torque distribution feedforward control calibration parameters.

[0032] Step S106: Control the vehicle based on the rear wheel steering control parameters and the torque distribution parameters of the four motors.

[0033] In one optional embodiment, after obtaining the rear-wheel steering control parameters and the four-motor torque distribution parameters, based on the actual driving needs of the vehicle, different or equal weights can be assigned to the rear-wheel steering control parameters and the four-motor torque distribution parameters. This allows the rear-wheel steering control parameters and the four-motor torque distribution parameters with different weights to control the corresponding rear-wheel steering and four-motor torque to varying degrees, thereby achieving accurate vehicle control. For example, when the vehicle needs a smooth and slow transition during a turn, different weights can be assigned to the rear-wheel steering control parameters and the four-motor torque distribution parameters, but this is not limited to this; they can also be assigned the same weight. Then, based on these weights, the rear-wheel steering and the four-motor torque can be controlled to varying degrees to achieve the purpose of vehicle control.

[0034] In this embodiment of the invention, the method involves acquiring target parameters of the vehicle; determining rear-wheel steering control parameters and four-motor torque distribution parameters based on the target parameters; and controlling the vehicle based on the rear-wheel steering control parameters and four-motor torque distribution parameters. It is readily apparent that by using the rear-wheel steering control parameters and four-motor torque distribution parameters, the rear-wheel steering and four-motor torque can be controlled collaboratively, significantly improving the vehicle's steering performance and achieving accurate vehicle control. This results in improved control accuracy and solves the technical problem of low control accuracy in related technologies.

[0035] Optionally, based on the target parameters, the rear-wheel steering control parameters and the four-motor torque distribution parameters of the vehicle are determined, including: based on the target parameters, determining the target control quantity and the target feedback quantity of the vehicle, wherein the target control quantity includes: the rear-wheel steering feedforward control quantity and the rear-wheel steering feedback control quantity of the vehicle, and the target feedback quantity includes: the four-motor torque distribution feedforward quantity and the four-motor torque distribution feedback quantity of the vehicle; based on the target control quantity, the rear-wheel steering control parameters of the vehicle are determined; and based on the target feedback quantity, the four-motor torque distribution parameters of the vehicle are determined.

[0036] The aforementioned target control quantity is used to control the rear wheel steering of the vehicle, and the aforementioned target feedback quantity is used to distribute the torque of the vehicle's four motors.

[0037] In one optional embodiment, the target yaw rate can be calculated based on the target yaw rate parameter. Then, the target control quantity of the vehicle can be calculated based on the target yaw rate, the actual yaw rate, and the vehicle's rear-wheel steering feedforward calibration control parameters. Simultaneously, the target feedback quantity of the vehicle can be calculated based on the target yaw rate, the actual yaw rate, and the four-motor torque distribution feedforward control calibration parameters. The target control quantity includes: the vehicle's rear-wheel steering feedforward control quantity and the vehicle's rear-wheel steering feedback control quantity. The target feedback quantity includes: the vehicle's four-motor torque distribution feedforward quantity and the vehicle's four-motor torque distribution feedback quantity.

[0038] In another alternative embodiment, after obtaining the target control quantity and the target feedback quantity, the rear wheel steering control parameters of the vehicle can be calculated based on the target control quantity, and the torque distribution parameters of the vehicle's four motors can also be calculated based on the target feedback quantity.

[0039] Optionally, the target control quantity of the vehicle is determined based on the target parameters, including: obtaining the rear wheel steering feedforward control quantity corresponding to the rear wheel steering feedforward calibration control parameters based on the first preset relationship; and determining the rear wheel steering feedback control quantity based on the target yaw rate parameter.

[0040] The aforementioned first preset relationship can be set by the user in advance, and can reflect the correspondence between different rear wheel steering feedforward calibration control parameters and different rear wheel steering feedforward control quantities.

[0041] In one optional embodiment, after obtaining the rear wheel steering feedforward calibration control parameters, the rear wheel steering feedforward control quantity corresponding to the rear wheel steering feedforward calibration control parameters can be determined in the first preset relationship. At the same time, the target yaw rate can be determined based on the target yaw rate parameter, and then the rear wheel steering feedback control quantity can be calculated based on the target yaw rate.

[0042] Optionally, determining the rear wheel steering feedback control quantity based on the target yaw rate parameter includes: determining the target yaw rate based on the target yaw rate parameter; obtaining the difference between the target yaw rate and the actual yaw rate to obtain a first difference; and determining the rear wheel steering feedback control quantity based on the first difference.

[0043] In one optional embodiment, the target yaw rate can first be calculated based on the target yaw rate parameter. Then, the difference between the target yaw rate and the actual yaw rate can be obtained to get a first difference. Then, based on the first difference, the rear wheel steering feedback control amount can be calculated through a feedback control algorithm.

[0044] It should be noted that the above-mentioned feedback control algorithm can be any one or more algorithms in the prior art that can obtain the rear wheel steering feedback control quantity. This embodiment is not limited to any particular algorithm. For example, it can be a proportional integral (PI) algorithm, but it is not limited to this.

[0045] Optionally, the target feedback amount of the vehicle is determined based on the target parameters, including: obtaining the four-motor torque distribution feedforward amount corresponding to the four-motor torque distribution feedforward control calibration parameters based on the second preset relationship; and determining the four-motor torque distribution feedback amount based on the target yaw rate parameters.

[0046] The aforementioned second preset relationship can be set in advance by the user, and can reflect the correspondence between different four-motor torque distribution feedforward control calibration parameters and different four-motor torque distribution feedforward amounts.

[0047] In one optional embodiment, when the four-motor torque distribution feedforward control calibration parameters are obtained, the four-motor torque distribution feedforward amount corresponding to the four-motor torque distribution feedforward control calibration parameters can be determined by searching in the second preset relationship. At the same time, the target yaw rate can be calculated based on the target yaw rate parameter, and then the four-motor torque distribution feedback amount can be calculated based on the target yaw rate.

[0048] Optionally, the torque distribution feedback amount of the four motors is determined based on the target yaw rate parameters, including: determining the target yaw rate based on the target yaw rate parameters; obtaining the difference between the target yaw rate and the actual yaw rate to obtain a first difference; determining the target torque distribution increment based on the first difference; and determining the torque distribution feedback amount of the four motors based on the target distribution increment.

[0049] In one optional embodiment, the target yaw rate can first be calculated based on the target yaw rate parameter. Then, the difference between the target yaw rate and the actual yaw rate can be obtained to get a first difference. Then, based on the first difference, the target torque distribution increment can be calculated through a feedback control algorithm. Finally, based on the target torque distribution increment, the four-motor torque distribution feedback can be calculated.

[0050] It should be noted that the above-mentioned feedback control algorithm can be any one or more algorithms in the prior art that can obtain the rear wheel steering feedback control quantity. This embodiment is not limited. For example, it can be a proportional integral (PI) algorithm, but it is not limited to this. It can also be a model-based predictive control (MPC) algorithm.

[0051] Optionally, based on the target control quantity, the rear wheel steering control parameters of the vehicle are determined, including: obtaining the sum of the rear wheel steering feedforward control quantity and the rear wheel steering feedback control quantity to obtain the rear wheel steering control parameters.

[0052] In one optional embodiment, after obtaining the rear wheel steering feedforward control quantity and the rear wheel steering feedback control quantity, the sum of the rear wheel steering feedforward control quantity and the rear wheel steering feedback control quantity can be obtained to obtain the rear wheel steering control parameters. Then, the rear wheel steering of the vehicle can be controlled based on the rear wheel steering control parameters.

[0053] Optionally, based on the target feedback quantity, the torque distribution parameters of the vehicle's four motors are determined, including: obtaining the sum of the four motor torque distribution feedforward quantity and the four motor torque distribution feedback quantity to obtain the four motor torque distribution parameters.

[0054] In one optional embodiment, after obtaining the four-motor torque distribution feedforward amount and the four-motor torque distribution feedback amount, the sum of the four-motor torque distribution feedforward amount and the four-motor torque distribution feedback amount can be obtained to obtain the four-motor torque distribution parameters. Then, the torque of the four motors can be distributed based on the four-motor torque distribution parameters to achieve the purpose of controlling the vehicle.

[0055] For vehicles equipped with rear-wheel steering and four-motor drive, unified coordinated control is required to improve vehicle steering performance. This invention proposes an innovative coordinated control scheme that, through coordinated control of rear-wheel steering and four-motor torque vectoring, can compensate for the deficiencies of both, avoid conflicting control between them, and significantly improve vehicle steering performance. The specific implementation steps are as follows:

[0056] Step S1, Yaw Control Target Design: Combining the vehicle's own steering characteristics, rear turn control, and the range of control of vehicle yaw motion by the four-motor torque distribution control, as well as the target requirements of driving mode for yaw motion, design the target characteristics of vehicle yaw motion under different driving modes, and the target yaw angular velocity parameters at different vehicle speeds and steering wheel angles.

[0057] Step S2, rear wheel steering feedforward design: rear wheel steering is mainly based on feedforward control. According to the characteristics of vehicle yaw motion target, the rear wheel steering angle control target under different vehicle speeds and steering wheel angles is calibrated, and the rear wheel steering feedforward control calibration parameters are determined.

[0058] Step S3, Four-motor torque distribution feedforward design: The four-motor feedforward control should be designed according to the yaw motion target. The deviation between the actual yaw of the vehicle after the back-turn feedforward control and the target yaw control is compensated by the four-motor torque distribution feedforward control, thereby determining the calibration parameters of the four-motor torque distribution feedforward control.

[0059] Step S4, Four-motor torque distribution feedback design: After determining the control parameters of rear wheel feedforward and four-motor torque distribution feedforward, based on the deviation between the vehicle's target yaw rate and the actual yaw rate, the torque distribution increment required to achieve the target yaw rate is calculated using feedback control algorithms such as PI or MPC, and the four-motor torque distribution feedback amount is determined.

[0060] Step S5, Rear wheel steering feedback control: For low-speed driving conditions, the torque distribution feedback control of the four motors is reduced due to the consideration of four-wheel drive traction. At this time, the steering performance of the vehicle can be realized through rear wheel steering feedback control. Based on the deviation between the target yaw rate and the actual yaw rate, the rear wheel steering angle feedback control quantity is calculated through feedback control algorithms such as PI.

[0061] Step S6, determine the rear wheel steering control parameters: rear wheel steering control parameters = rear wheel steering feedforward control quantity + rear wheel steering feedback control quantity.

[0062] Step S7, the four-motor torque distribution control target is determined: four-motor torque distribution parameter = four-motor torque distribution feedforward amount + four-motor torque distribution feedback amount.

[0063] Figure 2 This is a schematic diagram illustrating an optional vehicle control method according to an embodiment of the present invention, such as... Figure 2As shown, by designing the target yaw rate based on vehicle speed, steering wheel angle, and driving mode, the target yaw rate can be obtained. This target yaw rate can then be input into the feedforward and feedback systems respectively. In the feedforward control, rear wheel steering (RWS) is the primary control, with torque vector control (TV) as a secondary control. RWS uses vehicle speed and steering wheel angle to achieve steady-state gain, controlling the turning radius, and then outputs the rear wheel feedforward angle to the RWS for execution. Torque vector control uses vehicle speed, steering wheel angle, and total torque to intervene in special operating conditions, preventing understeer during acceleration or oversteer during deceleration, and then outputs the feedforward time difference to the torque distribution system. In feedback control, the torque distribution system (TV) is primary, while the rear wheel steering system (RWS) is secondary. The TV, using vehicle speed, total torque, target yaw rate, and actual yaw rate, enables transient response tracking, feedforward deviation compensation, and yaw disarray correction in medium-to-high speed conditions. It then outputs the feedback time difference to torque distribution. The RWS, using vehicle speed, target yaw rate, and actual yaw rate, enables intervention in special operating conditions and low-speed dynamic compensation. It then outputs the rear wheel feedback steering angle to rear wheel steering control. Finally, the torque distribution system outputs the torque from all four motors to the microcontroller (MCU), which then distributes the torque for unified vehicle control.

[0064] Example 2

[0065] According to another aspect of the present invention, a vehicle control device is also provided, which can execute the vehicle control method provided in Embodiment 1 above. The specific implementation method and preferred application scenario are the same as those in Embodiment 1 above, and will not be repeated here.

[0066] Figure 3 This is a schematic diagram of a vehicle control device according to an embodiment of the present invention, such as... Figure 3 As shown, the device includes: an acquisition module 32 for acquiring target parameters of the vehicle, wherein the target parameters include: target yaw rate parameters of the vehicle, rear-wheel steering feedforward calibration control parameters of the vehicle, and four-motor torque distribution feedforward control calibration parameters of the vehicle; a determination module 34 for determining the rear-wheel steering control parameters and the four-motor torque distribution parameters of the vehicle based on the target parameters; and a control module 36 for controlling the vehicle based on the rear-wheel steering control parameters and the four-motor torque distribution parameters.

[0067] Optionally, the determining module includes: a first determining unit, used to determine the target control quantity and target feedback quantity of the vehicle based on the target parameters, wherein the target control quantity includes: the rear wheel steering feedforward control quantity and the rear wheel steering feedback control quantity of the vehicle, and the target feedback quantity includes: the four-motor torque distribution feedforward quantity and the four-motor torque distribution feedback quantity of the vehicle; a second determining unit, used to determine the rear wheel steering control parameters of the vehicle based on the target control quantity; and a third determining unit, used to determine the four-motor torque distribution parameters of the vehicle based on the target feedback quantity.

[0068] Optionally, the first determining unit includes: a first acquiring subunit, used to acquire the rear wheel steering feedforward control quantity corresponding to the rear wheel steering feedforward calibration control parameters based on a first preset relationship; and a first determining subunit, used to determine the rear wheel steering feedback control quantity based on the target yaw rate parameter.

[0069] Optionally, the first determining subunit is further configured to: determine the target yaw rate based on the target yaw rate parameter; obtain the difference between the target yaw rate and the actual yaw rate to obtain a first difference; and determine the rear wheel steering feedback control quantity based on the first difference.

[0070] Optionally, the first determining unit further includes: a second acquiring subunit, used to acquire the four-motor torque distribution feedforward amount corresponding to the four-motor torque distribution feedforward control calibration parameters based on the second preset relationship; and a second determining subunit, used to determine the four-motor torque distribution feedback amount based on the target yaw rate parameter.

[0071] Optionally, the second determining subunit is further configured to: determine the target yaw rate based on the target yaw rate parameter; obtain the difference between the target yaw rate and the actual yaw rate to obtain a first difference; determine the target torque distribution increment value based on the first difference; and determine the four-motor torque distribution feedback amount based on the target distribution increment value.

[0072] Optionally, the second determining unit includes: a third acquiring subunit, used to acquire the sum of the rear wheel steering feedforward control quantity and the rear wheel steering feedback control quantity, to obtain the rear wheel steering control parameters.

[0073] Optionally, the third determining unit includes: a fourth obtaining subunit, used to obtain the sum of the four-motor torque distribution feedforward amount and the four-motor torque distribution feedback amount, to obtain the four-motor torque distribution parameters.

[0074] Example 3

[0075] According to another aspect of the present invention, a vehicle is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform any of the methods described above.

[0076] Example 4

[0077] According to another aspect of the present invention, a computer-readable storage medium is also provided, characterized in that the computer-readable storage medium includes a stored program, wherein, when the program is running, the device on which the computer-readable storage medium is located executes any of the above methods.

[0078] Example 5

[0079] According to another aspect of the present invention, an electronic device is also provided, including a memory and a processor, characterized in that the memory stores a computer program, and the processor is configured to run the computer program to perform any of the methods described above.

[0080] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0081] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0082] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0083] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0084] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0085] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0086] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that, include: Obtain the target parameters of the vehicle, wherein the target parameters include: the target yaw rate parameter of the vehicle, the rear wheel steering feedforward calibration control parameter of the vehicle, and the four-motor torque distribution feedforward control calibration parameter of the vehicle. Based on the target parameters, the rear wheel steering control parameters and the torque distribution parameters of the four motors of the vehicle are determined. The vehicle is controlled based on the rear wheel steering control parameters and the four-motor torque distribution parameters. The method of controlling the vehicle based on the rear-wheel steering control parameters and the four-motor torque distribution parameters includes: assigning weights to the rear-wheel steering control parameters and the four-motor torque distribution parameters to obtain the weights of the rear-wheel steering control parameters and the four-motor torque distribution parameters, wherein the weights of the rear-wheel steering control parameters are used to characterize the degree of control over the rear-wheel steering of the vehicle, and the weights of the four-motor torque distribution parameters are used to characterize the degree of control over the four-motor torque of the vehicle; and controlling the rear-wheel steering and four-motor torque of the vehicle based on the weights of the rear-wheel steering control parameters and the four-motor torque distribution parameters. Based on the target parameters, determining the rear-wheel steering control parameters and the four-motor torque distribution parameters of the vehicle includes: determining the target control quantity and target feedback quantity of the vehicle based on the target parameters, wherein the target control quantity includes: the rear-wheel steering feedforward control quantity and the rear-wheel steering feedback control quantity of the vehicle, and the target feedback quantity includes: the four-motor torque distribution feedforward quantity and the four-motor torque distribution feedback quantity of the vehicle. The target control quantity is used to control the rear-wheel steering of the vehicle, and the target feedback quantity is used to distribute the torque of the four motors of the vehicle; determining the rear-wheel steering control parameters of the vehicle based on the target control quantity; and determining the four-motor torque distribution parameters of the vehicle based on the target feedback quantity.

2. The method according to claim 1, characterized in that, Based on the target parameters, the target control quantity of the vehicle is determined, including: Based on the first preset relationship, obtain the rear wheel steering feedforward control quantity corresponding to the rear wheel steering feedforward calibration control parameter; Based on the target yaw rate parameter, the rear wheel steering feedback control quantity is determined.

3. The method according to claim 2, characterized in that, Based on the target yaw rate parameter, the rear wheel steering feedback control quantity is determined, including: The target yaw rate is determined based on the target yaw rate parameters; The difference between the target yaw rate and the actual yaw rate is obtained to obtain the first difference; Based on the first difference, the rear wheel steering feedback control quantity is determined.

4. The method according to claim 1, characterized in that, Based on the target parameters, the target feedback quantity of the vehicle is determined, including: Based on the second preset relationship, the torque distribution feedforward amount of the four motors corresponding to the torque distribution feedforward control calibration parameters of the four motors is obtained. Based on the target yaw rate parameters, the torque distribution feedback of the four motors is determined.

5. The method according to claim 4, characterized in that, Based on the target yaw rate parameters, the torque distribution feedback of the four motors is determined, including: The target yaw rate is determined based on the target yaw rate parameters; The difference between the target yaw rate and the actual yaw rate is obtained to obtain the first difference; Based on the first difference, the target torque distribution increment value is determined; Based on the target allocation increment value, the torque distribution feedback amount of the four motors is determined.

6. The method according to claim 1, characterized in that, Based on the target control quantity, the rear wheel steering control parameters of the vehicle are determined, including: The sum of the rear wheel steering feedforward control quantity and the rear wheel steering feedback control quantity is obtained to obtain the rear wheel steering control parameters.

7. The method according to claim 1, characterized in that, Based on the target feedback quantity, the torque distribution parameters of the vehicle's four motors are determined, including: The sum of the four-motor torque distribution feedforward and the four-motor torque distribution feedback is obtained to obtain the four-motor torque distribution parameters.

8. A vehicle control device, characterized in that, include: The acquisition module is used to acquire the target parameters of the vehicle, wherein the target parameters include: the target yaw rate parameter of the vehicle, the rear wheel steering feedforward calibration control parameter of the vehicle, and the four-motor torque distribution feedforward control calibration parameter of the vehicle. The determination module is used to determine the rear wheel steering control parameters and the four-motor torque distribution parameters of the vehicle based on the target parameters. The control module is used to control the vehicle based on the rear wheel steering control parameters and the four-motor torque distribution parameters; The control module is further configured to assign weights to the rear-wheel steering control parameters and the four-motor torque distribution parameters to obtain the weights of the rear-wheel steering control parameters and the four-motor torque distribution parameters. The weights of the rear-wheel steering control parameters characterize the degree of control over the rear-wheel steering of the vehicle, and the weights of the four-motor torque distribution parameters characterize the degree of control over the torque of the four motors of the vehicle. Based on the weights of the rear-wheel steering control parameters and the four-motor torque distribution parameters, the rear-wheel steering and four-motor torque of the vehicle are controlled. The determining module is further configured to determine, based on the target parameters, the target control quantity and the target feedback quantity of the vehicle, wherein the target control quantity includes: the rear-wheel steering feedforward control quantity and the rear-wheel steering feedback control quantity of the vehicle, and the target feedback quantity includes: the four-motor torque distribution feedforward quantity and the four-motor torque distribution feedback quantity of the vehicle. The target control quantity is used to control the rear-wheel steering of the vehicle, and the target feedback quantity is used to distribute the torque of the four motors of the vehicle. Based on the target control quantity, the rear-wheel steering control parameters of the vehicle are determined; based on the target feedback quantity, the four-motor torque distribution parameters of the vehicle are determined.

9. A vehicle comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the method according to any one of claims 1 to 7.

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