Vehicle travel control method, vehicle-mounted control system, and vehicle

Abstract

The application discloses a vehicle driving control method, a vehicle-mounted control system and a vehicle. The vehicle driving control method comprises the following steps: making the vehicle enter a low-attached road surface driving state, and obtaining driving force information required by safe driving of the vehicle according to vehicle state information of the vehicle and vehicle driving control information. The driving device of the vehicle is controlled to drive the vehicle to drive according to the driving force information. The vehicle state information at least comprises at least one of a driving speed of the vehicle, slope information of a road surface where the vehicle is located and a weight of the vehicle, and the vehicle driving control information at least comprises switch information. The vehicle driving control method and the vehicle-mounted control system can effectively prevent the tire of the vehicle from slipping, and are beneficial to improving the driving safety of the vehicle.

Description

Technical Field

[0001] This application relates to the field of personal transportation technology, and in particular to a vehicle driving control method, an on-board control system, and a vehicle. Background Technology

[0002] Currently, cars, SUVs, multi-purpose vehicles, off-road vehicles, buses, and motorhomes bring numerous conveniences to people's lives, work, and studies, occupying an important position in people's travel. Since vehicles need to travel on low-traction surfaces such as icy and snowy slopes in the wild, and slippery epoxy resin ramps in underground parking garages, preventing tire slippage and improving driving safety has become an important factor for consumers when choosing a vehicle.

[0003] In related technologies, traditional vehicles use a traction control system (TCS) to control tire slippage and minimize tire wheel spin. However, this technology is feedback control, meaning the system only activates after the vehicle experiences initial slippage, which is detrimental to improving vehicle driving safety. Summary of the Invention

[0004] This application provides a vehicle driving control method, an on-board control system, and a vehicle. The vehicle driving control method and on-board control system can effectively prevent tire slippage, thereby improving vehicle driving safety.

[0005] The technical solution is as follows: According to an embodiment of this application, a vehicle driving control method is provided, including: The vehicle is brought into a low-friction driving state, and the driving force information required for safe driving is obtained based on the vehicle status information and vehicle driving control information.

[0006] The vehicle's drive system is controlled based on the driving force information to drive the vehicle.

[0007] The vehicle status information includes at least one of the following: vehicle speed, road slope, and vehicle weight; the vehicle driving control information includes at least the accelerator pedal information.

[0008] The technical solutions provided by the embodiments of this application may include the following beneficial effects: When this vehicle driving control method is applied to a vehicle, when the vehicle enters a low-friction surface driving state, it can obtain the driving force information required for safe driving by using the vehicle's status information and vehicle driving control information, and use this driving force information to control the vehicle's drive device to drive the vehicle. In this way, the vehicle driving control method can effectively prevent the vehicle's tires from slipping, which helps to improve the vehicle's driving safety.

[0009] The technical solution will be further explained below: In one embodiment, the vehicle driving control information further includes gear information and vehicle driving direction information. After controlling the vehicle's drive unit to drive the vehicle based on the driving force information, the vehicle driving control method further includes: Based on gear position information and vehicle direction information, determine whether the vehicle is in a rolling state.

[0010] If the vehicle is in a rolling state, the system will cause the vehicle to exit the low-friction driving state and switch the vehicle to a stationary state. Conversely, if the vehicle is moving, the system will continue to control the vehicle's drive mechanism to drive the vehicle based on the driving force information.

[0011] In one embodiment, the process of switching the vehicle to a parked state includes: disengaging the drive unit and performing an automatic parking operation to stop the vehicle.

[0012] In one embodiment, the driving force information includes a first driving force that drives the vehicle to drive normally; the process of obtaining the driving force information required for the vehicle's movement based on the vehicle's state information and vehicle driving control information includes: Determine whether the vehicle is in the starting state based on the vehicle's speed and accelerator information; When the vehicle is in the starting state, the first driving force is obtained based on the vehicle's speed, the slope of the road surface, and the vehicle's weight. The drive unit generates a first driving force and uses the first driving force to drive the vehicle.

[0013] In one embodiment, the method for calculating the first driving force includes: calculating the minimum driving force required for the vehicle to drive on a low-friction surface based on the vehicle's driving speed, the slope information of the road surface, and the weight of the vehicle, wherein the minimum driving force is F1.

[0014] Based on the minimum driving force and combined with the critical state of vehicle slippage on low-friction surfaces, the maximum driving force of the vehicle on low-friction surfaces is obtained, which is F2.

[0015] The first driving force is F, and F1≤F≤F2.

[0016] In one embodiment, F2 = F1 × A + B. Where A is the ratio between the maximum driving force of the test vehicle on the low-friction surface and the minimum driving force required for the test vehicle to travel on the low-friction surface, obtained from the critical slip state of the test vehicle on the low-friction surface, and B is a compensation value.

[0017] In one embodiment, when the vehicle's drive unit is an electric motor, and the vehicle is a front-wheel drive or rear-wheel drive vehicle, the minimum torque of the motor is Tmin, where Tmin = F1 × r / (i × η), and F1 = m × g × sinα. The maximum torque of the motor is Tmax, where Tmax1 = F2 × r / (i × η). The torque required for the motor to drive the vehicle on a low-friction surface is T, where T = F × r / (i × η), and Tmin ≤ T ≤ Tmax. Where m is the vehicle weight, g is the acceleration due to gravity, α is the road surface slope, r is the wheel radius, and η is the motor transmission efficiency.

[0018] In one embodiment, when the vehicle's drive system consists of a front-drive motor and a rear-drive motor, the minimum torque of the front-drive motor is Tmin1, where Tmin1 = F11 × r / (i × η), F11 = m × g × sinα, F11 = W1 × tanα, and W1 = m × g × (L 2 × cosα - h × sinα) / L. The maximum torque of the front-drive motor is Tmax1, where Tmax1 = F21 × r / (i × η). The torque of the front-drive motor driving the vehicle on a low-friction surface is T11, where T11 = Fa × r / (i × η), and Tmin1 ≤ T1 ≤ Tmax1.

[0019] The torque of the rear-drive motor is Tmin2, Tmin2=F12×r / (i×η), F12=m×g×sinα, F12=W2×tanα, W2=m×g×(L1×cosα-h×sinα) / L. The maximum torque of the rear-drive motor is Tmax2, Tmax1=F22×r / (i×η). The torque of the rear-drive motor driving the vehicle on a low-friction surface is T2, T2=Fb×r / (i×η), Tmin2≤T2≤Tmax2. F11+F12=F1, F21+F22=F2, Fa+Fb=F.

[0020] Where m is the vehicle weight, g is the gravitational acceleration, α is the road slope, r is the wheel radius, i is the motor-drive shaft transmission ratio, L is the wheelbase, L1 is the front axle center of gravity distance, L2 is the rear axle center of gravity distance, h is the center of gravity height, η is the motor transmission efficiency, W1 is the front axle load, and W2 is the rear axle load.

[0021] In one embodiment, before the vehicle is driven by the first driving force, the vehicle driving control method further includes: The drive unit generates the first driving force, and then the automatic parking brake is released to start the vehicle.

[0022] In one embodiment, the vehicle driving control method further includes, prior to releasing the automatic parking brake, the following: The system checks whether the ignition switch opening, suspension height, and sensor longitudinal acceleration values ​​meet the set requirements.

[0023] If so, and F1≤F≤F2, then release the auto hold.

[0024] In one embodiment, during the process of the vehicle driving under the drive of the first driving force, the vehicle driving control method further includes: Detect the vehicle's actual speed and determine whether the actual speed exceeds the set speed.

[0025] If so, the vehicle exits the low-friction road driving state or the driving force generated by the drive unit is less than the driving force information.

[0026] If not, then the theoretical acceleration under the first driving force is obtained, and the actual acceleration of the vehicle under the first driving force is detected. The driving force generated by the drive unit is adjusted based on the difference between the theoretical acceleration and the actual acceleration.

[0027] In one embodiment, the vehicle driving control method further includes: When a vehicle parking information is received, the vehicle exits the low-friction road driving state and switches to the parking state.

[0028] In one embodiment, the vehicle parking information includes at least one of the following: pedal brake command, P gear parking command, and handbrake parking command.

[0029] And / or, the process of switching the vehicle to a parked state includes: The drive unit is disconnected, and the automatic parking system performs a parking operation to bring the vehicle to a stop.

[0030] In one embodiment, before the vehicle enters a low-friction surface driving state, the vehicle driving control method further includes: Obtain vehicle status information, including the slope of the road surface where the vehicle is located and the vehicle's speed.

[0031] Determine whether the vehicle is traveling on a low-friction surface based on the slope information, and whether the vehicle's speed is less than or equal to the set speed.

[0032] If both are true, then the vehicle enters low-friction road driving mode. Otherwise, it does not enter low-friction road driving mode.

[0033] In one embodiment, determining whether a vehicle is traveling on a low-friction surface includes: The road surface slope value is obtained based on the slope information.

[0034] When the road surface slope is greater than or equal to the first threshold, the vehicle travels on the low-adhesion road surface.

[0035] When the road surface slope is less than the first threshold, the vehicle will not drive on the low-adhesion road surface.

[0036] In one embodiment, before acquiring the vehicle's status information, the vehicle driving control method further includes: Receives control commands to put the vehicle into a low-friction driving state.

[0037] According to an embodiment of this application, an in-vehicle control system is also provided, including a control device, a drive device, a detection device for detecting the vehicle's state, and a control device for controlling vehicle driving. The control device is communicatively connected to the drive device, the detection device, and the control device. The control device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of the vehicle driving control method in any of the above embodiments.

[0038] The technical solutions provided by the embodiments of this application may include the following beneficial effects: When applied to a vehicle, this onboard control system can detect the vehicle's status through a detection device. The control device communicates with the drive unit, detection device, and control device to facilitate the acquisition of vehicle status and driving control information. When the vehicle enters a low-friction surface driving state, the processor can obtain the driving force information required for safe driving from the vehicle's status and driving control information, and use this driving force information to control the vehicle's drive unit to propel the vehicle. In this way, the onboard control system can effectively prevent tire slippage, thus improving vehicle driving safety.

[0039] According to an embodiment of this application, a vehicle is also provided, including a body, front wheels, rear wheels, and the vehicle control system described in the above embodiments. The front wheels and rear wheels are movably mounted on the body. The control device is communicatively connected to the drive device to control the drive device to drive the front wheels to rotate and / or the rear wheels to rotate.

[0040] The technical solutions provided by the embodiments of this application may include the following beneficial effects: The vehicle uses the vehicle control system described in the above embodiments, which can effectively prevent the front and / or rear wheels from slipping during the journey on low-friction surfaces, thereby improving the safety of vehicle driving.

[0041] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0042] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation of this application.

[0043] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the structure of a vehicle control system shown in one embodiment.

[0045] Figure 2 for Figure 1 The diagram shows a flowchart of the vehicle driving control method.

[0046] Figure 3 This is a flowchart illustrating a vehicle driving control method in one embodiment.

[0047] Figure 4 This is a flowchart illustrating a vehicle driving control method in one embodiment.

[0048] Figure 5 This is a schematic diagram of a vehicle on a low-mountain ramp, as shown in one embodiment.

[0049] Figure 6 This is a flowchart illustrating a vehicle driving control method in one embodiment.

[0050] Figure 7 This is a schematic diagram of the vehicle structure shown in one embodiment.

[0051] Explanation of reference numerals in the attached figures: 10. Vehicle; 100. Vehicle control system; 110. Control device; 120. Drive device; 130. Detection device; 140. Control device; 200. Vehicle body; 300. Front wheel; 400. Rear wheel. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description, in conjunction with the accompanying drawings and specific embodiments, further illustrates this application. It should be understood that the specific embodiments described herein are merely illustrative and do not limit the scope of protection of this application.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0054] like Figure 1 as well as Figure 2 As shown in the embodiments of this disclosure, an in-vehicle control system 100 is provided, including a control device 110, a drive device 120, a detection device 130 for detecting the vehicle's status, and a control device 140 for controlling vehicle driving. The control device 110 is communicatively connected to the drive device 120, the detection device 130, and the control device 140. The control device 110 includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the vehicle driving control method.

[0055] The vehicle driving control method includes: The vehicle is brought into a low-friction driving state, and the driving force information required for safe driving is obtained based on the vehicle status information and vehicle driving control information.

[0056] The vehicle's drive system is controlled based on the driving force information to drive the vehicle.

[0057] The vehicle status information includes at least one of the following: vehicle speed, road slope, and vehicle weight; the vehicle driving control information includes at least the accelerator pedal information.

[0058] When in use, this vehicle control system can detect the vehicle's status through a detection device. The control device communicates with the drive unit, detection device, and control device to facilitate the acquisition of vehicle status and driving control information. When the vehicle enters a low-friction surface (such as wet, icy, or snowy surfaces), the processor can obtain the driving force information required for safe driving based on the vehicle's status and driving control information, and use this driving force information to control the vehicle's drive unit to drive the vehicle safely. In this way, the vehicle control system can effectively prevent tire slippage, thus improving vehicle driving safety.

[0059] It should be noted that safe driving includes preventing the vehicle from skidding, swaying, or rolling backwards.

[0060] It should be noted that the detection device can be implemented using traditional technologies, including at least one of wheel speed sensors, acceleration sensors, gyroscope sensors, gravity sensors, pressure sensors, suspension height detection devices, etc. It can be flexibly configured according to the vehicle status information monitoring requirements.

[0061] It should be noted that the specific implementation of the control device can be achieved in traditional technologies, including at least one of the following: ignition control (ignition pedal), brake control (brake pedal, P gear braking, handbrake, etc.), gear position controller, and automatic parking (AVH, AUTOHOLD). The device can be flexibly configured according to the vehicle's driving control information acquisition requirements.

[0062] It should be noted that the drive unit is generally the vehicle's driving power equipment. It includes at least one of the following: internal combustion engine, electric motor, hybrid power system, etc.

[0063] It should be noted that the vehicle weight information includes at least the vehicle's own weight. In some embodiments, the vehicle weight information also includes the vehicle's load weight (i.e., the weight of the occupants and / or the items they carry, which can be manually entered or detected using pressure sensors).

[0064] It should be noted that there are many ways to implement the control device, such as integrated computer, MOC controller, vehicle computer, motion control card, programmable controller, etc.

[0065] It should be noted that the processor can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc. Thus, using a processor, the control device can control the overall operation of the vehicle control system, such as operations related to parameter acquisition, display, vehicle control, and vehicle detection. The control device may include one or more processors to execute instructions to complete the above operations. Furthermore, the control device may also include one or more interactive modules, such as a touchscreen or operation input keys, to facilitate interaction with the control device.

[0066] It should be noted that the memory is configured to store various types of data to support the operation of the vehicle control system. Examples of this data include, but are not limited to, the vehicle driving control method in the above embodiments, as well as other vehicle control methods. The memory can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, etc.

[0067] Optionally, low-adhesion pavement includes one of the following: icy pavement, snow-covered pavement, and slippery epoxy resin pavement in underground parking garages.

[0068] Optionally, low-friction driving modes include snow mode and anti-skid mode. These can be flexibly set according to actual needs.

[0069] like Figure 3As shown, in some embodiments, the vehicle driving control information also includes gear position information and vehicle driving direction information. After controlling the vehicle's drive device to drive the vehicle based on the driving force information, the vehicle driving control method further includes: determining whether the vehicle is in a slippery state based on the gear position information and vehicle driving direction information. If the vehicle is slippery, the vehicle exits the low-friction surface driving state and switches to a stationary state. Otherwise, the vehicle's drive device continues to drive the vehicle based on the driving force information. In this way, the risk of slippery vehicles can be promptly avoided on special road surfaces (such as surfaces with a lower coefficient of friction than snow or slippery surfaces) or after prolonged use due to performance degradation, further improving vehicle driving safety.

[0070] Furthermore, in some embodiments, the process of switching the vehicle to a parking state includes: disengaging the drive unit and automatically performing a parking operation to stop the vehicle. Thus, by utilizing the vehicle's automatic parking function, parking operations can be performed automatically and promptly, improving the intelligence of vehicle braking control, stopping the vehicle in time, avoiding the danger of rolling away, and further enhancing vehicle driving safety.

[0071] In combination with any of the above embodiments, such as Figure 4 As shown, in some embodiments, the driving force information includes a first driving force that drives the vehicle to drive normally; the process of obtaining the driving force information required for the vehicle's movement based on the vehicle's state information and vehicle driving control information includes: Determine whether the vehicle is in the starting state based on the vehicle's speed and ignition information.

[0072] When the vehicle is starting, the initial driving force is obtained based on the vehicle's speed, the slope of the road surface, and the vehicle's weight.

[0073] The drive unit generates a first driving force and uses the first driving force to drive the vehicle.

[0074] In this way, when a vehicle starts on a low-traction surface, it uses its speed, the slope of the road, and its weight to generate the initial driving force necessary for safe driving. This initial driving force then propels the vehicle safely. Furthermore, by combining the slope and weight information with the road surface's adhesion, the vehicle effectively avoids slippage, especially on low-traction slopes, thus preventing yaw, difficulty climbing, and rolling backwards, thereby improving driving safety.

[0075] In some embodiments, the calculation method for the first driving force includes: calculating the minimum driving force required for the vehicle to travel on a low-friction surface based on the vehicle's speed, the slope of the road surface, and the vehicle's weight, where the minimum driving force is F1. Based on the minimum driving force and combined with the critical slip condition of the vehicle on the low-friction surface, the maximum driving force for the vehicle to travel on the low-friction surface is obtained, where the maximum driving force is F2. The first driving force is F, and F1 ≤ F ≤ F2. Thus, this first driving force is sufficient to drive the vehicle on the low-friction surface. To prevent excessive driving force from causing wheel slippage, the maximum driving force generated by the drive unit is limited, allowing the vehicle to be driven within a safe range. The vehicle's speed is variable, but slippage is prevented, resulting in more agile vehicle handling.

[0076] It should be noted that F2 can be obtained in various ways, such as by converting it using the vehicle slip calculation formula. To improve the realism of F2, in some embodiments, F2 = F1 × A + B. Here, A is the ratio between the maximum driving force of the test vehicle on the low-friction surface and the minimum driving force required for the test vehicle to travel on the low-friction surface, obtained from the critical slip state of the test vehicle on the low-friction surface; B is a compensation value. Thus, when using the vehicle driving control method of this application to control the vehicle to enter the low-friction surface driving state, safety is improved.

[0077] Reference Figure 5 In some embodiments, when the vehicle's drive unit is an electric motor, and the vehicle is a front-wheel drive or rear-wheel drive vehicle, the minimum torque of the motor is Tmin, where Tmin = F1 × r / (i × η), and F1 = m × g × sinα. The maximum torque of the motor is Tmax, where Tmax1 = F2 × r / (i × η). The torque required for the motor to drive the vehicle on a low-friction surface is T, where T = F × r / (i × η), and Tmin ≤ T ≤ Tmax. Here, m is the vehicle weight, g is the gravitational acceleration, α is the road slope, r is the wheel radius, and η is the motor transmission efficiency. Thus, when the drive unit is an electric motor, and the vehicle is a front-wheel drive or rear-wheel drive vehicle, the safe torque of the motor can be calculated using the first driving force based on the slope value and vehicle characteristic parameters, facilitating the use of this safe torque to control the motor-driven vehicle for safe driving.

[0078] like Figure 5As shown, in some embodiments, when the vehicle's drive unit is a front-drive motor and a rear-drive motor, the minimum torque of the front-drive motor is Tmin1, where Tmin1 = F11 × r / (i × η), F11 = m × g × sinα, F11 = W1 × tanα, and W1 = m × g × (L2 × cosα - h × sinα) / L. The maximum torque of the front-drive motor is Tmax1, where Tmax1 = F21 × r / (i × η). The torque of the front-drive motor driving the vehicle on a low-friction surface is T11, where T11 = Fa × r / (i × η), and Tmin1 ≤ T1 ≤ Tmax1.

[0079] The torque of the rear-drive motor is Tmin2, Tmin2=F12×r / (i×η), F12=m×g×sinα, F12=W2×tanα, W2=m×g×(L1×cosα-h×sinα) / L. The maximum torque of the rear-drive motor is Tmax2, Tmax1=F22×r / (i×η). The torque of the rear-drive motor driving the vehicle on a low-friction surface is T2, T2=Fb×r / (i×η), Tmin2≤T2≤Tmax2. F11+F12=F1, F21+F22=F2, Fa+Fb=F.

[0080] Where m is the vehicle weight, g is the gravitational acceleration, α is the road slope, r is the wheel radius, i is the motor-drive shaft transmission ratio, L is the wheelbase, L1 is the front axle center of gravity distance, L2 is the rear axle center of gravity distance, h is the center of gravity height, η is the motor transmission efficiency, W1 is the front axle load, and W2 is the rear axle load.

[0081] Thus, when the drive unit is an electric motor and the vehicle is a four-wheel drive vehicle, the safe torque of the front and rear motors can be calculated using the first driving force based on the slope value and vehicle characteristic parameters, making it convenient to use the safe torque to control the front and rear motors to drive the vehicle safely.

[0082] Of course, if the vehicle is a four-wheel drive vehicle and enters a low-friction driving state, it can be driven by either the front-wheel drive motor or the rear-wheel drive motor. In this case, the motor output torque can be obtained by referring to the aforementioned front-wheel drive or rear-wheel drive methods.

[0083] like Figure 4 As shown, in some embodiments, before the vehicle is driven by the first driving force, the vehicle driving control method further includes: generating a first driving force through the drive unit, and then releasing the automatic parking brake to start the vehicle. Thus, releasing the automatic parking brake after the drive unit generates the first driving force can prevent the vehicle from slipping when starting on a low-gravity slope, improving the safety of the vehicle when driving on a low-gravity slope.

[0084] In some embodiments, before releasing the automatic parking brake, the vehicle driving control method further includes detecting whether the accelerator pedal opening, suspension height, and sensor longitudinal acceleration value meet set requirements. If so, and F1≤F≤F2, then the automatic parking brake is released. Thus, releasing the automatic parking brake only when the drive unit generates the first driving force, and the vehicle "nose-up," and the suspension height and sensor longitudinal acceleration Ax also change, can more effectively prevent vehicle slippage when starting on a low-gravity slope, further improving the safety of the vehicle driving on low-gravity slopes.

[0085] In some embodiments, during the process of the vehicle driving under the drive of the first driving force, the vehicle driving control method further includes: Detect the vehicle's actual speed and determine whether the actual speed exceeds the set speed.

[0086] If so, the vehicle exits the low-friction road driving state or the driving force generated by the drive unit is less than the driving force information.

[0087] If not, then the theoretical acceleration under the first driving force is obtained, and the actual acceleration of the vehicle under the first driving force is detected. The driving force generated by the drive unit is adjusted based on the difference between the theoretical acceleration and the actual acceleration.

[0088] In this way, the system can detect when the vehicle accelerates on a low-friction surface. If the actual speed exceeds the set speed, the system will promptly reduce the vehicle's speed to prevent skidding. Conversely, if the actual speed is lower than the set speed, the system will adjust the driving force generated by the drive unit to reduce acceleration and stabilize the vehicle's speed, thus preventing skidding.

[0089] For example, the actual driving speed is V1, and the set speed is V2; V2 is greater than or equal to 1.5V1.

[0090] In some embodiments, the vehicle driving control method further includes the following when the vehicle is traveling on a low-friction surface: When a vehicle stops, the system causes the vehicle to exit low-friction driving mode and switch to a stopped state. This allows the system to promptly decelerate and bring the vehicle to a stop or complete a complete halt based on the vehicle's stopping information.

[0091] It should be noted that parking status includes both the vehicle being stopped and the vehicle slowing down to a stop.

[0092] For example, when a vehicle needs to avoid other vehicles or people, the user can send a stop message through the control device, and the control device can promptly stop the vehicle.

[0093] In some embodiments, the vehicle parking information includes at least one of the following: pedal brake command, P gear parking command, and handbrake parking command. This allows for flexible configuration according to actual needs.

[0094] like Figure 6 As shown, in some embodiments, the process of switching the vehicle to a parking state includes: disengaging the drive unit and automatically parking the vehicle to stop. Thus, when the vehicle needs to avoid other vehicles or pedestrians, the user sends a parking signal via the control device, and the control device can promptly disengage the drive unit to stop power output, while simultaneously controlling the automatic parking system to perform a parking operation, thereby stopping the vehicle in a timely manner.

[0095] In some embodiments, before the vehicle enters the low-friction surface driving state, the vehicle driving control method further includes: acquiring vehicle status information, which includes the slope information of the road surface where the vehicle is located and the vehicle's driving speed. Based on the slope information, it is determined whether the vehicle is driving on a low-friction surface and whether the vehicle's driving speed is less than or equal to a set speed. If both are true, the vehicle enters the low-friction surface driving state. Otherwise, it does not enter the low-friction surface driving state.

[0096] In this way, the driver can input relevant commands via operation keys or a touchscreen, and use the control device to check whether the vehicle speed and road gradient have reached the calibrated thresholds before the vehicle enters the low-friction road driving state, and decide whether to enter this state. When the gradient information determines that the vehicle is driving on a low-friction road, and the vehicle speed is less than or equal to the set speed, the low-friction road driving state is entered, which helps to ensure the vehicle's acceleration performance at high speeds or on flat ground.

[0097] In some embodiments, determining whether a vehicle is traveling on a low-friction surface includes: The road surface slope value is obtained based on the slope information.

[0098] When the road surface slope is greater than or equal to the first threshold, the vehicle travels on the low-adhesion road surface.

[0099] When the road surface slope is less than the first threshold, the vehicle will not drive on the low-adhesion road surface.

[0100] For example, when the driver inputs the relevant command to enter the low-friction road driving state, if the vehicle's speed is less than the set speed (e.g., 10 km / h) and the road slope is greater than a first threshold (e.g., a tilt angle greater than 5% relative to the horizontal plane), then the vehicle enters this mode (e.g., activates the snow slope mode), thereby ensuring acceleration performance at high speeds or on flat ground.

[0101] In some embodiments, before acquiring the vehicle's status information, the vehicle driving control method further includes receiving a control command to cause the vehicle to enter a low-friction surface driving state. This allows the driver to input relevant control commands using operation keys, a touchscreen, voice control, or other methods to control whether the vehicle needs to enter a low-friction surface driving state according to the user's needs.

[0102] like Figure 7 As shown, in some embodiments, a vehicle 10 is provided, including the vehicle control system 100 of any of the above embodiments, a body 200, a front wheel 300 and a rear wheel 400, the front wheel 300 and the rear wheel 400 being movably disposed on the body 200, and the control device 110 being communicatively connected to the drive device 120 to control the drive device 120 to drive the front wheel 300 to rotate and / or the rear wheel 400 to rotate.

[0103] The vehicle uses the vehicle control system in any of the above embodiments, which can effectively prevent the front and / or rear wheels from slipping during the journey on low-friction surfaces, thereby improving the safety of vehicle driving.

[0104] Specifically, when the vehicle is in use, the driving information is used to control the driving device to generate driving force, and the driving force is used to drive the vehicle while braking and driving control are performed to avoid slippage and to use greater grip to ensure the vehicle's safety when climbing hills.

[0105] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application.

Claims

1. A vehicle driving control method, characterized in that, include: The vehicle is brought into a low-friction driving state, and the driving force information required for the safe driving of the vehicle is obtained based on the vehicle status information and vehicle driving control information. The driving force information includes the first driving force that drives the vehicle to drive normally, the vehicle status information includes at least one of the vehicle's driving speed, the slope of the road surface, and the vehicle weight, and the vehicle driving control information includes at least the accelerator information. Based on the vehicle's speed and the ignition information, determine whether the vehicle is in a starting state; When the vehicle is in a starting state, the first driving force is obtained based on the vehicle's driving speed, the slope information of the road surface, and the vehicle weight information. The control drive device generates the first driving force, and uses the first driving force to drive the vehicle. The calculation method for the first driving force includes: calculating the minimum driving force required for the vehicle to drive on a low-friction surface based on the vehicle's driving speed, the slope information of the road surface, and the vehicle weight information, wherein the minimum driving force is F1; Based on the minimum driving force and combined with the critical slip state of the vehicle on the low-adhesion road surface, the maximum driving force of the vehicle on the low-adhesion road surface is obtained. The maximum driving force is F2, F2=F1×A+B; A is the ratio between the maximum driving force of the test vehicle on the low-adhesion road surface and the minimum driving force required for the test vehicle to travel on the low-adhesion road surface, obtained from the critical slip state of the test vehicle on the low-adhesion road surface; B is a compensation value. The first driving force is F, and F1≤F≤F2.

2. The vehicle driving control method according to claim 1, characterized in that, The vehicle driving control information also includes gear information and vehicle driving direction information; after controlling the vehicle's drive device to drive the vehicle according to the driving force information, the vehicle driving control method further includes: Based on the gear position information and the vehicle's driving direction information, determine whether the vehicle is in a rolling state; If the vehicle is in the slippery state, the vehicle exits the low-friction road driving state and switches to a parked state; otherwise, the vehicle's drive device continues to drive the vehicle according to the driving force information.

3. The vehicle driving control method according to claim 2, characterized in that, The process of switching the vehicle to a parking state includes: disengaging the drive unit and performing an automatic parking operation to stop the vehicle.

4. The vehicle driving control method according to claim 1, characterized in that, When the vehicle's drive unit is an electric motor, and the vehicle is a front-wheel drive or rear-wheel drive vehicle, the minimum torque of the electric motor is Tmin, Tmin=F1×r / (i×η), F1=m×g×sinα; the maximum torque of the electric motor is Tmax, Tmax1=F2×r / (i×η); the torque of the electric motor driving the vehicle on a low-friction surface is T, T=F×r / (i×η), Tmin≤T≤Tmax; where m is the vehicle weight, g is the gravitational acceleration, α is the road slope, r is the wheel radius, and η is the electric motor transmission efficiency.

5. The vehicle driving control method according to claim 1, characterized in that, When the vehicle's drive system consists of a front-drive motor and a rear-drive motor, the minimum torque of the front-drive motor is Tmin1, where Tmin1 = F11 × r / (i × η), F11 = m × g × sinα, F11 = W1 × tanα, and W1 = m × g × (L 2 × cosα - h × sinα) / L; the maximum torque of the front-drive motor is Tmax1, where Tmax1 = F21 × r / (i × η); the torque of the front-drive motor driving the vehicle on a low-friction surface is T11, where T11 = Fa × r / (i × η), and Tmin1 ≤ T1 ≤ Tmax1. The torque of the rear drive motor is Tmin2, Tmin2=F12×r / (i×η), F12=m×g×sinα, F12=W2×tanα, W2=m×g×(L1×cosα-h×sinα) / L; the maximum torque of the rear drive motor is Tmax2, Tmax1=F22×r / (i×η); the torque of the rear drive motor driving the vehicle on the low-friction surface is T2, T2=Fb×r / (i×η), Tmin2≤T2≤Tmax2; F11+F12=F1, F21+F22=F2, Fa+Fb=F; Where m is the vehicle weight, g is the gravitational acceleration, α is the road slope, r is the wheel radius, i is the motor-drive shaft transmission ratio, L is the wheelbase, L1 is the front axle center of gravity distance, L2 is the rear axle center of gravity distance, h is the center of gravity height, η is the motor transmission efficiency, W1 is the front axle load, and W2 is the rear axle load.

6. The vehicle driving control method according to claim 1, characterized in that, Before the vehicle is driven by the first driving force, the vehicle driving control method further includes: The drive unit generates the first driving force, and then the automatic parking brake is released to start the vehicle.

7. The vehicle driving control method according to claim 6, characterized in that, Before releasing the automatic parking brake, the vehicle driving control method further includes: Check whether the ignition switch opening, suspension height, and sensor longitudinal acceleration value meet the set requirements; If so, and F1≤F≤F2, then release the automatic parking.

8. The vehicle driving control method according to claim 1, characterized in that, During the process of the vehicle driving under the first driving force, the vehicle driving control method further includes: The actual driving speed of the vehicle is detected, and it is determined whether the actual driving speed of the vehicle is greater than the set speed. If so, the vehicle exits the low-friction road surface driving state or the driving force generated by the drive device is less than the first driving force. If not, then obtain the theoretical acceleration under the first driving force and detect the actual acceleration of the vehicle under the first driving force, and adjust the driving force generated by the driving device according to the difference between the theoretical acceleration and the actual acceleration.

9. The vehicle driving control method according to claim 1, characterized in that, While the vehicle is traveling on a low-friction surface, the vehicle driving control method further includes: When the vehicle parking information is received, the vehicle exits the low-friction road driving state and switches the vehicle to the parking state.

10. The vehicle driving control method according to claim 9, characterized in that, The vehicle parking information includes at least one of the following: pedal brake command, P gear parking command, and handbrake parking command; And / or, the process of switching the vehicle to a parked state includes: The drive unit is disconnected, and the automatic parking system performs a parking operation to bring the vehicle to a stop.

11. The vehicle driving control method according to any one of claims 1 to 10, characterized in that, Before the vehicle enters a low-friction surface driving state, the vehicle driving control method further includes: Obtain the vehicle status information, which includes the slope information of the road surface where the vehicle is located and the vehicle's speed. Based on the slope information, it is determined whether the vehicle is traveling on a low-friction surface and whether the vehicle's speed is less than or equal to the set speed. If both are true, then the vehicle enters the low-friction road driving state; otherwise, it does not enter the low-friction road driving state.

12. The vehicle driving control method according to claim 11, characterized in that, The process of determining whether the vehicle is traveling on a low-friction surface includes: The road surface slope value is obtained based on the slope information; When the road surface slope value is greater than or equal to the first threshold, the vehicle travels on a low-friction road surface; When the road surface slope value is less than the first threshold, the vehicle will not drive on the low-adhesion road surface.

13. The vehicle driving control method according to claim 11, characterized in that, Before obtaining the vehicle status information, the vehicle driving control method further includes: Receive a control command to put the vehicle into a low-friction road driving state.

14. A vehicle-mounted control system, characterized in that, The method includes a control device, a drive device, a detection device for detecting the vehicle's status, and a control device for controlling the vehicle's movement. The control device is communicatively connected to the drive device, the detection device, and the control device. The control device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the vehicle movement control method according to any one of claims 1 to 13.

15. A vehicle, characterized in that, The system includes a vehicle body, front wheels, rear wheels, and the vehicle control system of claim 14, wherein the front wheels and the rear wheels are movably mounted on the vehicle body, and the control device is communicatively connected to the drive device to control the drive device to drive the front wheels to rotate and / or the rear wheels to rotate.

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