Vehicle control method, vehicle control system, and storage medium

Abstract

The application relates to a vehicle control method, a vehicle control system, a storage medium and a computer program product. The vehicle control system comprises a vehicle controller, a bus controller, a multi-winding motor and at least one wheel; wherein a plurality of buses are integrated in the bus controller; a plurality of sets of winding coils are integrated in the multi-winding motor; the plurality of buses and the plurality of sets of winding coils are connected in a one-to-one correspondence to form a plurality of control lines; each control line is connected with at least one wheel; the method comprises the following steps: the vehicle controller determines a target control line in the plurality of control lines according to the states of the lines; in the case that the driving state is an automatic driving state and the steering wheel angle torque is less than or equal to a preset calibration torque, the bus controller determines a steering driving force according to an angle control value, controls the target winding coil in the target control line to output the steering driving force, and drives at least one wheel to move. The method can improve the vehicle control efficiency.

Description

Technical Field

[0001] This application relates to the field of automotive electronics technology, and in particular to a vehicle control method, a vehicle control system, a storage medium, and a computer program product. Background Technology

[0002] Traditional vehicle control often employs a dual-redundant steering mechanism to achieve steering control. This method mechanically connects the right and left steering gear rack mechanisms to the wheels on the two front axles, respectively, with the steering system controller connected to the right and left steering drive motors via control circuits. However, this approach, using two independent mechanical steering mechanisms, occupies significant chassis space, is costly, and poses a safety risk due to asynchronous control between the two motors. Summary of the Invention

[0003] Therefore, it is necessary to provide a vehicle control method, a vehicle control system, a computer-readable storage medium, and a computer program product that can improve vehicle control safety in response to the above-mentioned technical problems.

[0004] In a first aspect, this application provides a vehicle control method applied to a vehicle control system. The vehicle control system includes a vehicle controller, a bus controller, a multi-winding motor, and at least one wheel. The bus controller integrates multiple buses; the multi-winding motor integrates multiple sets of winding coils; the multiple buses and the multiple sets of winding coils are connected one-to-one to form multiple control lines; each control line is connected to at least one wheel; the method includes:

[0005] The vehicle controller acquires the steering wheel angle torque, the status of multiple control circuits, and the driving status; based on the status of each circuit, it determines the target control circuit from among the multiple control circuits; when the driving status is automatic driving and the steering wheel angle torque is less than or equal to the preset calibration torque, it acquires radar data and image data; based on the radar data and image data, it determines the angle control value and sends the angle control value to the bus controller.

[0006] The bus controller determines the steering driving force based on the steering angle control value, controls the target winding coil in the target control circuit to output the steering driving force, and drives at least one wheel to move.

[0007] In one embodiment, the vehicle control system further includes a steering gear, a transmission device, and a tie rod; the steering gear includes an input shaft and an output shaft; a multi-winding motor is connected to the input shaft of the steering gear via the transmission device; the output shaft of the steering gear is connected to at least one wheel via the tie rod;

[0008] The target winding coil in the control circuit outputs steering drive force to drive at least one wheel, including:

[0009] The bus controller controls the target winding coil in the target control circuit to output steering driving force, so that the transmission equipment is driven by the steering driving force. The input shaft rotates under the drive of the transmission equipment, the output shaft rotates under the drive of the input shaft, and the tie rod rotates under the drive of the output shaft; at least one wheel moves under the drive of the tie rod.

[0010] In one embodiment, a target control line is determined from multiple control lines based on the status of each line, including:

[0011] The vehicle controller identifies at least one candidate control line whose status is normal from among multiple control lines;

[0012] Based on the priority of each candidate control line, the target control line is determined from at least one candidate control line.

[0013] In one embodiment, the vehicle control system further includes a torque sensor and a steering wheel; the torque sensor is connected to the steering wheel and is used to acquire the steering wheel angular torque; the method further includes:

[0014] When the steering wheel angle torque is greater than the preset calibration torque, or when the driving state is manual driving, the vehicle controller detects the duration for which the steering wheel angle torque is less than or equal to the preset calibration torque; if the duration is within the preset duration, it obtains the target steering wheel angle and sends the target steering angle to the bus controller.

[0015] The bus controller controls the movement of at least one wheel based on the target turning angle.

[0016] In one embodiment, the steering wheel is connected to at least one wheel via a target control line; controlling the movement of at least one wheel according to a target steering angle includes:

[0017] The bus controller queries a preset mapping table to determine the target driving force corresponding to the target turning angle.

[0018] The target winding coil in the control circuit outputs the target driving force, which drives at least one wheel to move.

[0019] In one embodiment, the vehicle control method further includes:

[0020] If the vehicle controller is in manual driving mode and the duration exceeds the preset duration, it determines that the driving mode is in automatic driving mode and returns to the step of obtaining the steering angle control value to continue execution.

[0021] Secondly, this application also provides a vehicle control device applied to a vehicle control system. The vehicle control system includes a vehicle controller, a bus controller, a multi-winding motor, and at least one wheel. The bus controller integrates multiple buses; the multi-winding motor integrates multiple sets of winding coils; the multiple buses and the multiple sets of winding coils are connected one-to-one to form multiple control lines; each control line is connected to at least one wheel; the device includes:

[0022] The first control module is used by the vehicle controller to acquire steering wheel angle torque, the status of multiple control lines, and the driving status; based on the status of each line, it determines the target control line among the multiple control lines; when the driving status is automatic driving and the steering wheel angle torque is less than or equal to the preset calibration torque, it acquires radar data and image data; based on the radar data and image data, it determines the angle control value and sends the angle control value to the bus controller.

[0023] The second control module is used by the bus controller to determine the steering driving force based on the steering angle control value, and control the target winding coil in the target control circuit to output the steering driving force to drive at least one wheel to move.

[0024] Thirdly, this application also provides a vehicle control system, which includes: a vehicle controller, a bus controller, a multi-winding motor, and at least one wheel; wherein, the bus controller integrates multiple buses; the multi-winding motor integrates multiple sets of winding coils; the multiple buses and the multiple sets of winding coils are connected one-to-one to form multiple control lines; each control line is connected to at least one wheel; the vehicle controller is used to acquire steering wheel torque, the status of the multiple control lines, and the driving status; based on the status of each line, it determines the target control line among the multiple control lines; when the driving status is automatic driving and the steering wheel torque is less than or equal to a preset calibration torque, it acquires radar data and image data; based on the radar data and image data, it determines the steering angle control value and sends the steering angle control value to the bus controller; the bus controller determines the steering driving force according to the steering angle control value, and controls the target winding coil in the target control line to output the steering driving force, thereby driving at least one wheel to move.

[0025] In one embodiment, the vehicle control system further includes a steering gear, a transmission device, and a tie rod; the steering gear includes an input shaft and an output shaft; a multi-winding motor is connected to the input shaft of the steering gear via the transmission device; the output shaft of the steering gear is connected to at least one wheel via the tie rod; the bus controller is also used to control the target winding coil in the target control circuit to output steering driving force so that the transmission device is driven by the steering driving force, the input shaft rotates under the drive of the transmission device, the output shaft rotates under the drive of the input shaft, and the tie rod rotates under the drive of the output shaft; at least one wheel moves under the drive of the tie rod.

[0026] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0027] The system acquires steering wheel torque, the status of multiple control circuits, and the driving status; based on the status of each circuit, it identifies the target control circuit from among the multiple control circuits; when the driving status is automatic driving and the steering wheel torque is less than or equal to the preset calibration torque, it acquires radar data and image data; based on the radar data and image data, it determines the steering angle control value and sends the steering angle control value to the bus controller.

[0028] Based on the steering angle control value, the steering driving force is determined, and the target winding coil in the target control circuit is controlled to output the steering driving force, which drives at least one wheel to move.

[0029] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0030] The system acquires steering wheel torque, the status of multiple control circuits, and the driving status; based on the status of each circuit, it identifies the target control circuit from among the multiple control circuits; when the driving status is automatic driving and the steering wheel torque is less than or equal to the preset calibration torque, it acquires radar data and image data; based on the radar data and image data, it determines the steering angle control value and sends the steering angle control value to the bus controller.

[0031] Based on the steering angle control value, the steering driving force is determined, and the target winding coil in the target control circuit is controlled to output the steering driving force, which drives at least one wheel to move.

[0032] The aforementioned vehicle control method, vehicle control system, storage medium, and computer program product constitute multiple independent control circuits through a bus controller and a multi-winding motor. During vehicle control, the target control circuit for controlling the vehicle can be determined based on the circuit status of each control circuit. This system configuration occupies less vehicle space. Furthermore, the bus controller receives the steering angle control value obtained by the vehicle controller based on radar and image data processing, and controls the target winding coil in the target control circuit to output steering drive force, thereby driving at least one wheel. This method of vehicle control through a single target control circuit eliminates the need for synchronous control, resulting in high safety. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies 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.

[0034] Figure 1 This is a schematic diagram of the composition structure of a vehicle control system in one embodiment;

[0035] Figure 2 This is a schematic diagram of the control circuit structure in one embodiment;

[0036] Figure 3 This is a schematic diagram of the structure of multiple sets of winding coils in one embodiment;

[0037] Figure 4 This is a flowchart illustrating a vehicle control method in one embodiment;

[0038] Figure 5 This is a structural block diagram of a vehicle control device in one embodiment;

[0039] Figure 6 This is a diagram of the internal structure of the vehicle controller in one embodiment. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0041] The vehicle control method provided in this application embodiment can be applied to, for example, Figure 1 The vehicle control system shown includes a vehicle controller 102, a bus controller 104, a multi-winding motor 106, and at least one wheel 108. Figure 2 As shown, the bus controller 104 integrates multiple buses, such as a first bus 110 and a second bus 111. The multi-winding motor 106 integrates multiple sets of winding coils, such as a first winding 112 and a second winding 113. The multiple buses and multiple sets of winding coils are connected one-to-one to form multiple control lines. Each control line is connected to at least one wheel 108. Figure 3The diagram shows a schematic representation of the structure of multiple sets of winding coils in one embodiment. The multiple sets of winding coils include a first winding 112 and a second winding 113. The vehicle control method includes: a vehicle controller 102 acquiring steering wheel torque, the status of multiple control lines, and the driving state; determining a target control line from among the multiple control lines based on the status of each line; acquiring radar data and image data when the driving state is automatic driving and the steering wheel torque is less than or equal to a preset calibration torque; determining a steering angle control value based on the radar data and image data, and sending the steering angle control value to a bus controller 104; the bus controller 104 determining the steering driving force based on the steering angle control value, controlling the target winding coil in the target control line to output the steering driving force, thereby driving at least one wheel 108 to move. The vehicle controller 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can be smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, etc. Portable wearable devices can be smartwatches, smart bracelets, head-mounted devices, etc.

[0042] In one exemplary embodiment, such as Figure 4 As shown, a vehicle control method is provided, which is applied to... Figure 1 Taking the vehicle controller 102 and bus controller 104 as examples, the explanation includes steps 402 to 404. Wherein:

[0043] Step 402: The vehicle controller acquires the steering wheel angle torque, the status of multiple control lines, and the driving status; based on the status of each line, it determines the target control line among the multiple control lines; when the driving status is automatic driving and the steering wheel angle torque is less than or equal to the preset calibration torque, it acquires radar data and image data; based on the radar data and image data, it determines the angle control value and sends the angle control value to the bus controller.

[0044] Steering wheel angular torque refers to the torque required to rotate the steering wheel by a certain angle. Steering wheel angular torque can be detected by a torque sensor.

[0045] Line status indicates whether the control line is functioning correctly. When a bus controller malfunctions, any bus is open-circuited, any winding coil fails, or other conditions prevent the line from functioning properly, the corresponding control line's line status is "fault state." When the control line is functioning correctly, its line status is "normal state." Typically, the target control line is the one that is in the "normal state" category.

[0046] Driving status refers to the driving state of a vehicle. Driving status includes automated driving status and manual driving status. Automated driving status means the vehicle is controlled automatically by the vehicle controller without driver intervention. Manual driving status means the driver controls the vehicle manually by using the steering wheel or other vehicle control devices.

[0047] If the steering wheel torque is less than or equal to the preset calibrated torque, it indicates that the steering wheel is at a small angle or there is no steering angle.

[0048] The vehicle is equipped with radar and image acquisition devices. Radar data refers to the environmental radar data collected by the radar equipment during vehicle operation. Image data refers to the environmental image data collected by the image acquisition devices during vehicle operation. First, based on the radar and image data, road curvature, vehicle lateral slip angle, lane markings, and other data are identified. Combined with vehicle speed, braking information, and actual turning angle data, the required turning angle value for the vehicle is calculated. This required turning angle value is the turning angle control value. The vehicle controller sends the turning angle control value to the bus controller, which instructs the bus controller to control the vehicle according to the turning angle control. This turning angle control value, calculated from multiple data sources within the vehicle controller, has high accuracy and reliability.

[0049] Step 404: The bus controller determines the steering driving force based on the steering angle control value, and controls the target winding coil in the target control circuit to output the steering driving force, thereby driving at least one wheel to move.

[0050] The bus controller has a pre-set steering force mapping table, which stores the mapping relationship between steering angle control values ​​and steering drive forces. The bus controller queries the steering force mapping table to obtain the steering drive force corresponding to the steering angle control value.

[0051] The target control circuit consists of a target bus and a target winding coil. The bus controller outputs steering drive force through the target winding coil in the target control circuit. Since the target control circuit is connected to at least one wheel, the steering drive force in the target winding coil will drive at least one wheel to move.

[0052] In some embodiments, at least one wheel may be the two front steering wheels of the vehicle.

[0053] In the aforementioned vehicle control method, multiple independent control circuits are constructed using a bus controller and a multi-winding motor. During vehicle control, the target control circuit for controlling the vehicle can be determined based on the status of each control circuit. This system configuration occupies relatively little vehicle space. Furthermore, the bus controller receives the steering angle control value obtained from the vehicle controller's processing of radar and image data, and controls the target winding coil in the target control circuit to output steering drive force, thereby driving at least one wheel. This method of vehicle control through a single target control circuit eliminates the need for synchronous control, resulting in high safety.

[0054] In one exemplary embodiment, such as Figure 3 As shown, the vehicle control system also includes a steering gear 114, a transmission device 115, and a tie rod 116; the steering gear 114 includes an input shaft 117 and an output shaft 118; a multi-winding motor 106 is connected to the input shaft 117 of the steering gear 114 via the transmission device 115; the output shaft 118 of the steering gear 114 is connected to at least one wheel 108 via the tie rod 116; the target winding coil in the target control circuit outputs steering driving force to drive at least one wheel to move, including: the bus controller controls the target winding coil in the target control circuit to output steering driving force so that the transmission device is driven by the steering driving force, the input shaft rotates under the drive of the transmission device, the output shaft rotates under the drive of the input shaft, and the tie rod rotates under the drive of the output shaft; at least one wheel moves under the drive of the tie rod.

[0055] In some embodiments, the steering gear can be a hydraulically powered steering cylinder. The tie rod is connected to the front axle 119, with a wheel connected to each end of the front axle. The transmission device can be a worm gear or a worm shaft.

[0056] After the target winding coil outputs driving force, it sequentially drives the transmission device, input shaft, output shaft and tie rod to rotate, thereby driving at least one wheel to move.

[0057] In this embodiment, the bus controller controls the target winding coil in the target control line to output steering driving force, which sequentially drives the transmission equipment, input shaft, output shaft and tie rod to rotate, thereby driving at least one wheel to move. This method of vehicle control through a single target control line eliminates the need for synchronous control and ensures high safety.

[0058] In one exemplary embodiment, a target control line is determined from multiple control lines based on the status of each line, including:

[0059] The vehicle controller identifies at least one candidate control line whose status is normal from among multiple control lines;

[0060] Based on the priority of each candidate control line, the target control line is determined from at least one candidate control line.

[0061] The target control line is typically the control line in a normal state. Each control line has its own priority. The vehicle controller first determines at least one candidate control line from multiple control lines that is in a normal state, and then determines the target control line from at least one candidate control line according to their priorities. For example, the candidate control line with the highest priority can be used as the target control line.

[0062] In this embodiment, by first selecting candidate control lines in a normal state, and then further determining the target control line according to priority, it is ensured that the target control line is in a normal state and is a control line with a high priority, which is beneficial to improving the control security of the target control line.

[0063] In one exemplary embodiment, reference is made to Figure 1 The vehicle control system also includes a torque sensor 120 and a steering wheel 121; the torque sensor 120 is connected to the steering wheel 121 and is used to collect the steering wheel angle torque of the steering wheel 121; the steering wheel 121 is connected to the input shaft 117 of the steering gear 114 via a universal joint column 122. The method further includes: when the steering wheel angle torque is greater than a preset calibration torque, or when the driving state is manual driving, the vehicle controller detects the duration for which the steering wheel angle torque is less than or equal to the preset calibration torque; if the duration is within the preset duration, the vehicle controller acquires the target steering angle and sends the target steering angle to the bus controller; the bus controller controls the movement of at least one wheel based on the target steering angle.

[0064] In manual driving mode, the driver primarily controls the vehicle's steering by turning the steering wheel. The vehicle controller acquires the steering wheel torque from the torque sensor.

[0065] If the steering wheel torque is greater than the preset calibration torque, it indicates that the driver is turning the steering wheel at a larger angle, and the driving state is determined to be manual driving state. The vehicle controller obtains the target steering wheel angle and sends the target steering angle to the bus controller. The bus controller controls the movement of at least one wheel according to the target steering angle.

[0066] If the steering wheel torque is less than or equal to the preset calibrated torque, it indicates that the driver is turning the steering wheel at a small angle, or that the driver is not turning the steering wheel at all. The driving mode can be manual or automatic.

[0067] When the driving mode is manual, and the duration for which the steering wheel torque is less than or equal to the preset calibration torque is within the preset duration, the vehicle controller will obtain the target steering angle and send the target steering angle to the bus controller. The bus controller will then control at least one wheel to operate based on the target steering angle.

[0068] When the driving state is in automatic driving mode and the duration of the steering wheel angle torque being less than or equal to the preset calibration torque is within the preset duration, the steering wheel angle is considered to be caused by vibration or other reasons within the normal range, and the vehicle controller controls at least one wheel not to turn.

[0069] In this embodiment, when the steering wheel angle torque is greater than a preset calibration torque, or when the driving state is manual and the duration of the steering wheel angle torque being less than or equal to the preset calibration torque is within a preset duration, at least one wheel is controlled to move according to the target steering angle. This allows for manual steering control of the vehicle by the driver, improving the flexibility and safety of vehicle control.

[0070] In one exemplary embodiment, the steering wheel is connected to at least one wheel via a target control line; controlling the movement of at least one wheel according to a target steering angle includes:

[0071] The bus controller queries a preset mapping table to determine the target driving force corresponding to the target turning angle.

[0072] The target winding coil in the control circuit outputs the target driving force, which drives at least one wheel to move.

[0073] Since the steering wheel is connected to at least one wheel through a target control line, at least one wheel can be controlled by the target turning angle of the steering wheel.

[0074] A preset mapping table stores the correspondence between target turning angles and target driving forces. The bus controller queries the preset mapping table to obtain the target driving force corresponding to the target turning angle, and then controls the target winding coil in the target control circuit to output the target driving force, thereby driving at least one wheel to move.

[0075] In this embodiment, by querying a preset mapping table, the target driving force corresponding to the target turning angle is determined, and the target winding coil in the target control circuit is controlled to output the target driving force to drive at least one wheel to move. Thus, in the process of controlling the vehicle by controlling the steering wheel, the vehicle can also be controlled through a single target control circuit without the need for synchronous control, which ensures high safety.

[0076] In an exemplary embodiment, the vehicle control method further includes: when the vehicle controller is in a manual driving state and the duration exceeds a preset duration, determining that the driving state is an automatic driving state, and returning to the step of obtaining the steering angle control value to continue execution.

[0077] Specifically, if the driving state is in manual driving mode and the duration of the steering wheel angle torque being less than or equal to the preset calibration torque exceeds the preset duration, the driving state is updated from manual driving mode to automatic driving mode, and the step of obtaining the steering angle control value is returned to continue execution, thereby continuing to control at least one wheel.

[0078] In this embodiment, by switching the driving state to automatic driving state when the steering wheel torque remains low for a relatively long time in manual driving mode, and continuing to control at least one wheel, driving safety can be improved.

[0079] To illustrate the vehicle control method and its effects in this solution in detail, a specific embodiment is described below:

[0080] The vehicle control method is applied to a vehicle control system. The vehicle control system includes: a vehicle controller, a bus controller, a multi-winding motor, at least one wheel, a steering gear, a transmission, a tie rod, a torque sensor, and a steering wheel. The bus controller integrates multiple buses; the multi-winding motor integrates multiple sets of winding coils; the multiple buses and winding coils are connected one-to-one to form multiple control lines; each control line is connected to at least one wheel; the steering gear includes an input shaft and an output shaft; the multi-winding motor is connected to the input shaft of the steering gear via a transmission; the output shaft of the steering gear is connected to at least one wheel via a tie rod; the torque sensor is connected to the steering wheel and is used to collect the steering wheel's steering angle torque; the steering wheel is connected to at least one wheel via a target control line.

[0081] The vehicle controller is used to acquire steering wheel torque, the status of multiple control circuits, and driving status. From the multiple control circuits, the vehicle controller identifies at least one candidate control circuit whose status is normal. Based on the priority of each candidate control circuit, the target control circuit is then determined from this candidate control circuit.

[0082] When the vehicle controller is in autonomous driving mode and the steering wheel torque is less than or equal to the preset calibration torque, it acquires radar data and image data; based on the radar data and image data, it determines the steering angle control value and sends the steering angle control value to the bus controller.

[0083] The bus controller determines the steering drive force based on the steering angle control value. The bus controller controls the target winding coil in the target control circuit to output the steering drive force, so that the transmission equipment is driven by the steering drive force. The input shaft rotates under the drive of the transmission equipment, the output shaft rotates under the drive of the input shaft, and the tie rod rotates under the drive of the output shaft; at least one wheel moves under the drive of the tie rod.

[0084] When the steering wheel torque exceeds the preset calibration torque, the vehicle controller determines that the driving state is manual driving state, obtains the target steering wheel angle, and sends the target steering angle to the bus controller. The bus controller controls the movement of at least one wheel according to the target steering angle.

[0085] When the vehicle controller is in manual driving mode, it detects the duration for which the steering wheel torque is less than or equal to a preset calibration torque. If the duration is within the preset duration, it obtains the target steering angle and sends the target steering angle to the bus controller. The bus controller controls the movement of at least one wheel based on the target steering angle.

[0086] If the vehicle controller is in manual driving mode and the duration exceeds the preset duration, it determines that the driving mode is in automatic driving mode and returns to the step of obtaining the steering angle control value to continue execution.

[0087] The bus controller controls the movement of at least one wheel based on the target turning angle. Specifically, the bus controller queries a preset mapping table to determine the target driving force corresponding to the target turning angle, and controls the target winding coil in the target control circuit to output the target driving force, thereby driving at least one wheel to move.

[0088] The aforementioned vehicle control method utilizes a bus controller and a multi-winding motor to form multiple independent control circuits. During vehicle control, the target control circuit for vehicle control can be determined based on the status of each control circuit. This system configuration occupies relatively little vehicle space. Furthermore, the bus controller receives the steering angle control value obtained from the vehicle controller based on radar and image data processing, and controls the target winding coil in the target control circuit to output steering drive force, thereby driving at least one wheel. This method of vehicle control through a single target control circuit eliminates the need for synchronous control, resulting in high safety.

[0089] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0090] Based on the same inventive concept, this application also provides a vehicle control device for implementing the vehicle control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more vehicle control device embodiments provided below can be found in the limitations of the vehicle control method described above, and will not be repeated here.

[0091] In one exemplary embodiment, such as Figure 5 As shown, a vehicle control device 500 is provided, applied to a vehicle control system. The vehicle control system includes a vehicle controller, a bus controller, a multi-winding motor, and at least one wheel. The bus controller integrates multiple buses; the multi-winding motor integrates multiple sets of winding coils; the multiple buses and the multiple sets of winding coils are connected one-to-one to form multiple control lines; each control line is connected to at least one wheel; it includes: a first control module 520 and a second control module 540, wherein:

[0092] The first control module 520 is used by the vehicle controller to acquire steering wheel angle torque, the status of multiple control lines, and driving status; to determine the target control line among multiple control lines based on the status of each line; to acquire radar data and image data when the driving status is automatic driving and the steering wheel angle torque is less than or equal to the preset calibration torque; and to determine the angle control value based on the radar data and image data, and send the angle control value to the bus controller.

[0093] The second control module 540 is used by the bus controller to determine the steering driving force based on the steering angle control value, and control the target winding coil in the target control circuit to output the steering driving force to drive at least one wheel to move.

[0094] The aforementioned vehicle control device comprises multiple independent control circuits formed by a bus controller and a multi-winding motor. During vehicle control, the target control circuit for vehicle control can be determined based on the status of each control circuit. This system configuration occupies relatively little vehicle space. Furthermore, the bus controller receives the steering angle control value obtained from the vehicle controller's processing of radar and image data, and controls the target winding coil in the target control circuit to output steering drive force, thereby driving at least one wheel. This method of vehicle control through a single target control circuit eliminates the need for synchronous control, resulting in high safety.

[0095] In one embodiment, the vehicle control system further includes a steering gear, a transmission device, and a tie rod; the steering gear includes an input shaft and an output shaft; a multi-winding motor is connected to the input shaft of the steering gear via the transmission device; the output shaft of the steering gear is connected to at least one wheel via the tie rod; the target winding coil in the target control circuit outputs steering driving force to drive at least one wheel to move; the second control module 540 is further configured to: control the target winding coil in the target control circuit to output steering driving force so that the transmission device is driven by the steering driving force, the input shaft rotates under the drive of the transmission device, the output shaft rotates under the drive of the input shaft, and the tie rod rotates under the drive of the output shaft; at least one wheel moves under the drive of the tie rod.

[0096] In one embodiment, the first control module 520 is further configured to: determine at least one candidate control line whose line status is normal among the multiple control lines; and determine the target control line among the at least one candidate control line according to the priority of each candidate control line.

[0097] In one embodiment, the vehicle control system further includes a torque sensor and a steering wheel; the torque sensor is connected to the steering wheel and is used to collect the steering wheel angular torque; the vehicle control device 500 further includes a third control module, which is further used to: when the steering wheel angular torque is greater than a preset calibration torque, or when the driving state is manual driving, detect the duration for which the steering wheel angular torque is less than or equal to the preset calibration torque; when the duration is within the preset duration, obtain the target steering angle and send the target steering angle to the bus controller; the bus controller controls the movement of at least one wheel according to the target steering angle.

[0098] In one embodiment, the steering wheel is connected to at least one wheel via a target control line; the at least one wheel is controlled to move according to the target turning angle; the third control module is further configured to: query a preset mapping table to determine the target driving force corresponding to the target turning angle; and control the target winding coil in the target control line to output the target driving force to drive at least one wheel to move.

[0099] In one embodiment, the third control module is further configured to: determine that the driving state is an automatic driving state when the vehicle controller is in a manual driving state and the duration exceeds a preset duration, and return to the step of obtaining the corner control value to continue execution.

[0100] Each module in the aforementioned vehicle control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware within or independently of the processor in the vehicle control system, or stored in software within the memory of the vehicle control system, so that the processor can call and execute the corresponding operations of each module.

[0101] In one exemplary embodiment, a vehicle controller is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 6 As shown, the vehicle controller includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a vehicle control method.

[0102] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0103] In one exemplary embodiment, a vehicle controller is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0104] The system acquires steering wheel torque, the status of multiple control circuits, and the driving status. Based on the status of each circuit, it identifies the target control circuit from among the multiple control circuits. When the driving status is automatic driving and the steering wheel torque is less than or equal to the preset calibration torque, it acquires radar data and image data. Based on the radar data and image data, it determines the steering angle control value and sends the steering angle control value to the bus controller.

[0105] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0106] Among multiple control lines, at least one candidate control line whose status is normal is identified; based on the priority of each candidate control line, the target control line is identified from the at least one candidate control line.

[0107] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0108] When the steering wheel angle torque is greater than the preset calibration torque, or when the driving state is manual driving, the system detects the duration for which the steering wheel angle torque is less than or equal to the preset calibration torque; if the duration is within the preset duration, the system obtains the target steering wheel angle and sends the target steering angle to the bus controller.

[0109] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0110] If the vehicle controller is in manual driving mode and the duration exceeds the preset duration, it determines that the driving mode is in automatic driving mode and returns to the step of obtaining the steering angle control value to continue execution.

[0111] In one exemplary embodiment, a bus controller is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0112] Based on the steering angle control value, the steering driving force is determined, and the target winding coil in the target control circuit is controlled to output the steering driving force, which drives at least one wheel to move.

[0113] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0114] The target winding coil in the control circuit outputs a steering driving force to drive the transmission equipment under the action of the steering driving force. The input shaft rotates under the drive of the transmission equipment, the output shaft rotates under the drive of the input shaft, and the pull rod rotates under the drive of the output shaft; at least one wheel moves under the drive of the pull rod.

[0115] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0116] Control the movement of at least one wheel based on the target turning angle.

[0117] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0118] Query the preset mapping table to determine the target driving force corresponding to the target turning angle; control the target winding coil in the target control circuit to output the target driving force, driving at least one wheel to move.

[0119] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0120] The system acquires steering wheel torque, the status of multiple control circuits, and the driving status. Based on the status of each circuit, it identifies the target control circuit from among the multiple control circuits. When the driving status is automatic driving and the steering wheel torque is less than or equal to the preset calibration torque, it acquires radar data and image data. Based on the radar data and image data, it determines the steering angle control value and sends the steering angle control value to the bus controller. Based on the steering angle control value, it determines the steering driving force and controls the target winding coil in the target control circuit to output the steering driving force, thereby driving at least one wheel to move.

[0121] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0122] The target winding coil in the control circuit outputs a steering driving force to drive the transmission equipment under the action of the steering driving force. The input shaft rotates under the drive of the transmission equipment, the output shaft rotates under the drive of the input shaft, and the pull rod rotates under the drive of the output shaft; at least one wheel moves under the drive of the pull rod.

[0123] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0124] Among multiple control lines, at least one candidate control line whose status is normal is identified; based on the priority of each candidate control line, the target control line is identified from the at least one candidate control line.

[0125] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0126] When the steering wheel angle torque is greater than the preset calibration torque, or when the driving state is manual driving, the steering wheel angle torque is detected for a duration that is less than or equal to the preset calibration torque; when the duration is within the preset duration, the target steering angle is obtained and sent to the bus controller; the bus controller controls the movement of at least one wheel according to the target steering angle.

[0127] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0128] Query the preset mapping table to determine the target driving force corresponding to the target turning angle; control the target winding coil in the target control circuit to output the target driving force, driving at least one wheel to move.

[0129] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0130] If the driving mode is in manual mode and the duration exceeds the preset duration, the driving mode is determined to be in automatic mode, and the process returns to the step of obtaining the steering angle control value to continue execution.

[0131] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0132] The system acquires steering wheel torque, the status of multiple control circuits, and the driving status. Based on the status of each circuit, it identifies the target control circuit from among the multiple control circuits. When the driving status is automatic driving and the steering wheel torque is less than or equal to the preset calibration torque, it acquires radar data and image data. Based on the radar data and image data, it determines the steering angle control value and sends the steering angle control value to the bus controller. Based on the steering angle control value, it determines the steering driving force and controls the target winding coil in the target control circuit to output the steering driving force, thereby driving at least one wheel to move.

[0133] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0134] The target winding coil in the control circuit outputs a steering driving force to drive the transmission equipment under the action of the steering driving force. The input shaft rotates under the drive of the transmission equipment, the output shaft rotates under the drive of the input shaft, and the pull rod rotates under the drive of the output shaft; at least one wheel moves under the drive of the pull rod.

[0135] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0136] Among multiple control lines, at least one candidate control line whose status is normal is identified; based on the priority of each candidate control line, the target control line is identified from the at least one candidate control line.

[0137] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0138] When the steering wheel angle torque is greater than the preset calibration torque, or when the driving state is manual driving, the steering wheel angle torque is detected for a duration that is less than or equal to the preset calibration torque; when the duration is within the preset duration, the target steering angle is obtained and sent to the bus controller; the bus controller controls the movement of at least one wheel according to the target steering angle.

[0139] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0140] Query the preset mapping table to determine the target driving force corresponding to the target turning angle; control the target winding coil in the target control circuit to output the target driving force, driving at least one wheel to move.

[0141] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0142] If the driving mode is in manual mode and the duration exceeds the preset duration, the driving mode is determined to be in automatic mode, and the process returns to the step of obtaining the steering angle control value to continue execution.

[0143] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0144] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0145] 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.

[0146] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. 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. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle control method, characterized in that, The method is applied to a vehicle control system, which includes a vehicle controller, a bus controller, a multi-winding motor, and at least one wheel. The bus controller integrates multiple buses; the multi-winding motor integrates multiple sets of winding coils; the multiple buses and the multiple sets of winding coils are connected one-to-one to form multiple control lines; each control line is connected to at least one wheel; the method includes: The vehicle controller acquires steering wheel angle torque, the status of multiple control lines, and the driving status; based on the status of each line, it determines the target control line among the multiple control lines; when the driving status is automatic driving and the steering wheel angle torque is less than or equal to a preset calibration torque, it acquires radar data and image data; based on the radar data and the image data, it determines the angle control value and sends the angle control value to the bus controller. The bus controller determines the steering driving force based on the steering angle control value, and controls the target winding coil in the target control circuit to output the steering driving force to drive the at least one wheel to move. The vehicle control system further includes a torque sensor and a steering wheel; the torque sensor is connected to the steering wheel and is used to collect the steering wheel angular torque; the method further includes: When the steering wheel angle torque is greater than the preset calibration torque, or when the driving state is manual driving state and the duration of the steering wheel angle torque being less than or equal to the preset calibration torque is within the preset duration, the vehicle controller obtains the target steering wheel angle and sends the target steering angle to the bus controller. The bus controller controls the movement of at least one wheel according to the target turning angle; The method further includes: If the driving state is manual driving and the duration exceeds a preset duration, the vehicle controller determines that the driving state is automatic driving and returns to the step of obtaining the steering angle control value to continue execution.

2. The method according to claim 1, characterized in that, The vehicle control system further includes a steering gear, a transmission device, and a tie rod; the steering gear includes an input shaft and an output shaft; a multi-winding motor is connected to the input shaft of the steering gear via the transmission device; the output shaft of the steering gear is connected to at least one wheel via the tie rod; The control of the target winding coil in the target control circuit to output the steering driving force to drive the at least one wheel to move includes: The bus controller controls the target winding coil in the target control circuit to output the steering driving force, so that the transmission device is driven by the steering driving force, the input shaft rotates under the drive of the transmission device, the output shaft rotates under the drive of the input shaft, the tie rod rotates under the drive of the output shaft, and the at least one wheel moves under the drive of the tie rod.

3. The method according to claim 1, characterized in that, The step of determining the target control line from multiple control lines based on the status of each line includes: The vehicle controller determines at least one candidate control line whose status is normal among multiple control lines; Based on the priority of each candidate control line, the target control line is determined from at least one candidate control line.

4. The method according to claim 1, characterized in that, The steering wheel is connected to at least one wheel via the target control circuit; controlling the movement of at least one wheel according to the target steering angle includes: The bus controller queries a preset mapping table to determine the target driving force corresponding to the target turning angle. The target winding coil in the target control circuit is controlled to output the target driving force, which drives at least one wheel to move.

5. A vehicle control system, the system comprising: The system comprises a vehicle controller, a bus controller, a multi-winding motor, and at least one wheel. The bus controller integrates multiple buses; the multi-winding motor integrates multiple sets of winding coils; the multiple buses and winding coils are connected one-to-one to form multiple control lines; each control line is connected to at least one wheel; the vehicle controller acquires steering wheel torque, the status of the multiple control lines, and the driving status; based on the status of each line, it determines a target control line among the multiple control lines; when the driving status is automatic driving and the steering wheel torque is less than or equal to a preset calibration torque, it acquires radar data and image data; based on the radar data and image data, it determines a steering angle control value and sends the steering angle control value to the bus controller; the bus controller determines the steering driving force based on the steering angle control value and controls the target winding coil in the target control line to output the steering driving force, thereby driving the at least one wheel to move. The vehicle control system further includes a torque sensor and a steering wheel; the torque sensor is connected to the steering wheel and is used to collect the steering wheel angle torque; the vehicle controller is also used to acquire a target steering wheel angle when the steering wheel angle torque is greater than a preset calibration torque, or when the driving state is manual driving and the duration of the steering wheel angle torque being less than or equal to the preset calibration torque is within a preset duration, and send the target steering angle to the bus controller; the bus controller is also used to control the movement of at least one wheel according to the target steering angle; The vehicle controller is further configured to determine that the driving state is an automatic driving state when the driving state is a manual driving state and the duration exceeds a preset duration, and then return to the step of obtaining the steering angle control value to continue execution.

6. The system according to claim 5, characterized in that, The system also includes a steering gear, a transmission device, and a tie rod; the steering gear includes an input shaft and an output shaft; a multi-winding motor is connected to the input shaft of the steering gear via the transmission device; the output shaft of the steering gear is connected to at least one wheel via the tie rod; the bus controller is also used to control the target winding coil in the target control circuit to output the steering driving force, so that the transmission device is driven by the steering driving force, the input shaft rotates under the drive of the transmission device, the output shaft rotates under the drive of the input shaft, the tie rod rotates under the drive of the output shaft; and the at least one wheel moves under the drive of the tie rod.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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