Control method, device, storage medium and processor of vehicle

Abstract

The application discloses a kind of control method, device, storage medium and processor of vehicle.The method comprises: obtaining the state of target driving mode of vehicle, wherein, target driving mode is used to control vehicle to carry out turning operation under preset turning parameter;In response to the state of target driving mode being start state, the first original position of first suspension in vehicle and the second original position of second suspension in vehicle are adjusted respectively, wherein, first suspension is arranged at the inner front side wheel of vehicle, and second suspension is arranged at the outer rear side wheel of vehicle;In response to the first original position has been adjusted to first target position, and the second original position has been adjusted to second target position, control active suspension in vehicle to adjust the turning parameter of vehicle;According to the adjusted turning parameter, control vehicle to carry out turning operation, wherein, adjusted turning parameter meets preset turning parameter.The application solves the technical problem that flexibility is lower when vehicle low speed turns.

Description

Technical Field

[0001] This invention relates to the field of vehicles, and more specifically, to a vehicle control method, apparatus, storage medium, and processor. Background Technology

[0002] Currently, methods for reducing turning radius often involve steering geometry and devices, drive control, or single-wheel braking. However, in real-world driving scenarios, the roads are often unstructured, resulting in turning radii on some feasible roads that are smaller than the minimum turning radius achievable by the actual vehicle. This leads to the technical problem of reduced vehicle agility when turning at low speeds.

[0003] There is currently no effective solution to the technical problem of the vehicle's low maneuverability when turning at low speeds. Summary of the Invention

[0004] This invention provides a vehicle control method, device, storage medium, and processor to at least address the technical problem of low vehicle agility during low-speed cornering.

[0005] According to one aspect of the present invention, a vehicle control method is provided. The method may include: acquiring the state of a target driving mode of the vehicle, wherein the target driving mode is used to control the vehicle to perform a turning operation under preset turning parameters; in response to the target driving mode being in an activated state, adjusting a first initial position of a first suspension and a second initial position of a second suspension in the vehicle, wherein the first suspension is located at the inner front wheel of the vehicle, and the second suspension is located at the outer rear wheel of the vehicle; in response to the first initial position being adjusted to a first target position and the second initial position being adjusted to a second target position, controlling the active suspension in the vehicle to adjust the turning parameters of the vehicle; and controlling the vehicle to perform a turning operation according to the adjusted turning parameters, wherein the adjusted turning parameters satisfy the preset turning parameters.

[0006] Optionally, in response to the target driving mode being activated, the first original position of the first suspension and the second original position of the second suspension in the vehicle are adjusted respectively, including: in response to the target driving mode being activated, obtaining attitude information by detecting the current attitude of the vehicle; and in response to the attitude information not meeting the target attitude information, adjusting the first original position of the first suspension and the second original position of the second suspension respectively.

[0007] Optionally, in response to the first original position being adjusted to the first target position and the second original position being adjusted to the second target position, controlling the active suspension in the vehicle to adjust the turning parameters of the vehicle includes: in response to the first original position being adjusted to the first target position and the second original position being adjusted to the second target position, balancing the inner rear wheel of the vehicle; and controlling the active suspension to adjust the turning parameters based on the balancing inner rear wheel.

[0008] Optionally, based on the weighted inner rear wheel, the active suspension is controlled to adjust the turning parameters, including: compressing the vehicle's third suspension based on the weighted inner rear wheel, wherein the third suspension is located at the outer front wheel of the vehicle; and controlling the active suspension based on the weighted inner rear wheel and the compressed third suspension to adjust the turning parameters to preset turning parameters.

[0009] Optionally, based on the weighted inner rear wheel and the compressed third suspension, the active suspension is controlled to adjust the turning parameters to preset turning parameters, including: based on the weighted inner rear wheel and the compressed third suspension, controlling the active suspension to move the vehicle's steering center; and based on the moved steering center, adjusting the turning parameters to preset turning parameters.

[0010] Optionally, the vehicle control method may further include: adjusting the vehicle's current turning radius to the target turning radius in response to the moving steering center being the target steering center; and determining turning parameters including the target turning radius.

[0011] According to one aspect of the present invention, a vehicle control device is provided. The device may include: an acquisition unit, configured to acquire the state of a target driving mode of the vehicle, wherein the target driving mode is used to control the vehicle to perform a turning operation under preset turning parameters; a first adjustment unit, configured to adjust a first original position of a first suspension and a second original position of a second suspension in the vehicle respectively, in response to the target driving mode being activated, wherein the first suspension is disposed at the inner front wheel of the vehicle and the second suspension is disposed at the outer rear wheel of the vehicle; a control unit, configured to control the active suspension in the vehicle to adjust the turning parameters of the vehicle in response to the first original position being adjusted to the first target position and the second original position being adjusted to the second target position; and a turning unit, configured to control the vehicle to perform a turning operation according to the adjusted turning parameters, wherein the adjusted turning parameters satisfy the preset turning parameters.

[0012] According to another aspect of the present invention, a computer-readable storage medium is also provided. The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the vehicle control method of the present invention.

[0013] According to another aspect of the present invention, a processor is also provided. The processor is used to run a program, wherein the program, when run by the processor, executes the vehicle control method of the present invention.

[0014] According to another aspect of the present invention, a vehicle is also provided, which is used to perform the vehicle control method of the present invention.

[0015] In this embodiment of the invention, the state of the target driving mode of the vehicle is obtained. By judging whether the state of the target driving mode is activated, it can be determined whether to adjust the first original position of the first suspension and the second original position of the second suspension in the vehicle. If the first original position has been adjusted to the first target position and the second original position has been adjusted to the second target position, the active suspension in the vehicle is controlled to adjust the turning parameters of the vehicle. By judging whether the adjusted turning parameters are preset turning parameters, it can be determined whether to control the vehicle to perform a turning operation. If the adjusted turning parameters are preset turning parameters, the vehicle is controlled to perform a turning operation, thereby achieving the purpose of reducing the turning radius under specific usage conditions, solving the technical problem of low agility when the vehicle is turning at low speed, and realizing the technical effect of improving the agility of the vehicle when turning at low speed. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0017] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of the present invention;

[0018] Figure 2 This is a flowchart of a comprehensive control method in a small turning diameter mode according to an embodiment of the present invention;

[0019] Figure 3(a) is a schematic diagram of the principle of reducing turning diameter by active suspension control according to an embodiment of the present invention;

[0020] Figure 3(b) is a schematic diagram of another active suspension control principle for reducing turning diameter according to an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of a vehicle control device according to an embodiment of the present invention. Detailed Implementation

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

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

[0024] Example 1

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

[0026] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of the present invention, which may include the following steps:

[0027] Step S101: Obtain the state of the vehicle's target driving mode, wherein the target driving mode is used to control the vehicle to perform turning operations under preset turning parameters.

[0028] In the technical solution provided by step S101 of the present invention, the target driving mode can be used to control the vehicle to perform turning operations under preset turning parameters. For example, the target driving mode can be a small turning diameter mode. The state of the target driving mode can include at least: an active state, an activated state, etc. The preset turning parameters can be a preset turning radius. This is only an example and is not specifically limited.

[0029] In this embodiment, the vehicle's driving mode can be used to represent the driver's control method and driving style. For example, the driving mode may include: comfort mode, sport mode, economy mode, small turning diameter mode, etc. This is only an example and is not specifically limited.

[0030] Optionally, the state of the vehicle's target driving mode can be obtained. For example, by analyzing the vehicle's state information, the state of the vehicle's target driving mode can be determined, thereby determining whether the target driving mode of the vehicle is activated. This is only an example and is not specifically limited.

[0031] Optionally, by analyzing the vehicle's driving status and speed information, the state of the vehicle's target driving mode can be determined, thereby determining whether the target driving mode is activated. If the vehicle is stationary, the small turning diameter mode activation button in the vehicle can be clicked. Then, based on the relationship between the vehicle's current speed information and the speed threshold, the state of the vehicle's target driving mode can be determined, thereby determining whether the target driving mode is activated. For example, the target driving mode is the small turning diameter mode.

[0032] Optionally, if the vehicle is not stationary, the small turning diameter mode start button in the vehicle cannot be clicked, nor can the target driving mode be activated. If the vehicle is stationary, the small turning diameter mode start button in the vehicle can be clicked to activate the target driving mode. Then, with the target driving mode activated, the relationship between the vehicle's current speed and a speed threshold can be used to determine whether the target driving mode is active; for example, it can be determined whether the small turning diameter mode is active.

[0033] Optionally, when the target driving mode is activated, the speed information in the status information is determined. By comparing the relationship between the driving speed and the speed threshold, it can be determined whether to activate the target driving mode. If the speed information indicates that the driving speed is less than or equal to the speed threshold, it can be determined whether to activate the target driving mode. For example, it can be determined whether to activate the small turning diameter mode.

[0034] Optionally, if the speed information is not less than or equal to the speed threshold, then there is no need to activate the target driving mode, for example, there is no need to activate the small turning diameter mode.

[0035] In step S102, in response to the target driving mode being activated, the first original position of the first suspension and the second original position of the second suspension in the vehicle are adjusted respectively.

[0036] In the technical solution provided by step S102 of the present invention, the first suspension can be installed at the inner front wheel of the vehicle, the second suspension can be installed at the outer rear wheel of the vehicle, and the adjustment operation can be a lifting operation. This is only an example and is not specifically limited.

[0037] Optionally, after obtaining the state of the target driving mode of the vehicle, in response to the state of the target driving mode being activated, the first original position of the first suspension and the second original position of the second suspension in the vehicle are adjusted respectively. For example, by judging whether the state of the target driving mode is activated, it can be determined whether the first original position of the first suspension and the second original position of the second suspension in the vehicle are adjusted respectively. If the state of the target driving mode is activated, the first original position of the first suspension and the second original position of the second suspension in the vehicle are adjusted respectively.

[0038] Optionally, the vehicle's posture can be monitored and identified by the monitoring equipment. Since the vehicle's initial center of gravity is located at the rear, the inner front suspension and outer rear suspension are lifted, thereby shifting the vehicle's center of gravity towards the inner rear wheel. By increasing the weight of the inner rear wheel, the outer front suspension is compressed, allowing the active suspension to overcome the unsprung mass of the outer front, enabling the outer front wheel to lift off the ground. The monitoring equipment may include height sensors, gyroscopes, etc., which are only examples and are not specifically limited.

[0039] In step S103, in response to the first original position being adjusted to the first target position and the second original position being adjusted to the second target position, the active suspension in the vehicle is controlled to adjust the turning parameters of the vehicle.

[0040] In the technical solution provided by step S103 of the present invention, the first target position can be used to indicate the position of the first suspension when the vehicle is in the target driving mode, and the second target position can be used to indicate the position of the second suspension when the vehicle is in the target driving mode. For example, the first target position can be the position of the inner front suspension when the vehicle is in the small turning diameter mode, and the second target position can be the position of the outer rear suspension when the vehicle is in the small turning diameter mode.

[0041] Optionally, in response to the target driving mode being activated, after adjusting the first original position of the first suspension and the second original position of the second suspension in the vehicle respectively, in response to the first original position being adjusted to the first target position and the second original position being adjusted to the second target position, the active suspension in the vehicle is controlled to adjust the vehicle's turning parameters. For example, by judging whether the first original position has been adjusted to the first target position and whether the second original position has been adjusted to the second target position, it can be determined whether to control the active suspension in the vehicle to adjust the vehicle's turning parameters. If the first original position has been adjusted to the first target position and the second original position has been adjusted to the second target position, then the active suspension in the vehicle is controlled to adjust the vehicle's turning parameters.

[0042] Optionally, if the first original position is not adjusted to the first target position and the second original position is not adjusted to the second target position, then the first original position is adjusted and the second original position is adjusted until the first original position is adjusted to the first target position and the second original position is adjusted to the second target position, and then the active suspension in the vehicle is controlled to adjust the turning parameters of the vehicle.

[0043] Step S104: Control the vehicle to perform a turning operation according to the adjusted turning parameters.

[0044] In the technical solution provided by step S104 of the present invention, the adjusted turning parameters can meet the preset turning parameters. The turning parameters may include: turning radius, turning diameter, etc. This is only an example and is not specifically limited.

[0045] Optionally, after the active suspension in the vehicle adjusts the turning parameters in response to the first original position being adjusted to the first target position and the second original position being adjusted to the second target position, the vehicle is controlled to perform a turning operation according to the adjusted turning parameters. For example, by judging whether the adjusted turning parameters are preset turning parameters, it can be determined whether to control the vehicle to perform a turning operation. If the adjusted turning parameters are preset turning parameters, the vehicle is controlled to perform a turning operation. If the adjusted turning parameters are not preset turning parameters, the turning parameters are adjusted until the adjusted turning parameters are preset turning parameters, at which point the vehicle is controlled to perform a turning operation.

[0046] Optionally, when the front wheels of the vehicle are steered, the instantaneous center of steering of the vehicle is not affected by the outer front wheel when the outer front wheel is lifted. Due to the Ackermann relationship, the turning angle of the inner front wheel is greater than that of the outer front wheel. The intersection of the perpendicular line of the inner front wheel's motion trajectory and the perpendicular line of the rear wheel's motion trajectory will cause the instantaneous center of steering to move closer to the vehicle. At the same time, the active suspension in the vehicle is controlled to lift the outer front wheel off the ground, so that the instantaneous center of steering moves closer to the vehicle.

[0047] Optionally, the small turning diameter mode can be manually turned off after the vehicle completes the turning maneuver, or it can be automatically deactivated after the vehicle is turned off and parked, or it can be automatically deactivated when the vehicle accelerates after completing the turn.

[0048] Optionally, in response to exiting the small turning diameter mode, a single wheel can be lifted and reset via the active suspension.

[0049] In steps S101 to S104 of this application, the state of the target driving mode of the vehicle is obtained. By judging whether the state of the target driving mode is activated, it can be determined whether to adjust the first original position of the first suspension and the second original position of the second suspension in the vehicle. If the first original position has been adjusted to the first target position and the second original position has been adjusted to the second target position, the active suspension in the vehicle is controlled to adjust the turning parameters of the vehicle. By judging whether the adjusted turning parameters are preset turning parameters, it can be determined whether to control the vehicle to perform a turning operation. If the adjusted turning parameters are preset turning parameters, the vehicle is controlled to perform a turning operation, thereby achieving the purpose of reducing the turning radius under specific usage conditions, solving the technical problem of low agility when the vehicle is turning at low speed, and realizing the technical effect of improving the agility of the vehicle when turning at low speed.

[0050] The method described in this embodiment will be further described below.

[0051] As an optional embodiment, step S102, in response to the target driving mode being activated, adjusts the first original position of the first suspension and the second original position of the second suspension in the vehicle, respectively, including: in response to the target driving mode being activated, detecting the current posture of the vehicle to obtain posture information; in response to the posture information not meeting the target posture information, adjusting the first original position of the first suspension and the second original position of the second suspension, respectively.

[0052] In this embodiment, the aforementioned attitude information can be collected by a monitoring device, which may include: a height sensor, a gyroscope, etc. This is only an example and is not specifically limited.

[0053] Optionally, after obtaining the state of the target driving mode of the vehicle, by judging whether the state of the target driving mode is activated, it can be determined whether the first original position of the first suspension and the second original position of the second suspension in the vehicle should be adjusted respectively. If the state of the target driving mode is activated, by judging whether the current posture of the vehicle meets the target posture, it can be determined whether the first original position of the first suspension and the second original position of the second suspension in the vehicle should be adjusted respectively. If the state of the target driving mode is not activated, it is not necessary to judge whether the current posture of the vehicle meets the target posture, nor is it necessary to determine whether the first original position of the first suspension and the second original position of the second suspension in the vehicle should be adjusted respectively.

[0054] Optionally, if the target driving mode is activated, the current attitude of the vehicle can be detected by the monitoring device to obtain the vehicle's attitude information. Then, by analyzing the obtained attitude information, it can be determined whether the attitude information meets the target attitude information. If the attitude information does not meet the target attitude information, the first original position of the first suspension and the second original position of the second suspension in the vehicle can be adjusted respectively to make the attitude information meet the target attitude information, thereby achieving the technical effect of the vehicle turning at the minimum turning radius.

[0055] Optionally, if the attitude information satisfies the target attitude information, then there is no need to adjust the first original position of the first suspension and the second original position of the second suspension in the vehicle separately. Instead, the active suspension in the vehicle can be directly controlled to adjust the turning parameters of the vehicle, and then the vehicle can be controlled to perform a small-diameter turn according to the adjusted turning parameters.

[0056] As an optional embodiment, step S103, in response to the first original position being adjusted to the first target position and the second original position being adjusted to the second target position, controls the active suspension in the vehicle to adjust the turning parameters of the vehicle, including: in response to the first original position being adjusted to the first target position and the second original position being adjusted to the second target position, balancing the weight of the inner rear wheel of the vehicle; and based on the balancing of the inner rear wheel, controlling the active suspension to adjust the turning parameters.

[0057] In this embodiment, in response to the target driving mode being in the activated state, after adjusting the first original position of the first suspension and the second original position of the second suspension in the vehicle, it can be determined whether to control the active suspension in the vehicle to adjust the turning parameters of the vehicle by judging whether the first original position has been adjusted to the first target position and whether the second original position has been adjusted to the second target position. If the first original position has been adjusted to the first target position and the second original position has been adjusted to the second target position, the inner rear wheel of the vehicle is counterweighted. Then, based on the counterweighted inner rear wheel, the active suspension can be controlled to adjust the turning parameters to the preset turning parameters, thereby achieving the technical effect of reducing the turning radius of the vehicle.

[0058] Optionally, based on the weighted inner rear wheel, the active suspension can be controlled to adjust the turning parameters to preset turning parameters. For example, by adjusting the current weight distribution and current ground pressure of the inner rear wheel, the turning parameters of the inner front wheel and inner rear wheel when turning can be adjusted to preset turning parameters by controlling the active suspension based on the inner rear wheel after the above adjustment.

[0059] As an optional embodiment, controlling the active suspension to adjust the cornering parameters based on the weighted inner rear wheel includes: compressing the vehicle's third suspension based on the weighted inner rear wheel; and controlling the active suspension based on the weighted inner rear wheel and the compressed third suspension to adjust the cornering parameters to preset cornering parameters.

[0060] In this embodiment, the third suspension can be located at the outer front wheel of the vehicle.

[0061] Optionally, after the inner rear wheel of the vehicle is counterweighted in response to the first original position being adjusted to the first target position and the second original position being adjusted to the second target position, the third suspension of the vehicle can be compressed according to the counterweighted inner rear wheel. Then, by controlling the active suspension, the turning parameters can be adjusted to preset turning parameters based on the counterweighted inner rear wheel and the compressed third suspension.

[0062] Optionally, the current weight distribution and current ground pressure of the inner rear wheel can be adjusted respectively. Based on the inner rear wheel adjusted as described above, the outer front suspension of the vehicle can be compressed. Then, based on the inner rear wheel adjusted as described above and the compressed outer front suspension, the turning parameters of the inner front wheel and the inner rear wheel when turning can be adjusted to preset turning parameters by controlling the active suspension.

[0063] As an optional embodiment, based on the weighted inner rear wheel and the compressed third suspension, the active suspension is controlled to adjust the turning parameters to preset turning parameters, including: based on the weighted inner rear wheel and the compressed third suspension, controlling the active suspension to move the vehicle's steering center; and based on the moved steering center, adjusting the turning parameters to preset turning parameters.

[0064] In this embodiment, the aforementioned steering center can also be referred to as the instantaneous steering center.

[0065] Optionally, after compressing the vehicle's third suspension based on the inner rear wheel with counterweight, the active suspension can be controlled to move the steering center of the inner front wheel and inner rear wheel when turning, based on the inner rear wheel adjusted as described above and the compressed outer front suspension. Then, by judging whether the moved steering center is the target steering center, it can be determined whether to adjust the turning parameters of the inner front wheel and inner rear wheel to the preset turning parameters.

[0066] Optionally, by analyzing the vehicle's steering angle signal, it can be determined whether the vehicle is turning left or right. Then, based on the steering intention in different directions, the active suspension can be controlled to raise the outer front wheel of the vehicle, thereby allowing the raised outer front wheel to be in a state of off-ground so as to move the steering center.

[0067] As an optional embodiment, the vehicle control method may further include: adjusting the vehicle's current turning radius to the target turning radius in response to the moving steering center being the target steering center; and determining turning parameters including the target turning radius.

[0068] In this embodiment, the target steering center can be used to represent the steering center when turning the vehicle in a small turning diameter mode.

[0069] Optionally, by determining whether the moved steering center is the target steering center, it can be determined whether the vehicle's current turning radius has been reduced to the target turning radius. If the moved steering center is the target steering center, then the vehicle's current turning radius has been reduced to the target turning radius, and the target turning radius is determined as the turning radius. If the moved steering center is not the target steering center, then the steering center needs to be moved until it reaches the target steering center, at which point the movement operation ends. This is only an example and is not specifically limited.

[0070] This embodiment acquires the state of the vehicle's target driving mode. By determining whether the target driving mode is activated, it can be determined whether to adjust the first original position of the first suspension and the second original position of the second suspension in the vehicle. If the first original position has been adjusted to the first target position and the second original position has been adjusted to the second target position, the active suspension in the vehicle is controlled to adjust the vehicle's turning parameters. By determining whether the adjusted turning parameters are preset turning parameters, it can be determined whether to control the vehicle to perform a turning operation. If the adjusted turning parameters are preset turning parameters, the vehicle is controlled to perform a turning operation, thereby achieving the purpose of reducing the turning radius under specific usage conditions. This solves the technical problem of low vehicle agility when turning at low speeds and achieves the technical effect of improving the agility of the vehicle when turning at low speeds.

[0071] Example 2

[0072] The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.

[0073] Current methods for reducing turning radius often involve steering geometry and devices, drive control, or single-wheel braking. However, in real-world driving scenarios, the roads are often unstructured, resulting in turning radii on some feasible roads that are smaller than the minimum turning radius achievable by the actual vehicle. This leads to the technical problem of reduced vehicle agility when turning at low speeds.

[0074] In a related technology, a vehicle turning control method is disclosed, which may include the following steps: obtaining the current position of the vehicle and the desired trajectory of the vehicle; finding the nearest point of the current position in the desired trajectory, and using the nearest point as the starting point, searching forward for at least two aiming points on the desired trajectory; determining the current turning radius of the vehicle based on the nearest point and the at least two aiming points; when the current turning radius is less than the minimum turning radius of the vehicle, searching forward for a first steering aiming point on the desired trajectory; wherein the distance from the first steering aiming point to the current position on the desired trajectory is a first distance; the distance from the first aiming point found forward on the desired trajectory to the current position on the desired trajectory is a second distance, and the first distance is greater than the second distance; determining a first tire deflection angle of the vehicle based on the first steering aiming point.

[0075] However, this method only obtains the vehicle's current position and desired trajectory, and then finds the nearest point of the current position in the desired trajectory. Starting from the nearest point, it searches for at least two aiming points forward on the desired trajectory. Based on the nearest point and at least two aiming points, it determines the vehicle's current turning radius. It cannot use active suspension to bring the steering center closer to the vehicle, thereby reducing the vehicle's turning radius and improving the vehicle's agility when turning at low speeds.

[0076] However, this invention proposes a method for determining the turning radius of a vehicle. By controlling the active suspension, the current turning radius of the vehicle can be reduced, and the instantaneous center of steering can be brought closer to the vehicle, thereby reducing the turning radius of the vehicle. This achieves the goal of reducing the turning radius under specific usage conditions, solves the technical problem of low vehicle agility when turning at low speeds, and realizes the technical effect of improving the agility of the vehicle when turning at low speeds.

[0077] Figure 2 This is a schematic diagram of a comprehensive control method in a small turning diameter mode according to an embodiment of the present invention, as shown below. Figure 2 As shown, the method may include the following steps:

[0078] Step S201: Activate the small turning diameter mode by the driver.

[0079] After the driver activates the small turning diameter mode, the process proceeds to step S202 to determine whether the conditions for activating the small turning diameter mode and the conditions for running the small turning diameter mode are met.

[0080] If the conditions for activating the small turning diameter mode and the conditions for running the small turning diameter mode are not met, proceed to step S203 and do not activate the small turning diameter mode. If the conditions for activating the small turning diameter mode and the conditions for running the small turning diameter mode are met, proceed to steps S204, S205 and S206, activate the small turning diameter mode, and detect the steering wheel angle input by the driver through the active suspension controller. In response to the steering angle signal, control the active suspension to lift the outer front wheel off the ground.

[0081] In response to the cornering signal, the active suspension is controlled to lift the outer front wheel off the ground, and then step S207 is entered, the vehicle idles, and the turn is completed.

[0082] After the vehicle is idling and has completed a turn, proceed to steps S208, S209, and S210. Once the vehicle has completed the turn, manually turn off the small turning diameter mode. Alternatively, if the vehicle is turned off and stopped, the small turning diameter mode will automatically exit.

[0083] After the vehicle completes the turning action, manually turn off the small turning diameter mode. If the vehicle is turned off and stopped, the small turning diameter mode will automatically exit. Alternatively, if the vehicle accelerates after completing the turn, the small turning diameter mode will automatically exit. Then proceed to step S211, where the small turning diameter mode exits: the active suspension lifts a single wheel and resets it to its initial state.

[0084] Optionally, step S206, in response to the cornering signal, controlling the active suspension to lift the outer front wheel off the ground, may include: lifting the inner front suspension and the outer rear suspension of the vehicle, shifting the center of gravity of the vehicle, increasing the weight distribution of the inner rear wheel of the vehicle, compressing the outer front suspension of the vehicle, and lifting the outer front wheel off the ground.

[0085] Optionally, a method for reducing the turning radius of a vehicle when cornering using active suspension may include the following steps:

[0086] Step 1: Set a fixed driving mode with a small turning diameter. The driver can manually select this mode, and the mode can only be operated when the selected mode is selected and the vehicle meets the operating conditions of this mode.

[0087] Step 2, set the activation condition for the small turning diameter mode: the vehicle is stationary.

[0088] Step 3, set the operating conditions for the small turning diameter mode: limit the vehicle speed to idle speed.

[0089] Step four: The driver issues a command to activate the small turning diameter mode.

[0090] Step 5: The vehicle determines whether the small turning diameter mode meets the activation conditions. If it does, the small turning diameter mode is activated; otherwise, it cannot be activated.

[0091] Step six: If the activation conditions are met, activate the small turning diameter mode.

[0092] Step 7: When the small turning diameter mode is activated, the driver turns the steering wheel to the left or right to the limit position, and the active suspension controller detects the turning angle signal.

[0093] Step 8: When the small turning diameter mode is running, the chassis co-control system controls the active suspension to lift the outer front wheel off the ground. The control logic can be as follows: the height sensor and gyroscope can monitor and identify the vehicle's posture, and simultaneously lift the inner front and outer rear suspensions. Since the initial position of the center of gravity is rearward (this control mode can be applied to four-wheel drive and rear-wheel drive vehicles, and vehicles with a rear axle load distribution greater than 50%), the inner front and outer rear diagonal suspensions are lifted, causing the center of gravity to move towards the inner rear wheel, increasing the weight distribution of the inner rear wheel, compressing the outer front suspension, and the active suspension can overcome the unsprung mass of the outer front, thereby lifting the outer front wheel off the ground.

[0094] Step nine: The vehicle idles at low speed. The wheel speed sensor monitors the inner rear wheel to maintain slippage and complete the turning maneuver.

[0095] Step 10: After the vehicle completes the turning maneuver, the driver can manually turn off the small turning diameter mode. When the vehicle is turned off and stopped, the small turning diameter mode will automatically exit. When the vehicle accelerates, the small turning diameter mode will automatically exit.

[0096] Step 11, Exit Small Turning Diameter Mode: The active suspension lifts a single wheel and resets it to its initial state.

[0097] Optionally, this method for reducing the turning radius of a vehicle when turning can be applied to four-wheel drive and rear-wheel drive models, and can be applied to models with a rear axle load distribution greater than 50%.

[0098] Optionally, the active suspension can be controlled to lift the outer front wheel off the ground. For example, the vehicle's posture can be monitored and identified by monitoring equipment. Since the vehicle's initial center of gravity is rearward, the inner front suspension and outer rear suspension are lifted, thereby shifting the vehicle's center of gravity towards the inner rear wheel. By increasing the weight of the inner rear wheel, the outer front suspension is compressed, allowing the active suspension to overcome the unsprung mass of the outer front, thus lifting the outer front wheel off the ground. The monitoring equipment may include height sensors, gyroscopes, etc., which are only examples and are not specifically limited.

[0099] Optionally, the principle of using active suspension to reduce the turning radius of a vehicle when turning can be: when the vehicle is turning at low speed and large angle, all wheels must rotate around the same center, and the instantaneous center of rotation depends on the intersection of the perpendicular lines of the instantaneous motion trajectories of the inner and outer front wheels and the rear wheels.

[0100] Figure 3(a) is a schematic diagram of the principle of reducing turning diameter in an active suspension control according to an embodiment of the present invention. As shown in Figure 3(a), the vehicle has not activated the small turning diameter control mode and the front wheels are in a steering state.

[0101] Figure 3(b) is a schematic diagram of another active suspension control principle for reducing turning diameter according to an embodiment of the present invention. As shown in Figure 3(b), when the vehicle activates the small turning diameter control mode, the front wheels are in a steering state and the outer front wheel is lifted.

[0102] Optionally, when the small turning diameter control mode is activated, the front wheels of the vehicle are steered. When the outer front wheel is lifted, the instantaneous center of steering is not affected by the outer front wheel. Due to the Ackermann relationship, the turning angle of the inner front wheel is greater than that of the outer front wheel. The intersection of the perpendicular line of the inner front wheel's motion trajectory and the perpendicular line of the rear wheel's motion trajectory will cause the instantaneous center of steering to move closer to the vehicle. This further allows the instantaneous center of steering to move closer to the vehicle under the action of the outer front wheel being lifted, thereby achieving the technical effect of reducing the turning radius.

[0103] Optionally, with the outer front wheel lifted, the vehicle's steering center can shift from instantaneous center 1 to instantaneous center 2, thereby achieving the technical effect of reducing the turning diameter.

[0104] In this embodiment, the driver selects to activate the small turning diameter mode, and then determines whether the conditions for activating and operating the small turning diameter mode are met. If both conditions are met, the small turning diameter mode is activated, and in response to the driver's input of the steering wheel angle, the active suspension is controlled to lift the outer front wheel off the ground. The vehicle then idles to complete the turn. After the vehicle completes the turn, the small turning diameter mode can be manually deactivated, or it can automatically deactivate after the vehicle is turned off and parked, or it can automatically deactivate after the vehicle accelerates after completing the turn. This solves the technical problem of low agility when the vehicle is turning at low speeds and achieves the technical effect of improving the agility of the vehicle when turning at low speeds.

[0105] Example 3

[0106] According to an embodiment of the present invention, a vehicle control device is also provided. It should be noted that this vehicle control device can be used to execute a vehicle control method as described in Embodiment 1.

[0107] Figure 4 This is a schematic diagram of a vehicle control device according to an embodiment of the present invention. Figure 4 As shown, the vehicle control device 400 may include: an acquisition unit 401, a first adjustment unit 402, a control unit 403, and a turning unit 404.

[0108] The acquisition unit 401 is used to acquire the state of the vehicle's target driving mode, wherein the target driving mode is used to control the vehicle to perform turning operations under preset turning parameters.

[0109] The first adjustment unit 402 is used to adjust the first original position of the first suspension and the second original position of the second suspension in the vehicle in response to the target driving mode being activated. The first suspension is located at the inner front wheel of the vehicle, and the second suspension is located at the outer rear wheel of the vehicle.

[0110] Control unit 403 is used to control the active suspension in the vehicle to adjust the vehicle's turning parameters in response to the first original position being adjusted to the first target position and the second original position being adjusted to the second target position.

[0111] The turning unit 404 is used to control the vehicle to perform turning operations according to the adjusted turning parameters, wherein the adjusted turning parameters meet the preset turning parameters.

[0112] Optionally, the first adjustment unit 402 may include: a detection module, used to detect the current posture of the vehicle to obtain posture information in response to the target driving mode being activated; and an adjustment module, used to adjust the first original position of the first suspension and the second original position of the second suspension respectively in response to the posture information not meeting the target posture information.

[0113] Optionally, the control unit 403 may include: a counterweight module for counterweighting the inner rear wheel of the vehicle in response to the first original position being adjusted to the first target position and the second original position being adjusted to the second target position; and a control module for controlling the active suspension to adjust the cornering parameters based on the counterweighted inner rear wheel.

[0114] Optionally, the control module may include: a compression submodule for compressing the vehicle's third suspension based on the weighted inner rear wheel, wherein the third suspension is located at the vehicle's outer front wheel; and a control submodule for controlling the active suspension based on the weighted inner rear wheel and the compressed third suspension to adjust the turning parameters to preset turning parameters.

[0115] Optionally, the control submodule can control the active suspension based on the weighted inner rear wheel and the compressed third suspension to adjust the turning parameters to preset turning parameters by performing the following steps: controlling the active suspension to move the vehicle's steering center based on the weighted inner rear wheel and the compressed third suspension; and adjusting the turning parameters to preset turning parameters based on the moved steering center.

[0116] Optionally, the vehicle control device 400 may further include: a second adjustment unit, configured to adjust the vehicle's current turning radius to the target turning radius in response to the moved steering center being the target steering center; and a determination unit, configured to determine turning parameters including the target turning radius.

[0117] In this embodiment, an acquisition unit is used to acquire the state of the vehicle's target driving mode, wherein the target driving mode is used to control the vehicle to perform turning operations under preset turning parameters; a first adjustment unit is used to adjust the first original position of the first suspension and the second original position of the second suspension in the vehicle respectively in response to the target driving mode being activated, wherein the first suspension is located at the inner front wheel of the vehicle and the second suspension is located at the outer rear wheel of the vehicle; a control unit is used to control the active suspension in the vehicle to adjust the turning parameters of the vehicle in response to the first original position being adjusted to the first target position and the second original position being adjusted to the second target position; a turning unit is used to control the vehicle to perform turning operations according to the adjusted turning parameters, wherein the adjusted turning parameters satisfy the preset turning parameters, solving the technical problem of low agility of the vehicle when turning at low speeds, and achieving the technical effect of improving the agility of the vehicle when turning at low speeds.

[0118] Example 4

[0119] According to an embodiment of the present invention, a computer-readable storage medium is also provided, the storage medium including a stored program, wherein the program executes the vehicle control method of Embodiment 1.

[0120] Example 5

[0121] According to an embodiment of the present invention, a processor is also provided for running a program, wherein the program is executed by the processor to perform the vehicle control method of embodiment 1.

[0122] Example 6

[0123] According to an embodiment of the present invention, a vehicle is also provided for performing any of the vehicle control methods in Embodiment 1.

[0124] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0125] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0126] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0127] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0128] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0129] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0130] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control method of a vehicle, characterized by, include: The state of the target driving mode of the vehicle is obtained, wherein the target driving mode is used to control the vehicle to perform turning operations under preset turning parameters, and the preset turning parameters are preset turning radii; In response to the target driving mode being activated, the first original position of the first suspension and the second original position of the second suspension in the vehicle are adjusted respectively, wherein the first suspension is located at the inner front wheel of the vehicle and the second suspension is located at the outer rear wheel of the vehicle. In response to the first original position being adjusted to the first target position and the second original position being adjusted to the second target position, the active suspension in the vehicle is controlled to adjust the turning parameters of the vehicle; The vehicle is controlled to perform a turning operation according to the adjusted turning parameters, wherein the adjusted turning parameters satisfy the preset turning parameters; Specifically, in response to the target driving mode being activated, adjusting the first original position of the first suspension and the second original position of the second suspension in the vehicle includes: in response to the target driving mode being activated, detecting the current attitude of the vehicle using a height sensor and a gyroscope to obtain current attitude information; and in response to the current attitude information not meeting the target attitude information, adjusting the first original position of the first suspension and the second original position of the second suspension. Adjusting the first original position of the first suspension and the second original position of the second suspension respectively includes: lifting the first suspension and the second suspension; After lifting the first suspension and the second suspension, the method further includes: increasing the weight of the inner rear wheel of the vehicle and compressing the third suspension to lift the outer front wheel of the vehicle off the ground, wherein the third suspension is disposed at the outer front wheel of the vehicle.

2. The method of claim 1, wherein, Controlling the active suspension in the vehicle to adjust the vehicle's cornering parameters includes: Based on the weighted inner rear wheel and the compressed third suspension, the active suspension is controlled to adjust the turning parameters to the preset turning parameters.

3. The method of claim 2, wherein, Based on the weighted inner rear wheel and the compressed third suspension, the active suspension is controlled to adjust the turning parameters to the preset turning parameters, including: Based on the weighted inner rear wheel and the compressed third suspension, the active suspension is controlled to move the vehicle's steering center. Based on the shifted steering center, the turning parameters are adjusted to the preset turning parameters.

4. A control device of a vehicle characterized by comprising: include: The acquisition unit is used to acquire the state of the target driving mode of the vehicle, wherein the target driving mode is used to control the vehicle to perform turning operations under preset turning parameters, and the preset turning parameters are preset turning radii. The first adjustment unit is configured to adjust the first original position of the first suspension and the second original position of the second suspension in the vehicle in response to the target driving mode being activated, wherein the first suspension is located at the inner front wheel of the vehicle and the second suspension is located at the outer rear wheel of the vehicle. A control unit is configured to control the active suspension in the vehicle to adjust the vehicle's turning parameters in response to the first original position being adjusted to the first target position and the second original position being adjusted to the second target position. A turning unit is used to control the vehicle to perform a turning operation according to the adjusted turning parameters, wherein the adjusted turning parameters satisfy the preset turning parameters; The first adjustment unit is further configured to, in response to the target driving mode being activated, detect the current attitude of the vehicle using a height sensor and a gyroscope to obtain current attitude information; and, in response to the current attitude information not meeting the target attitude information, adjust the first original position of the first suspension and the second original position of the second suspension respectively. The first adjustment unit is also used to lift the first suspension and the second suspension; The control unit is also used to increase the weight distribution on the inner rear wheel of the vehicle and compress the third suspension to lift the outer front wheel of the vehicle off the ground, wherein the third suspension is located at the outer front wheel of the vehicle.

5. A computer readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the vehicle control method according to any one of claims 1 to 3.

6. A processor, characterized in that, The processor is used to run a program, wherein the program, when run by the processor, executes the vehicle control method according to any one of claims 1 to 3.

7. A vehicle, characterized in that, The vehicle is used to perform the vehicle control method according to any one of claims 1 to 3.

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