Vehicle control method, device, storage medium and program product

Abstract

The present disclosure relates to a vehicle control method, device, storage medium and program product, belonging to the field of vehicle technology, the method comprising: determining a first ratio of torque distribution between the front motor and the rear motor of the vehicle according to the torque required by the driver; obtaining the front axle slip angle ratio and the rear axle slip angle ratio of the vehicle; determining a second ratio of torque distribution between the front motor and the rear motor according to the front axle slip angle ratio, the rear axle slip angle ratio and the first ratio; and distributing torque to the front motor and the rear motor according to the second ratio. In this way, the stability of the vehicle can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a vehicle control method, device, storage medium, and program product. Background Art

[0002] In vehicle control decision-making scenarios, it is often necessary to allocate torque to the vehicle. For example, for a four-wheel drive vehicle, reasonable torque allocation can enable the four-wheel drive vehicle to fully utilize the road adhesion, thereby reducing the vehicle acceleration time and improving the vehicle's dynamic performance. However, in related scenarios, the vehicle may experience understeer, oversteer, and other phenomena. Summary of the invention

[0003] To overcome the problems existing in the related art, the present disclosure provides a vehicle control method, device, storage medium and program product.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle control method, comprising:

[0005] determining a first ratio of torque distribution between the front motor and the rear motor of the vehicle according to the torque demanded by the driver;

[0006] Obtain the front axle slip angle ratio and the rear axle slip angle ratio of the vehicle;

[0007] determining a second ratio of torque distribution between the front motor and the rear motor according to the front axle slip angle ratio, the rear axle slip angle ratio and the first ratio;

[0008] According to the second ratio, torque is distributed to the front motor and the rear motor.

[0009] Optionally, determining a second ratio of torque distribution between the front motor and the rear motor according to the front axle slip angle ratio, the rear axle slip angle ratio and the first ratio includes:

[0010] Calculating a difference between the front axle slip angle ratio and the rear axle slip angle ratio;

[0011] A second ratio of the torque distribution is determined according to the difference value and the first ratio.

[0012] Optionally, determining the second ratio of the torque distribution according to the difference value and the first ratio includes:

[0013] determining a torque distribution ratio of the front motor in the first ratio to obtain a third ratio;

[0014] determining a torque distribution ratio of the rear motor in the first ratio to obtain a fourth ratio;

[0015] When the difference value indicates that the front axle slip angle ratio is greater than the rear axle slip angle ratio, reducing the third ratio and increasing the fourth ratio, wherein the second ratio includes the reduced third ratio and the increased fourth ratio;

[0016] When the difference value indicates that the front axle slip angle ratio is smaller than the rear axle slip angle ratio, the third ratio is increased and the fourth ratio is decreased, and the second ratio includes the increased third ratio and the decreased fourth ratio.

[0017] Optionally, the method comprises:

[0018] Determine an adjustment value of the torque distribution ratio;

[0019] The reducing the third ratio and increasing the fourth ratio comprises:

[0020] According to the adjustment value, reducing the third ratio and increasing the fourth ratio;

[0021] The increasing the third ratio and decreasing the fourth ratio comprises:

[0022] According to the adjustment value, the third ratio is increased, and the fourth ratio is decreased.

[0023] Optionally, determining the adjustment value of the torque distribution ratio includes:

[0024] Obtaining the vehicle speed and / or the vehicle's current road adhesion coefficient;

[0025] The adjustment value is determined according to the vehicle speed and / or the road adhesion coefficient, and the adjustment value is positively correlated with the vehicle speed and / or the road adhesion coefficient.

[0026] Optionally, the method comprises:

[0027] Determine the maximum value of the road adhesion coefficient;

[0028] Determine the current road surface utilization adhesion coefficient;

[0029] When the difference between the rear axle speed of the vehicle and the longitudinal speed of the vehicle is greater than a first target threshold, determining the road adhesion coefficient to be the smaller one of the maximum value and the road utilization adhesion coefficient;

[0030] When the difference between the rear axle speed and the longitudinal vehicle speed is less than or equal to the first target threshold, the road adhesion coefficient is determined to be the maximum value, and the road adhesion coefficient is used to determine the front axle sideslip angle ratio and the rear axle sideslip angle ratio.

[0031] Optionally, obtaining the front axle slip angle ratio and the rear axle slip angle ratio of the vehicle includes:

[0032] According to the current road adhesion coefficient of the vehicle, determine the maximum sideslip angle of the front axle and the maximum sideslip angle of the rear axle of the vehicle;

[0033] Calculate the front axle slip angle and rear axle slip angle of the vehicle;

[0034] Calculating the front axle sideslip angle ratio according to the front axle sideslip angle and the front axle maximum sideslip angle;

[0035] The rear axle slip angle ratio is calculated according to the rear axle slip angle and the rear axle maximum slip angle.

[0036] Optionally, calculating the front axle sideslip angle ratio according to the front axle sideslip angle and the front axle maximum sideslip angle includes:

[0037] Calculating the ratio of the front axle sideslip angle to the maximum front axle sideslip angle to obtain the front axle sideslip angle ratio;

[0038] Calculating the rear axle slip angle ratio according to the rear axle slip angle and the rear axle maximum slip angle includes:

[0039] The ratio of the rear axle sideslip angle to the rear axle maximum sideslip angle is calculated to obtain the rear axle sideslip angle ratio.

[0040] According to a second aspect of an embodiment of the present disclosure, there is provided a vehicle control device, comprising:

[0041] A first module is configured to determine a first ratio of torque distribution between the front motor and the rear motor of the vehicle according to a driver demand torque;

[0042] A second module is configured to obtain a front axle slip angle ratio and a rear axle slip angle ratio of the vehicle;

[0043] A third module is configured to determine a second ratio of torque distribution between the front motor and the rear motor according to the front axle slip angle ratio, the rear axle slip angle ratio and the first ratio;

[0044] A fourth module is configured to distribute torque to the front motor and the rear motor according to the second ratio.

[0045] Optionally, the third module includes:

[0046] A first submodule is configured to calculate a difference between the front axle slip angle ratio and the rear axle slip angle ratio;

[0047] The second submodule is configured to determine a second ratio of the torque distribution according to the difference value and the first ratio.

[0048] Optionally, the second submodule includes:

[0049] A first subunit is configured to determine a torque distribution ratio of the front motor in the first ratio to obtain a third ratio;

[0050] A second subunit is configured to determine a torque distribution ratio of the rear motor in the first ratio to obtain a fourth ratio;

[0051] a third subunit, configured to reduce the third ratio and increase the fourth ratio when the difference value indicates that the front axle slip angle ratio is greater than the rear axle slip angle ratio, wherein the second ratio includes the reduced third ratio and the increased fourth ratio;

[0052] The fourth subunit is configured to increase the third ratio and decrease the fourth ratio when the difference value indicates that the front axle slip angle ratio is smaller than the rear axle slip angle ratio, wherein the second ratio includes the increased third ratio and the decreased fourth ratio.

[0053] Optionally, the device comprises:

[0054] a fifth module configured to determine an adjustment value of a torque distribution ratio;

[0055] The third subunit is configured as follows:

[0056] According to the adjustment value, reducing the third ratio and increasing the fourth ratio;

[0057] The fourth subunit is configured as follows:

[0058] According to the adjustment value, the third ratio is increased, and the fourth ratio is decreased.

[0059] Optionally, the fifth module includes:

[0060] A third submodule is configured to obtain the vehicle speed and / or the current road adhesion coefficient of the vehicle;

[0061] The fourth submodule is configured to determine the adjustment value according to the vehicle speed and / or the road adhesion coefficient, wherein the adjustment value is positively correlated with the vehicle speed and / or the road adhesion coefficient.

[0062] Optionally, the device comprises:

[0063] A first processing module is configured to determine a maximum value of a road adhesion coefficient;

[0064] A second processing module is configured to determine a current road surface utilization adhesion coefficient;

[0065] A third processing module is configured to determine the road adhesion coefficient to be the smaller one of the maximum value and the road utilization adhesion coefficient when the difference between the rear axle speed of the vehicle and the longitudinal speed of the vehicle is greater than the first target threshold;

[0066] The fourth processing module is configured to determine that the road adhesion coefficient is the maximum value when the difference between the rear axle speed and the longitudinal vehicle speed is less than or equal to the first target threshold, and the road adhesion coefficient is used to determine the front axle sideslip angle ratio and the rear axle sideslip angle ratio.

[0067] Optionally, the second module includes:

[0068] A fifth submodule is configured to determine a maximum side slip angle of a front axle and a maximum side slip angle of a rear axle of the vehicle according to a current road adhesion coefficient of the vehicle;

[0069] A sixth submodule is configured to calculate a front axle slip angle and a rear axle slip angle of the vehicle;

[0070] a seventh submodule, configured to calculate the front axle sideslip angle ratio according to the front axle sideslip angle and the front axle maximum sideslip angle;

[0071] An eighth submodule is configured to calculate the rear axle slip angle ratio according to the rear axle slip angle and the rear axle maximum slip angle.

[0072] Optionally, the seventh submodule is configured as follows:

[0073] Calculating the ratio of the front axle sideslip angle to the maximum front axle sideslip angle to obtain the front axle sideslip angle ratio;

[0074] The eighth submodule is configured as follows:

[0075] The ratio of the rear axle sideslip angle to the rear axle maximum sideslip angle is calculated to obtain the rear axle sideslip angle ratio.

[0076] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising:

[0077] processor;

[0078] a memory for storing processor-executable instructions;

[0079] Wherein, the processor is configured to implement the steps of any method described in the first aspect when executed.

[0080] According to a fourth aspect of an embodiment of the present disclosure, there is provided a computer-readable storage medium on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps of any one of the methods described in the first aspect are implemented.

[0081] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, including a computer program, which implements the steps of any one of the methods in the first aspect when executed by a processor.

[0082] In the above scheme, the first ratio of torque distribution between the front motor and the rear motor of the vehicle can be determined according to the torque required by the driver. In addition, the front axle slip angle ratio and the rear axle slip angle ratio of the vehicle can be obtained, and the second ratio of torque distribution between the front motor and the rear motor can be determined according to the front axle slip angle ratio, the rear axle slip angle ratio and the first ratio. In this way, torque can be distributed to the front motor and the rear motor according to the second ratio.

[0083] That is to say, the first ratio of torque distribution between the front motor and the rear motor of the vehicle can be determined according to the torque required by the driver. In addition, the first ratio can be further adjusted according to the front axle slip angle ratio and the rear axle slip angle ratio of the vehicle to obtain the second ratio for torque distribution. In this way, the torque distribution ratio is adjusted by the front axle slip angle ratio and the rear axle slip angle ratio, so that the torque distribution method can be adaptively adjusted in different environments. In this way, the stability of the vehicle can be improved and the understeering or oversteering phenomenon of the vehicle can be avoided.

[0084] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0086] Figure 1 The present invention is a flow chart of a vehicle control method according to an exemplary embodiment.

[0087] Figure 2 is a vehicle control architecture diagram according to an exemplary embodiment.

[0088] Figure 3 is a flowchart of an implementation of step S12 according to an exemplary embodiment.

[0089] Figure 4 is a flowchart of an implementation of step S13 according to an exemplary embodiment.

[0090] Figure 5 is a flowchart of an implementation of step S132 according to an exemplary embodiment.

[0091] Figure 6 is a block diagram of a vehicle control device according to an exemplary embodiment.

[0092] Figure 7 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0093] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0094] The embodiments described in some embodiments of the present disclosure below do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0095] Before introducing the vehicle control method, device, storage medium and program product of the present disclosure, the relevant scenarios of the embodiments of the present disclosure are first introduced.

[0096] In vehicle control decision-making scenarios, it is often necessary to allocate torque to the vehicle. For example, for a four-wheel drive vehicle, reasonable torque allocation can enable the four-wheel drive vehicle to fully utilize the road adhesion, thereby reducing the vehicle acceleration time and improving the vehicle's power performance.

[0097] In relevant scenarios, when distributing torque to the front and rear motors of a vehicle, the torque of the front motor and the torque of the rear motor are usually determined based on a preset ratio. However, this method may not be able to meet complex driving scenarios. For example, in some scenarios, the vehicle may experience understeer or oversteer. In addition, the method of distributing torque based on a preset ratio may also result in low accuracy in torque control of the front and rear axles of the vehicle. In this case, it is difficult for the vehicle to achieve better power performance.

[0098] To this end, an embodiment of the present disclosure provides a vehicle control method, which can be applied to a vehicle, for example. Figure 1 is a flow chart of a vehicle control method shown in an exemplary embodiment of the present disclosure, referring to Figure 1 , the method comprising:

[0099] In step S11 , a first ratio of torque distribution between the front motor and the rear motor of the vehicle is determined according to the driver's demand torque.

[0100] Figure 2 is a vehicle control architecture diagram shown in an exemplary embodiment of the present disclosure, referring to Figure 2 The architecture includes a perception module, a control module and an execution module. Here, the driver's required torque can be determined by the perception module.

[0101] For example, the current accelerator pedal opening of the vehicle and the vehicle's positioning information can be obtained. The positioning information can be, for example, GPS (Global Positioning System) information, Beidou positioning information, etc. Based on the positioning information, the longitudinal speed, lateral speed and other information of the vehicle can be determined.

[0102] In this way, the driver's required torque can be obtained by looking up a table according to the longitudinal vehicle speed and the accelerator pedal opening.

[0103] Based on the driver's required torque, a first ratio of torque distribution between the front motor and the rear motor of the vehicle can be determined, wherein the front motor can be a motor corresponding to the front axle of the vehicle, and the rear motor can be a motor corresponding to the rear axle of the vehicle.

[0104] In one embodiment, the first ratio may be determined according to the torque capacity of the front and rear motors (the capacity of the front motor is usually smaller than that of the rear motor). For example, when the driver's required torque is less than or equal to twice the torque capacity of the front motor, the first ratio may be 1:1. When the driver's required torque is greater than twice the torque capacity of the front motor, the front motor is allocated according to the maximum capacity, and the insufficient torque is supplemented by the rear motor.

[0105] Reference Figure 1 In step S12, the front axle slip angle ratio and the rear axle slip angle ratio of the vehicle are obtained.

[0106] The front axle slip angle ratio may represent the utilization rate of the front axle slip angle of the vehicle, and the rear axle slip angle ratio may represent the utilization rate of the rear axle slip angle of the vehicle.

[0107] Figure 3 is an implementation flow chart of step S12 shown in an exemplary embodiment of the present disclosure, referring to Figure 3 , the obtaining of the front axle slip angle ratio and the rear axle slip angle ratio of the vehicle includes:

[0108] In step S121, the maximum sideslip angle of the front axle and the maximum sideslip angle of the rear axle of the vehicle are determined according to the current road adhesion coefficient of the vehicle.

[0109] Combination Figure 2 To illustrate, the current road adhesion coefficient of the vehicle can be calculated based on the positioning information and sensor information. The sensor information may include, for example, the front wheel angle, longitudinal acceleration, lateral acceleration, yaw rate, four-wheel speed, etc., or one or more thereof.

[0110] For example, when calculating the road adhesion coefficient, the maximum value MueMax of the road adhesion coefficient Mue can be set to 1, and the maximum value of the road adhesion coefficient Mue can be obtained by calibration. Among them, ax is the longitudinal acceleration read by the inertial sensor, ay is the lateral acceleration read by the inertial sensor, the unit of the longitudinal acceleration and the lateral acceleration is g (gravitational acceleration), and G is the gravity acceleration.

[0111] In this way, when the rear axle speed When the result value minus the longitudinal vehicle speed Vx is greater than the first target threshold, the road adhesion coefficient Mue = min (MueMax, MueUsed), otherwise the road adhesion coefficient Mue = MueMax. Wherein, Vrl is the left rear wheel speed, Vrr is the right rear wheel speed, and the first target threshold can be set based on demand.

[0112] In addition, based on tests (such as real vehicle tests), the maximum side slip angle α of the front axle under different road adhesion coefficients can also be determined. 1 Max and rear axle maximum slip angle α 2 Max. The maximum slip angle may be a slip angle when the lateral force of the wheel is maximum.

[0113] Reference Figure 3 In step S122, the front axle slip angle and the rear axle slip angle of the vehicle are calculated.

[0114] In one implementation, the front axle slip angle and the rear axle slip angle of the vehicle may be the current real-time front axle slip angle and the rear axle slip angle of the vehicle.

[0115] Here, the calculation method of the front axle slip angle and the rear axle slip angle will be described as an example.

[0116] In one embodiment, according to the linear two-degree-of-freedom vehicle model formula, the vehicle side slip angle Among them, Vy is the lateral vehicle speed and Vx is the longitudinal vehicle speed.

[0117] Thus, the front axle slip angle α 1 Can be:

[0118] Rear axle slip angle α 2 Can be:

[0119] Among them, θ is the front wheel turning angle, a is the distance from the center of mass of the vehicle to the front axle, b is the distance from the center of mass to the rear axle, and ω is the yaw rate.

[0120] In step S123, the front axle slip angle ratio is calculated according to the front axle slip angle and the front axle maximum slip angle.

[0121] For example, in a possible implementation manner, the ratio of the front axle sideslip angle to the front axle maximum sideslip angle may be calculated to obtain the front axle sideslip angle ratio.

[0122] In step S124, the rear axle slip angle ratio is calculated based on the rear axle slip angle and the rear axle maximum slip angle.

[0123] For example, in a possible implementation manner, the ratio of the rear axle slip angle to the rear axle maximum slip angle may be calculated to obtain the rear axle slip angle ratio.

[0124] Reference Figure 1 In step S13, a second ratio of torque distribution between the front motor and the rear motor is determined according to the front axle slip angle ratio, the rear axle slip angle ratio and the first ratio.

[0125] Figure 4 is an implementation flow chart of step S13 shown in an exemplary embodiment of the present disclosure, referring to Figure 4 , determining a second ratio of torque distribution between the front motor and the rear motor according to the front axle slip angle ratio, the rear axle slip angle ratio and the first ratio, comprises:

[0126] In step S131 , the difference between the front axle slip angle ratio and the rear axle slip angle ratio is calculated.

[0127] For example, in one possible implementation, the difference between the front axle slip angle ratio and the rear axle slip angle ratio may be calculated to obtain the difference value. In one possible implementation, the ratio of the front axle slip angle ratio to the rear axle slip angle ratio may be calculated to obtain the difference value. It should be noted that the difference value may be used to describe the difference between the front axle slip angle ratio and the rear axle slip angle ratio. When implementing, those skilled in the art may use different mathematical calculation forms to describe the difference value based on needs, and the present disclosure does not limit this.

[0128] In step S132 , a second ratio of torque distribution is determined according to the difference value and the first ratio.

[0129] Figure 5 is an implementation flow chart of step S132 shown in an exemplary embodiment of the present disclosure, referring to Figure 5 , determining the second ratio of torque distribution according to the difference value and the first ratio includes:

[0130] In step S51 , the torque distribution ratio of the front motor in the first ratio is determined to obtain a third ratio.

[0131] In step S52 , the torque distribution ratio of the rear motor in the first ratio is determined to obtain a fourth ratio.

[0132] For example, when the driver's required torque is less than or equal to twice the torque capacity of the front motor, the first ratio may be 1:1. That is, the third ratio may be 50%, and the fourth ratio may be 50%.

[0133] In step S53, when the difference value indicates that the front axle slip angle ratio is greater than the rear axle slip angle ratio, the third ratio is reduced and the fourth ratio is increased. The second ratio includes the reduced third ratio and the increased fourth ratio.

[0134] Continuing with the above example, when the difference value indicates that the front axle slip angle ratio is greater than the rear axle slip angle ratio, the third ratio may be reduced so that the third ratio is less than 50%. In addition, the fourth ratio may be increased so that the fourth ratio is greater than 50%.

[0135] In step S54, when the difference value indicates that the front axle slip angle ratio is smaller than the rear axle slip angle ratio, the third ratio is increased and the fourth ratio is decreased. The second ratio includes the increased third ratio and the decreased fourth ratio.

[0136] Continuing with the above example, when the difference value indicates that the front axle slip angle ratio is smaller than the rear axle slip angle ratio, the third ratio may be increased so that the third ratio is greater than 50%. In addition, the fourth ratio may be decreased so that the fourth ratio is less than 50%.

[0137] The third ratio and the fourth ratio can be adjusted by adjusting the front motor torque value and the rear motor torque value.

[0138] For example, in one embodiment, an adjustment value of the torque distribution ratio may be determined.

[0139] As an example, the adjustment value may be a preset value.

[0140] As an example, the adjustment value may be determined according to the vehicle speed. Thus, determining the adjustment value of the torque distribution ratio includes: obtaining the vehicle speed; determining the adjustment value according to the vehicle speed, wherein the adjustment value is positively correlated with the vehicle speed.

[0141] That is to say, the correlation between the vehicle speed and the adjustment value can be determined by calibration or table building. The greater the vehicle speed, the greater the adjustment value. In this way, when the vehicle speed is high, a larger adjustment value can be used to adjust the torque distribution, thereby increasing the speed of torque adjustment.

[0142] As an example, the adjustment value may be determined according to a road adhesion coefficient. Thus, determining the adjustment value of the torque distribution ratio includes: obtaining the road adhesion coefficient of the vehicle; determining the adjustment value according to the road adhesion coefficient, wherein the adjustment value is positively correlated with the road adhesion coefficient.

[0143] That is to say, the correlation between the road adhesion coefficient and the adjustment value can be determined by calibration or table building. The larger the road adhesion coefficient, the larger the adjustment value. In this way, when the road adhesion coefficient is large, a larger adjustment value can be used to adjust the torque distribution, thereby increasing the speed of torque adjustment.

[0144] As an example, the adjustment value can also be determined according to the road adhesion coefficient and the vehicle speed. In this way, determining the adjustment value of the torque distribution ratio includes: obtaining the vehicle speed and the current road adhesion coefficient of the vehicle; determining the adjustment value according to the vehicle speed and the road adhesion coefficient, and the adjustment value is positively correlated with the vehicle speed and the road adhesion coefficient.

[0145] For example, the first adjustment value may be determined according to the vehicle speed, and the second adjustment value may be determined according to the road adhesion coefficient. In this way, the first adjustment value and the second adjustment value may be weighted (for example, the weights of the first adjustment value and the second adjustment value may be set respectively) to obtain the adjustment value.

[0146] In this way, the adjustment value can be determined by the road adhesion coefficient and the vehicle speed, thereby ensuring the accuracy of the adjustment value.

[0147] Based on the adjustment value, the third ratio and the fourth ratio may be adjusted. For example, in one embodiment, reducing the third ratio and increasing the fourth ratio includes:

[0148] According to the adjustment value, reducing the third ratio and increasing the fourth ratio;

[0149] The increasing the third ratio and decreasing the fourth ratio comprises:

[0150] According to the adjustment value, the third ratio is increased, and the fourth ratio is decreased.

[0151] Exemplarily, according to the adjustment value, reducing the third ratio and increasing the fourth ratio may mean increasing the torque corresponding to the adjustment value based on the current torque of the front motor, and reducing the torque corresponding to the adjustment value based on the current torque of the rear motor.

[0152] Reference Figure 1 In step S14, torque is distributed to the front motor and the rear motor according to the second ratio.

[0153] By adopting the above scheme, the first ratio of torque distribution between the front motor and the rear motor of the vehicle can be determined according to the torque required by the driver. In addition, the first ratio can be further adjusted according to the front axle slip angle ratio and the rear axle slip angle ratio of the vehicle to obtain the second ratio for torque distribution. In this way, the torque distribution ratio is adjusted by the front axle slip angle ratio and the rear axle slip angle ratio, so that the torque distribution method can be adaptively adjusted in different environments. In this way, the stability of the vehicle can be improved.

[0154] In addition, the above scheme can reduce the third ratio and increase the fourth ratio when the difference value indicates that the front axle slip angle ratio is greater than the rear axle slip angle ratio. When the difference value indicates that the front axle slip angle ratio is less than the rear axle slip angle ratio, the third ratio is increased and the fourth ratio is reduced. In this way, the lateral utilization rates of the front and rear axles can approach or reach the same state. In this way, the vehicle can avoid understeering or oversteering, which helps to ensure the stability of the vehicle.

[0155] It is worth noting that the above vehicle control method can be executed multiple times. For example, in each control cycle, all or part of the above vehicle control method can be executed.

[0156] Based on the same inventive concept, an embodiment of the present disclosure also provides a vehicle control device. Figure 6 is a block diagram of a vehicle control device shown in an exemplary embodiment of the present disclosure, referring to Figure 6 , the device comprises:

[0157] The first module 601 is configured to determine a first ratio of torque distribution between the front motor and the rear motor of the vehicle according to the torque required by the driver;

[0158] The second module 602 is configured to obtain a front axle slip angle ratio and a rear axle slip angle ratio of the vehicle;

[0159] A third module 603 is configured to determine a second ratio of torque distribution between the front motor and the rear motor according to the front axle slip angle ratio, the rear axle slip angle ratio and the first ratio;

[0160] The fourth module 604 is configured to distribute torque to the front motor and the rear motor according to the second ratio.

[0161] That is to say, the first ratio of torque distribution between the front motor and the rear motor of the vehicle can be determined according to the torque required by the driver. In addition, the first ratio can be further adjusted according to the front axle slip angle ratio and the rear axle slip angle ratio of the vehicle to obtain the second ratio for torque distribution. In this way, the torque distribution ratio is adjusted by the front axle slip angle ratio and the rear axle slip angle ratio, so that the torque distribution method can be adaptively adjusted in different environments. In this way, the stability of the vehicle can be improved.

[0162] Optionally, the third module 603 includes:

[0163] A first submodule is configured to calculate a difference between the front axle slip angle ratio and the rear axle slip angle ratio;

[0164] The second submodule is configured to determine a second ratio of the torque distribution according to the difference value and the first ratio.

[0165] Optionally, the second submodule includes:

[0166] A first subunit is configured to determine a torque distribution ratio of the front motor in the first ratio to obtain a third ratio;

[0167] A second subunit is configured to determine a torque distribution ratio of the rear motor in the first ratio to obtain a fourth ratio;

[0168] a third subunit, configured to reduce the third ratio and increase the fourth ratio when the difference value indicates that the front axle slip angle ratio is greater than the rear axle slip angle ratio, wherein the second ratio includes the reduced third ratio and the increased fourth ratio;

[0169] The fourth subunit is configured to increase the third ratio and decrease the fourth ratio when the difference value indicates that the front axle slip angle ratio is smaller than the rear axle slip angle ratio, wherein the second ratio includes the increased third ratio and the decreased fourth ratio.

[0170] Optionally, the device comprises:

[0171] a fifth module configured to determine an adjustment value of a torque distribution ratio;

[0172] The third subunit is configured as follows:

[0173] According to the adjustment value, reducing the third ratio and increasing the fourth ratio;

[0174] The fourth subunit is configured as follows:

[0175] According to the adjustment value, the third ratio is increased, and the fourth ratio is decreased.

[0176] Optionally, the fifth module includes:

[0177] A third submodule is configured to obtain the vehicle speed and / or the current road adhesion coefficient of the vehicle;

[0178] The fourth submodule is configured to determine the adjustment value according to the vehicle speed and / or the road adhesion coefficient, wherein the adjustment value is positively correlated with the vehicle speed and / or the road adhesion coefficient.

[0179] Optionally, the device comprises:

[0180] A first processing module is configured to determine a maximum value of a road adhesion coefficient;

[0181] A second processing module is configured to determine a current road surface utilization adhesion coefficient;

[0182] A third processing module is configured to determine the road adhesion coefficient to be the smaller one of the maximum value and the road utilization adhesion coefficient when the difference between the rear axle speed of the vehicle and the longitudinal speed of the vehicle is greater than the first target threshold;

[0183] The fourth processing module is configured to determine that the road adhesion coefficient is the maximum value when the difference between the rear axle speed and the longitudinal vehicle speed is less than or equal to the first target threshold, and the road adhesion coefficient is used to determine the front axle sideslip angle ratio and the rear axle sideslip angle ratio.

[0184] Optionally, the second module 602 includes:

[0185] A fifth submodule is configured to determine a maximum side slip angle of a front axle and a maximum side slip angle of a rear axle of the vehicle according to a current road adhesion coefficient of the vehicle;

[0186] A sixth submodule is configured to calculate a front axle slip angle and a rear axle slip angle of the vehicle;

[0187] a seventh submodule, configured to calculate the front axle sideslip angle ratio according to the front axle sideslip angle and the front axle maximum sideslip angle;

[0188] An eighth submodule is configured to calculate the rear axle slip angle ratio according to the rear axle slip angle and the rear axle maximum slip angle.

[0189] Optionally, the seventh submodule is configured as follows:

[0190] Calculating the ratio of the front axle sideslip angle to the maximum front axle sideslip angle to obtain the front axle sideslip angle ratio;

[0191] The eighth submodule is configured as follows:

[0192] The ratio of the rear axle sideslip angle to the rear axle maximum sideslip angle is calculated to obtain the rear axle sideslip angle ratio.

[0193] The present disclosure provides a vehicle, including:

[0194] processor;

[0195] a memory for storing processor-executable instructions;

[0196] The processor is configured to implement the steps of the vehicle control method provided in any embodiment of the present disclosure when executed.

[0197] An embodiment of the present disclosure provides a computer-readable storage medium having computer program instructions stored thereon. When the program instructions are executed by a processor, the steps of the vehicle control method provided in any embodiment of the present disclosure are implemented.

[0198] An embodiment of the present disclosure provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the vehicle control method provided in any embodiment of the present disclosure.

[0199] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0200] Figure 7 6 is a block diagram of a vehicle 600 according to an exemplary embodiment. For example, the vehicle 600 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0201] Reference Figure 7 , the vehicle 600 may include various subsystems, for example, an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 600 may be interconnected by wire or wireless means.

[0202] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, among others.

[0203] The perception system 620 may include several sensors for sensing information about the environment around the vehicle 600. For example, the perception system 620 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0204] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0205] The drive system 640 may include components that provide power movement for the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine can convert energy provided by the energy source into mechanical energy.

[0206] Some or all functions of the vehicle 600 are controlled by a computing platform 650. The computing platform 650 may include at least one processor 651 and a memory 652, and the processor 651 may execute instructions 653 stored in the memory 652.

[0207] The processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0208] The memory 652 may be implemented by any type of volatile or nonvolatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0209] In addition to the instructions 653 , the memory 652 may also store data, such as road maps, route information, and data such as the location, direction, and speed of the vehicle. The data stored in the memory 652 may be used by the computing platform 650 .

[0210] In the embodiment of the present disclosure, the processor 651 can execute instruction 653 to complete all or part of the steps of the above-mentioned vehicle control method.

[0211] In addition, the word "exemplary" is used in this article to represent serving as an example, instance, or diagram. Any aspect or design described as "exemplary" in this article is not necessarily understood to be advantageous compared to other aspects or designs. On the contrary, the use of the word exemplary is intended to present concepts in a specific way. As used in this article, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X includes A or B" is intended to represent any one of the natural inclusive arrangements. That is, if X includes A; X includes B; or X includes both A and B, "X includes A or B" is satisfied under any of the aforementioned examples. In addition, unless otherwise specified or clearly pointed to a singular form from the context, the articles "one" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0212] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art after reading and understanding the specification and drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components (e.g., modules) described above, unless otherwise noted, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if structurally not equivalent to the disclosed structures. In addition, although specific features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and conducive to any given or specific application. In addition, with respect to "including", "having", "having", "having", or variations thereof used in the specific embodiments or claims, such terms are intended to be inclusive in a manner similar to the term "comprising".

[0213] In addition, although terms such as "first", "second" and "third" may be used herein to describe various modules, these modules are not limited to these terms. On the contrary, these terms are only used to distinguish one module from another. Therefore, without departing from the teachings of the various examples, the first module mentioned in the examples described herein may also be referred to as the second module. In addition, the terms "first" and "second" are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description herein, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0214] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0215] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that: include: determining a first ratio of torque distribution between the front motor and the rear motor of the vehicle according to the torque demanded by the driver; Obtain the front axle slip angle ratio and the rear axle slip angle ratio of the vehicle; determining a second ratio of torque distribution between the front motor and the rear motor according to the front axle slip angle ratio, the rear axle slip angle ratio and the first ratio; distributing torque to the front motor and the rear motor according to the second ratio; The determining a second ratio of torque distribution between the front motor and the rear motor according to the front axle slip angle ratio, the rear axle slip angle ratio and the first ratio comprises: Calculating a difference between the front axle slip angle ratio and the rear axle slip angle ratio; determining a second ratio of the torque distribution according to the difference value and the first ratio; The obtaining of the front axle slip angle ratio and the rear axle slip angle ratio of the vehicle includes: Calculate the front axle slip angle and rear axle slip angle of the vehicle; Calculating the front axle slip angle ratio according to the front axle slip angle and the maximum front axle slip angle of the vehicle; The rear axle slip angle ratio is calculated according to the rear axle slip angle and the maximum rear axle slip angle of the vehicle.

2. The method according to claim 1, characterized in that Determining the second ratio of the torque distribution according to the difference value and the first ratio includes: determining a torque distribution ratio of the front motor in the first ratio to obtain a third ratio; determining a torque distribution ratio of the rear motor in the first ratio to obtain a fourth ratio; When the difference value indicates that the front axle slip angle ratio is greater than the rear axle slip angle ratio, reducing the third ratio and increasing the fourth ratio, the second ratio including the reduced third ratio and the increased fourth ratio; When the difference value indicates that the front axle slip angle ratio is smaller than the rear axle slip angle ratio, the third ratio is increased and the fourth ratio is decreased, and the second ratio includes the increased third ratio and the decreased fourth ratio.

3. The method according to claim 2, characterized in that The method comprises: Determine an adjustment value of the torque distribution ratio; The reducing the third ratio and increasing the fourth ratio comprises: According to the adjustment value, reducing the third ratio and increasing the fourth ratio; The increasing the third ratio and decreasing the fourth ratio comprises: According to the adjustment value, the third ratio is increased, and the fourth ratio is decreased.

4. The method according to claim 3, characterized in that The step of determining the adjustment value of the torque distribution ratio includes: Obtaining the vehicle speed and / or the vehicle's current road adhesion coefficient; The adjustment value is determined according to the vehicle speed and / or the road adhesion coefficient, and the adjustment value is positively correlated with the vehicle speed and / or the road adhesion coefficient.

5. The method according to any one of claims 1 to 4, characterized in that include: Determine the maximum value of the road adhesion coefficient; Determine the current road surface utilization adhesion coefficient; When the difference between the rear axle speed of the vehicle and the longitudinal speed of the vehicle is greater than a first target threshold, determining the road surface adhesion coefficient to be the smaller one of the maximum value and the road surface utilization adhesion coefficient; When the difference between the rear axle speed and the longitudinal vehicle speed is less than or equal to the first target threshold, the road adhesion coefficient is determined to be the maximum value, and the road adhesion coefficient is used to determine the front axle sideslip angle ratio and the rear axle sideslip angle ratio.

6. The method according to any one of claims 1 to 4, characterized in that The obtaining of the front axle slip angle ratio and the rear axle slip angle ratio of the vehicle includes: According to the current road adhesion coefficient of the vehicle, the maximum sideslip angle of the front axle and the maximum sideslip angle of the rear axle of the vehicle are determined.

7. The method according to claim 1, characterized in that Calculating the front axle sideslip angle ratio according to the front axle sideslip angle and the front axle maximum sideslip angle includes: Calculating the ratio of the front axle sideslip angle to the maximum front axle sideslip angle to obtain the front axle sideslip angle ratio; Calculating the rear axle slip angle ratio according to the rear axle slip angle and the rear axle maximum slip angle includes: The ratio of the rear axle sideslip angle to the rear axle maximum sideslip angle is calculated to obtain the rear axle sideslip angle ratio.

8. A vehicle control device, characterized in that: include: A first module is configured to determine a first ratio of torque distribution between the front motor and the rear motor of the vehicle according to a driver demand torque; A second module is configured to obtain a front axle slip angle ratio and a rear axle slip angle ratio of the vehicle; A third module is configured to determine a second ratio of torque distribution between the front motor and the rear motor according to the front axle slip angle ratio, the rear axle slip angle ratio and the first ratio; a fourth module configured to distribute torque to the front motor and the rear motor according to the second ratio; The third module comprises: A first submodule is configured to calculate a difference between the front axle slip angle ratio and the rear axle slip angle ratio; A second submodule is configured to determine a second ratio of the torque distribution according to the difference value and the first ratio; The second module comprises: A sixth submodule is configured to calculate a front axle slip angle and a rear axle slip angle of the vehicle; a seventh submodule, configured to calculate the front axle slip angle ratio according to the front axle slip angle and the maximum front axle slip angle of the vehicle; An eighth submodule is configured to calculate the rear axle slip angle ratio according to the rear axle slip angle and the maximum rear axle slip angle of the vehicle.

9. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to implement the method according to any one of claims 1 to 7 when executed.

10. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the method according to any one of claims 1 to 7 is implemented.

11. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 7 when being executed by a processor.

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