A vehicle control method and device, vehicle and medium

Abstract

The present disclosure provides a vehicle control method, device, vehicle and medium, which relates to the technical field of Internet of Vehicles. The method comprises: determining a control mode of a vehicle based on sensor information of the vehicle; when the control mode of the vehicle is a mode of getting rid of trouble, determining a torque parameter of the vehicle based on driving information and the sensor information of the vehicle; and controlling the vehicle based on the torque parameter. The method provided by the present disclosure determines the required torque of the vehicle based on the driving information and the sensor information when the vehicle is in the mode of getting rid of trouble, thereby realizing the collaborative control of the vehicle, optimizing the collaborative control of driving and braking in the mode of getting rid of trouble, ensuring that the high-attached side wheels will not slip, and realizing stable and rapid climbing out of trouble.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle networking technology, specifically to the field of anti-skid control system (TCS), and particularly to a vehicle control method, device, vehicle, and medium. Background Technology

[0002] The traction control system (TCS) controls the drive axle slip ratio and the speed difference between the left and right wheels. The module controlling the drive axle slip ratio is the MTC (motor torque control). When the drive axle speed exceeds the reference vehicle speed, the MTC is activated, reducing the drive axle slip ratio by decreasing torque. The module controlling the speed difference between the left and right wheels of the drive axle is the BTC (brake torque control). When the speed difference between the left and right wheels of the drive axle exceeds a certain threshold, the BTC is activated, reducing the speed difference between the left and right wheels on the same axle by applying braking force to the higher-speed wheel. Summary of the Invention

[0003] This disclosure provides a vehicle control method, device, vehicle, and medium. By determining that the vehicle is in an escape mode, the required torque of the vehicle is determined based on driving information and sensor information. Under the premise of ensuring that the driving torque is fixed, the vehicle is controlled in a coordinated manner by controlling the wheel speed difference. This achieves optimized coordinated control of driving and braking in the escape mode, ensuring that the high-attachment wheel does not slip, and achieving stable and rapid hill climbing and escape.

[0004] A first aspect of this disclosure provides a vehicle control method, which includes: determining a vehicle control mode based on vehicle sensor information; when the vehicle control mode is an escape mode, determining a vehicle torque parameter based on the vehicle's drive information and sensor information; and controlling the vehicle based on the torque parameter.

[0005] In some embodiments of this disclosure, determining the vehicle control mode based on vehicle sensor information includes: determining the road slope where the vehicle is currently located based on sensor information, including the vehicle's longitudinal acceleration and four-wheel speeds; determining the wheel speed difference based on the four-wheel speeds, where the wheel speed difference is the absolute value of the wheel speed difference between coaxial wheels; and determining the control mode based on the road slope and wheel speed difference.

[0006] In some embodiments of this disclosure, determining the road slope where the vehicle is currently located based on sensor information includes: taking the derivative of the minimum value among the four wheel speeds to obtain a first value; and determining the road slope based on the difference between the longitudinal acceleration and the first value.

[0007] In some embodiments of the present disclosure, the determining the control mode based on the road slope and the wheel speed difference comprises: determining the control mode as the escape mode, if the road slope is greater than a first threshold value and the wheel speed difference is greater than a second threshold value; determining the control mode as the normal mode, if the road slope is less than or equal to the first threshold value or the wheel speed difference is less than or equal to the second threshold value.

[0008] In some embodiments of the present disclosure, the determining the torque parameter of the vehicle based on the driving information and the sensor information of the vehicle comprises: determining a first target driving torque of the vehicle based on the driving information and the longitudinal acceleration; determining a first target braking torque of the vehicle based on the four-wheel wheel speeds, and the torque parameter comprises the first target driving torque and the first target braking torque.

[0009] In some embodiments of the present disclosure, the determining the first target driving torque of the vehicle based on the driving information and the longitudinal acceleration comprises: determining a first demand torque of the vehicle based on the driving information and the longitudinal acceleration; determining the first demand torque as the first target driving torque, if the first demand torque is less than or equal to a torque threshold value; determining the torque threshold value as the first target driving torque, if the first demand torque is greater than the torque threshold value.

[0010] In some embodiments of the present disclosure, the method further comprises: obtaining a mass of the vehicle and a tire rolling radius; determining a first coefficient according to a driving mode of the vehicle; determining the torque threshold value based on the mass of the vehicle, the tire rolling radius, the first coefficient, and the road slope.

[0011] In some embodiments of the present disclosure, the determining the first target braking torque of the vehicle based on the four-wheel wheel speeds comprises: determining a first wheel speed difference of the vehicle based on the four-wheel wheel speeds; determining a proportional part braking torque for controlling the vehicle at a current time based on the first wheel speed difference; determining an integral part braking torque for controlling the vehicle at the current time based on the first wheel speed difference and an integral part braking torque at a previous time; determining the first target braking torque as a sum of the proportional part braking torque and the integral part braking torque.

[0012] In some embodiments of the present disclosure, the vehicle comprises a first motor and a first brake for controlling the front wheels and the rear wheels, and the controlling the vehicle based on the torque parameter comprises: controlling the first motor at the first target driving torque; and controlling the first brake at the first target braking torque.

[0013] In some embodiments of the present disclosure, the determining the first target braking torque of the vehicle based on the four-wheel wheel speeds comprises: determining a second wheel speed difference of the front wheels and a third wheel speed difference of the rear wheels of the vehicle based on the four-wheel wheel speeds; determining a proportional part braking torque and an integral part braking torque for controlling the front wheels at the current time based on the second wheel speed difference and the integral part braking torque of the front wheels at the last time, respectively; determining the target braking torque for controlling the front wheels at the current time as a sum of the proportional part braking torque for controlling the front wheels and the integral part braking torque for controlling the front wheels; determining a proportional part braking torque and an integral part braking torque for controlling the rear wheels at the current time based on the third wheel speed difference and the integral part braking torque of the rear wheels at the last time, respectively; determining the target braking torque for controlling the rear wheels at the current time as a sum of the proportional part braking torque for controlling the rear wheels and the integral part braking torque for controlling the rear wheels, and the first target braking torque comprises the target braking torque for controlling the front wheels and the target braking torque for controlling the rear wheels.

[0014] In some embodiments of the present disclosure, the vehicle comprises a second motor and a second brake for controlling the front wheels, and a third motor and a third brake for controlling the rear wheels, and the controlling the vehicle based on the torque parameter comprises: controlling the second motor and the third motor at the first target driving torque; controlling the second brake at the target braking torque for controlling the front wheels, and controlling the third brake at the target braking torque for controlling the rear wheels.

[0015] In some embodiments of the present disclosure, the method further comprises: when the control mode is the normal mode, determining a second demand torque of the vehicle based on the driving information and the longitudinal acceleration; determining a second target braking torque based on the four-wheel wheel speeds; and controlling the vehicle based on the second demand torque and the second target braking torque.

[0016] The second aspect embodiment of the present disclosure provides a vehicle control device, comprising: a determination module, a control module, and an execution module, the determination module is configured to determine a control mode of a vehicle based on sensor information of the vehicle; the control module is configured to determine a torque parameter of the vehicle based on driving information and the sensor information of the vehicle when the control mode of the vehicle is a get-out-of-trouble mode; and the execution module is configured to control the vehicle based on the torque parameter.

[0017] The third aspect embodiment of the present disclosure provides a vehicle, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the method of any one of the first aspect of the present disclosure.

[0018] The fourth aspect embodiment of the present disclosure provides a non-transitory computer-readable storage medium storing computer instructions, the computer instructions being configured to cause a computer to execute the method of any one of the first aspect of the present disclosure.

[0019] To sum up, the vehicle control method, device, vehicle and medium provided by the present disclosure comprise: determining a control mode of a vehicle based on sensor information of the vehicle; when the control mode of the vehicle is a getting-out-of-trouble mode, determining a torque parameter of the vehicle based on driving information and sensor information of the vehicle; and controlling the vehicle based on the torque parameter.

[0020] The method provided by the present disclosure determines the required torque of the vehicle based on the driving information and the sensor information by judging that the vehicle is in the getting-out-of-trouble mode, controls the wheel speed difference on the premise of ensuring the fixed driving torque, thereby performing collaborative control on the vehicle, and realizes the optimization of the collaborative control of driving and braking in the getting-out-of-trouble mode, ensures that the high-attached side wheels will not slip, and realizes stable and rapid climbing out of trouble.

[0021] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings incorporated in the specification and constituting a part of the specification illustrate embodiments consistent with the present disclosure and serve together with the specification to explain the principles of the present disclosure, and do not constitute an improper limitation on the present disclosure.

[0023] Figure 1 A flowchart of a vehicle control method according to an embodiment of the present disclosure is shown in the figure;

[0024] Figure 2 A flowchart of a method for determining a control mode of a vehicle according to an embodiment of the present disclosure is shown in the figure;

[0025] Figure 3 A flowchart of a method for determining a torque parameter of a vehicle according to an embodiment of the present disclosure is shown in the figure;

[0026] Figure 4 A flowchart of a method for determining a first target driving torque according to an embodiment of the present disclosure is shown in the figure;

[0027] Figure 5 A flowchart of a method for determining a torque threshold according to an embodiment of the present disclosure is shown in the figure;

[0028] Figure 6 A flowchart of a method for determining a first target braking torque according to an embodiment of the present disclosure is shown in the figure;

[0029] Figure 7 A flowchart of a method for controlling a vehicle according to an embodiment of the present disclosure is shown in the figure;

[0030] Figure 8 A flowchart of a method for determining a first target braking torque according to an embodiment of the present disclosure is shown in the figure;

[0031] Figure 9A flowchart of a method for controlling a vehicle according to an embodiment of the present disclosure;

[0032] Figure 10 A flowchart of a method for controlling a vehicle according to an embodiment of the present disclosure;

[0033] Figure 11 An architecture diagram of a vehicle control system according to an embodiment of the present disclosure;

[0034] Figure 12 An architecture diagram of a vehicle control system according to an embodiment of the present disclosure;

[0035] Figure 13 A block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0036] Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings, in which like or similar elements or elements having the same or similar functions are denoted by the same or similar reference numerals throughout the drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present disclosure, and cannot be understood as limiting the present disclosure.

[0037] Currently, MTC and BTC in the TCS control system cannot be effectively cooperatively controlled, that is, when the vehicle is driving on a separation ramp, MTC and BTC are triggered at the same time, MTC increases the target slip ratio to ensure the driving ability of the vehicle without reducing too much torque, but the target slip ratio is high, in order to reach the target slip ratio, MTC will always request to increase the torque until the driving torque of the high-attached and low-attached wheels breaks through the limit of the road surface, causing the high-attached and low-attached wheels to slip at the same time, MTC will reduce the torque, because the wheel speed difference cannot be obtained, BTC will also reduce the brake torque, resulting in reduced driving ability of the vehicle, slower climbing, or even sliding down the slope, and climbing failure.

[0038] In summary, in order to solve the technical problems in the related art, the present disclosure provides a vehicle control method, which determines a control mode of a vehicle based on sensor information of the vehicle, determines a torque parameter of the vehicle based on driving information and sensor information of the vehicle when the control mode of the vehicle is a escape mode, and controls the vehicle based on the torque parameter. The technical solution aims to determine the required torque of the vehicle based on the driving information and the sensor information when the vehicle is in the escape mode, control the wheel speed difference under the premise that the driving torque request remains stable and the maximum driving torque is limited, and cooperatively control the vehicle, so as to optimize the cooperative control of driving and braking in the escape mode, ensure that the high-attached wheels do not slip, and realize stable and rapid climbing and escape.

[0039] The vehicle control method proposed in the present application will be described in detail below with reference to the accompanying drawings.

[0040] Figure 1 A flowchart of a vehicle control method is proposed for the embodiments of the present disclosure. As shown in the figure, the method can be executed by a terminal, specifically, a vehicle. The method can include the following steps. Figure 1

[0041] Step 101, determining a control mode of the vehicle based on sensor information of the vehicle.

[0042] In some embodiments, the sensor information of the vehicle includes longitudinal acceleration and four-wheel wheel speed of the vehicle.

[0043] In some embodiments, the control mode of the vehicle includes an escape mode and a normal mode, wherein the escape mode represents that the vehicle is on a road surface with one side high and the other side low, for example, a scene where one side is dry asphalt and the other side is ice, i.e., the vehicle is in a driving escape scene, and in the escape mode, the vehicle may have the phenomenon of simultaneous slipping of both sides of the wheels.

[0044] Step 102, when the control mode of the vehicle is the escape mode, determining a torque parameter of the vehicle based on driving information and sensor information of the vehicle.

[0045] In some embodiments, the driving information of the vehicle can include accelerator opening degree, throttle pedal opening degree, engine throttle opening degree, energy supply amount, fuel injection amount, etc., and the driving information is used to determine the driving torque of the vehicle.

[0046] In some embodiments, when the control mode of the vehicle is the escape mode, it can be determined based on the sensor information, and the vehicle is in the escape mode, indicating that the vehicle needs to control the torque to prevent the phenomenon of reduced driving ability and failed escape.

[0047] In some embodiments, determining the torque parameter of the vehicle based on the driving information and the sensor information of the vehicle can be based on the throttle pedal opening degree of the vehicle and the sensor information to determine the driving torque and the braking torque of the vehicle, respectively, and the driving torque and the braking torque together constitute the torque parameter of the vehicle.

[0048] For example, based on the throttle pedal opening degree of the vehicle and the sensor information, the maximum value of the motor request torque of the vehicle is limited, i.e., the driving torque is determined as a fixed value, based on the coaxial wheel speed difference, the wheel speed difference is closed-loop PID controlled to keep the coaxial wheel speed difference at a small value (e.g., 0 m / s), and the braking request torque is obtained, i.e., the dynamic output braking torque, to keep the wheel speed difference at a small value.

[0049] Step 103, controlling the vehicle based on the torque parameter.

[0050] ​In some embodiments, controlling the vehicle based on torque parameters can be achieved by controlling the vehicle's motor based on drive torque and by dynamically controlling the vehicle's brakes based on braking torque.

[0051] For example, the motor torque request and the brake torque request are sent to the execution module. The execution module receives the motor torque request and the brake torque request, sends them to the motor and the brake, responds to the torque request, and controls the vehicle.

[0052] In summary, the embodiments of this application determine the vehicle's control mode based on the vehicle's sensor information; when the vehicle's control mode is an escape mode, the vehicle's torque parameters are determined based on the vehicle's drive information and sensor information; and the vehicle is controlled based on the torque parameters. By determining that the vehicle is in an escape mode, the drive torque and braking torque of the vehicle are determined based on the drive information and sensor information received by the perception module. The drive torque and braking torque are used to coordinate the control of the vehicle, enabling the vehicle to climb the slope and escape the treacherous terrain stably and quickly.

[0053] Figure 2 This is a flowchart of a method for determining the control mode of a vehicle according to an embodiment of this disclosure. Figure 1 The embodiment shown, Figure 2 Yes Figure 1 Step 101 will be described in further detail. Figure 2 The illustrated embodiments may include the following steps.

[0054] Step 201: Determine the current road slope of the vehicle based on sensor information.

[0055] In some embodiments, the sensor information includes longitudinal acceleration and four-wheel speed.

[0056] For example, the perception module receives sensor information, which includes the vehicle's longitudinal acceleration and the wheel speeds of its four wheels.

[0057] In some embodiments, a first value is obtained by differentiating the minimum of the four wheel speeds, and the road slope is determined based on the difference between the longitudinal acceleration and the first value.

[0058] In some embodiments, determining the road slope based on the difference between longitudinal acceleration and a first value can be achieved by calculating the difference between the longitudinal acceleration and the first value and determining the difference as the road slope.

[0059] For example, the road slope is calculated as follows: Slope = ax - dv, where ax is the longitudinal acceleration and dv is the derivative of the wheel speed, where the wheel speed can be the lowest of the four wheel speeds of the vehicle.

[0060] Step 202: Determine the wheel speed difference of the vehicle based on the wheel speeds of the four wheels.

[0061] In some embodiments, the wheel speed difference is an absolute value of the difference between the wheel speeds of the coaxial wheels.

[0062] In some embodiments, the wheel speed difference of the vehicle includes a wheel speed difference of front wheels and a wheel speed difference of rear wheels of the vehicle, i.e., the wheel speed difference of the coaxial wheels is calculated based on the wheel speeds of the wheels on the two sides of the coaxial wheels.

[0063] In some embodiments, the vehicle is controlled by one motor and one brake, i.e., the wheel speeds of the rear wheels on the same side are the same as the wheel speeds of the front wheels on the same side, and the absolute value of the difference between the coaxial wheel speeds of the rear wheels or the front wheels is determined as the wheel speed difference.

[0064] In some embodiments, the vehicle is controlled by two motors and two brakes, i.e., the vehicle includes a motor and a brake for controlling the front wheels and a motor and a brake for controlling the rear wheels, and the wheel speed difference of the front wheels is determined based on the absolute value of the difference between the coaxial wheel speeds of the front wheels, and the wheel speed difference of the rear wheels is determined based on the absolute value of the difference between the coaxial wheel speeds of the rear wheels.

[0065] In step 203, a control mode is determined based on the road slope and the wheel speed difference.

[0066] In some embodiments, the control mode of the vehicle is determined to be the escape mode or the normal mode based on the road slope and the wheel speed difference determined in steps 201 and 202.

[0067] In some embodiments, the control mode is determined to be the escape mode when the road slope is greater than a first threshold value and the wheel speed difference is greater than a second threshold value.

[0068] In some embodiments, the vehicle is controlled by one motor and one brake, and the wheel speed difference has only one value, and the control mode is determined to be the escape mode when the road slope is greater than the first threshold value and the wheel speed difference is greater than the second threshold value.

[0069] In some embodiments, the vehicle is controlled by two motors and two brakes, and the wheel speed difference includes a wheel speed difference of the front wheels and a wheel speed difference of the rear wheels, and the control mode is determined to be the escape mode when the road slope is greater than the first threshold value and at least one of the wheel speed difference of the front wheels and the wheel speed difference of the rear wheels is greater than the second threshold value.

[0070] In some embodiments, the control mode is determined to be the normal mode when the road slope is less than or equal to the first threshold value or the wheel speed difference is less than or equal to the second threshold value.

[0071] In some embodiments, the vehicle is controlled by one motor and one brake, and the wheel speed difference is the wheel speed difference of the rear wheels, and the control mode is determined to be the normal mode when the road slope is less than or equal to the first threshold value or the wheel speed difference of the rear wheels is less than or equal to the second threshold value.

[0072] In some embodiments, the vehicle is controlled by two motors and two brakes, the wheel speed difference includes a front wheel speed difference and a rear wheel speed difference, the road slope is less than or equal to a first threshold value, or the front wheel speed difference and the rear wheel speed difference are less than or equal to a second threshold value, and it is determined that the control mode is the normal mode.

[0073] In some embodiments, the first threshold value and the second threshold value are preset constants, for example, the first threshold value can be 10%, and the second threshold value can be 3 m / s.

[0074] For example, according to the road slope and the wheel speed difference, it is determined whether the vehicle enters the escape mode, when the slope is greater than 10% and the absolute value of the wheel speed difference is greater than 3 m / s, the vehicle enters the escape mode, otherwise the slip ratio control mode is maintained.

[0075] In the above embodiments, the road slope and the wheel speed difference are determined based on sensor information, and the control mode of the vehicle is determined to be the escape mode or the normal mode according to the relationship between the slope and the wheel speed difference and the preset threshold value, so as to determine whether the vehicle needs to perform the corresponding control method.

[0076] Figure 3 A method flowchart for determining a torque parameter of a vehicle is provided for the embodiments of the present disclosure. Based on Figures 1-2 the embodiments shown, Figure 3 step 102 of Figure 1 is further described. Figure 3 The embodiments shown can include the following steps.

[0077] Step 301, determining a first target drive torque of the vehicle based on drive information and longitudinal acceleration.

[0078] In some embodiments, determining the first target drive torque of the vehicle based on the drive information and the longitudinal acceleration can be activating the MTC to control the drive torque of the vehicle in the escape mode. Specifically, the demand drive torque of the vehicle can be calculated according to the accelerator pedal opening degree in the drive information and the longitudinal acceleration, and the maximum drive torque of the vehicle itself can be calculated based on the data, and the first target drive torque is determined in the demand drive torque and the maximum drive torque.

[0079] Step 302, determining a first target brake torque of the vehicle based on four-wheel wheel speeds.

[0080] In some embodiments, determining the first target brake torque of the vehicle based on the four-wheel wheel speeds can be determining the first target brake torque of the vehicle based on the wheel speed difference of the rear wheels of the vehicle.

[0081] In some embodiments, determining the first target braking torque of the vehicle based on the four-wheel wheel speed can be determining a front wheel target braking torque and a rear wheel target braking torque of the vehicle based on a front wheel speed difference and a rear wheel speed difference of the vehicle respectively, and the first target braking torque comprises the front wheel target braking torque and the rear wheel target braking torque.

[0082] In the above embodiments, by determining the first target driving torque and the first target braking torque of the vehicle based on the driving information and the sensor information, the driving control and the braking control of the vehicle can be cooperatively performed, and the effective and stable control of the vehicle can be better achieved.

[0083] Figure 4 A flowchart of a method for determining the first target driving torque according to an embodiment of the present disclosure is shown. Based on the driving information and the longitudinal acceleration, the first demand torque of the vehicle is determined. Figures 1-3 The embodiment shown in the figure, Figure 4 is a further description of step 301. Figure 3 The embodiment shown in the figure can include the following steps. Figure 4 The embodiment shown in the figure can include the following steps.

[0084] Step 401, determining the first demand torque of the vehicle based on the driving information and the longitudinal acceleration.

[0085] In some embodiments, the first demand torque of the vehicle can be determined based on the accelerator pedal opening degree in the driving information and the longitudinal acceleration.

[0086] In some embodiments, determining the first demand torque of the vehicle based on the accelerator pedal opening degree and the longitudinal acceleration can be obtaining the first demand torque of the vehicle through a two-dimensional lookup table according to the accelerator pedal opening degree and the longitudinal acceleration.

[0087] In some embodiments, the demand torque is the driving torque of the vehicle at the current accelerator pedal opening degree and the longitudinal acceleration, which can be obtained through a two-dimensional lookup table or other ways, and the present disclosure does not limit this.

[0088] In some embodiments, the demand torque represents the torque of the vehicle at the demand target slip ratio, i.e., the demand torque of the vehicle maintained at a fixed slip ratio.

[0089] Step 402, in the case that the first demand torque is less than or equal to the torque threshold, determining the first demand torque as the first target driving torque.

[0090] In some embodiments, the torque threshold is the maximum value of the torque for controlling the vehicle, and in the case that the first demand torque is less than or equal to the torque threshold, determining the first demand torque as the first target driving torque can be determining the smaller value between the first demand torque and the torque threshold as the first target driving torque.

[0091] In step 403, in a case where the first required torque is greater than the torque threshold, the torque threshold is determined as the first target drive torque.

[0092] In some embodiments, in a case where the first required torque is greater than the torque threshold, determining the torque threshold as the first target drive torque can be determining a smaller value between the first required torque and the torque threshold as the first target drive torque.

[0093] In the above embodiments, by determining the required torque of the vehicle based on the longitudinal acceleration and the drive information, and determining a smaller value between the required torque and the torque threshold of the vehicle as the first target drive torque, the maximum value of the drive torque can be limited, so that the vehicle is not always lifted after the MTC is activated, the request torque of the vehicle is controlled at the first target drive torque, and the vehicle is prevented from slipping and failing to escape due to always being lifted.

[0094] Figure 5 The method flowchart for determining the torque threshold proposed in the embodiments of the present disclosure is based on Figures 1-4 The method further includes the following steps in the embodiment shown in the figure:

[0095] In step 501, the mass of the vehicle and the tire rolling radius are obtained.

[0096] In some embodiments, the mass of the vehicle and the tire rolling radius are related to the vehicle, and are hardware parameters of the vehicle. For example, the mass and the tire rolling radius of the vehicle can be obtained by looking up a table, i.e., according to the vehicle frame number or model number, the mass and the tire rolling radius of the vehicle are obtained based on the table.

[0097] In step 502, a first coefficient is determined according to the driving mode of the vehicle.

[0098] In some embodiments, the driving mode of the vehicle corresponds to the first coefficient, and the first coefficient is different in different driving modes. For example, the first coefficient can be obtained by looking up a table according to the current driving mode of the vehicle.

[0099] For example, when the vehicle is in a comfort mode, the first coefficient is 1.2, and when the vehicle is in a sports mode, the first coefficient is 1.3.

[0100] In step 503, the torque threshold is determined based on the mass of the vehicle, the tire rolling radius, the first coefficient, and the road slope.

[0101] In some embodiments, the torque threshold is determined based on the mass of the vehicle, the tire rolling radius, the first coefficient, and Figure 2 the road slope obtained in step 201.

[0102] In some embodiments, the torque threshold is calculated as follows: MaxDriveTorqueRequest=m*cos(Slope)*g / R*Coefficient, where: m is the vehicle mass; Slope is the road slope; g is the gravitational acceleration; R is the tire rolling radius; and Coefficient is the first coefficient.

[0103] In the above embodiments, based on the various parameters of the vehicle itself and the current road slope, the torque threshold of the vehicle can be calculated. The torque threshold is used to limit the maximum value of the target driving torque of the vehicle, thereby controlling the vehicle to prevent the torque from continuously increasing when MTC is activated, which would cause the driving torque of the high-adhesion side wheel of the vehicle to exceed the road limit and cause the high-adhesion and low-adhesion wheels to slip at the same time.

[0104] Figure 6 This is a flowchart of a method for determining a first target braking torque according to an embodiment of this disclosure. Based on Figures 1-5 The embodiment shown, Figure 6 Yes Figure 3 Step 302 is described further. The vehicle includes a first motor and a first brake that control the front and rear wheels. Figure 6 The illustrated embodiments may include the following steps.

[0105] Step 601: Determine the first wheel speed difference of the vehicle based on the four wheel speeds.

[0106] In some embodiments, the first wheel speed difference of a vehicle can be determined based on the four wheel speeds. This can be because the vehicle is controlled by a single motor, i.e., it can be front-wheel drive or rear-wheel drive. The first wheel speed difference can be the speed difference of the front wheels on the same axle or the speed difference of the rear wheels on the same axle. That is, the absolute value of the speed difference of the front wheels on the same axle or the absolute value of the speed difference of the rear wheels on the same axle is determined as the first wheel speed difference.

[0107] Step 602: Based on the first wheel speed difference, determine the proportional portion of the braking torque used to control the vehicle at the current moment.

[0108] In some embodiments, determining the proportional portion of the braking torque based on the first wheel speed difference can be as follows: if the vehicle is front-wheel drive controlled, the proportional portion of the braking torque can be determined based on the first wheel speed difference obtained from the speed difference of the front wheels on the same axle; or if the vehicle is rear-wheel drive controlled, the proportional portion of the braking torque can be determined based on the first wheel speed difference obtained from the speed difference of the rear wheels on the same axle.

[0109] For example, the speed difference of the first wheel is y, and the braking torque of the proportional portion is Kp*y, where Kp is the proportional coefficient.

[0110] Step 603: Based on the first wheel speed difference and the integral braking torque of the previous moment, determine the integral braking torque used to control the vehicle at the current moment.

[0111] In some embodiments, determining the integral braking torque based on the first wheel speed difference y and the integral braking torque of the previous moment can be based on the first wheel speed difference y and the braking torque Trq output by the integral portion of the previous moment. K-1 Determine the braking torque output by the integral part at the current moment.

[0112] For example, the speed difference in the first round is y, and the integral portion of the braking torque at the previous moment is Trq. K-1 The integral portion of the braking torque used to control the vehicle at the current moment is Trq. K-1 +Ki*y*dt, where Ki is the integral coefficient and dt is the operation period.

[0113] Step 604: The sum of the proportional braking torque and the integral braking torque is determined as the first target braking torque.

[0114] In some embodiments, the first target braking torque includes a proportional portion of the braking torque and an integral portion of the braking torque.

[0115] In the above embodiments, when the vehicle is controlled by a motor and a brake, the proportional portion of the braking torque and the integral portion of the braking torque can be calculated by the speed difference between the front and rear wheels on the same axle, and the sum of the proportional portion and the integral portion of the braking torque is determined as the first target braking torque of the vehicle.

[0116] Figure 7 This is a flowchart of a method for controlling a vehicle according to an embodiment of this disclosure. Based on Figures 1-6 The embodiment shown, Figure 7 Yes Figure 1 Step 103 is described further. The vehicle includes a first motor and a first brake that control the front and rear wheels. Figure 7 The illustrated embodiments may include the following steps.

[0117] Step 701: Control the first motor with the first target drive torque.

[0118] In some embodiments, controlling the first motor with a first target drive torque can be achieved by... Figure 4 The first target drive torque determined in the system controls the vehicle's motor and sends the first target drive torque to the vehicle's execution module. The execution module receives the first target drive torque and sends it to the motor in response to the torque request.

[0119] Step 702: Control the first brake with the first target braking torque.

[0120] In some embodiments, controlling the first brake with a first target braking torque can be achieved by... Figure 6The first target braking torque determined in the process controls the vehicle's brakes and sends the first target braking torque to the execution module. The execution module receives the braking request torque, sends it to the brakes, and responds to the torque request.

[0121] In the above embodiments, when the vehicle is controlled by one motor and one brake, by outputting a first target driving torque to the first motor and a first target braking torque to the first brake, the driving torque of the first motor is kept at the first target driving torque. The first brake applies braking torque according to the real-time first target braking torque, thereby controlling the vehicle and keeping the vehicle at a fixed first target driving torque. Closed-loop control of the braking torque is performed to optimize the coordinated control of the vehicle's driving and braking, ensuring that the high-attachment side wheels do not slip, and achieving stable and rapid hill climbing and getting out of trouble.

[0122] Figure 8 This is a flowchart of a method for determining a first target braking torque according to an embodiment of this disclosure. Based on Figures 1-5 The embodiment shown, Figure 8 Yes Figure 3 Step 302 is described further. The vehicle includes a second motor and a second brake for controlling the front wheels, and a third motor and a third brake for controlling the rear wheels. The first target braking torque includes a target braking torque for controlling the front wheels and a target braking torque for controlling the rear wheels. Figure 8 The illustrated embodiments may include the following steps.

[0123] Step 801: Based on the four wheel speeds, determine the second wheel speed difference of the front wheels and the third wheel speed difference of the rear wheels.

[0124] In some embodiments, the vehicle can be controlled by two motors or three or four motors. In the case of multi-motor control, multiple wheel speed differences need to be calculated to achieve separate control of multiple motors. The front wheel speed difference and the rear wheel speed difference both adopt the same proportional + integral form. Braking torque is calculated and controlled separately for the front axle and the rear axle. The calculation method is the same as in the single-motor case.

[0125] In some embodiments, determining the second wheel speed difference of the front wheels and the third wheel speed difference of the rear wheels based on the four wheel speeds can be done by taking the absolute value of the speed difference between the left and right sides of the front wheels as the second wheel speed difference and the absolute value of the speed difference between the left and right sides of the rear wheels as the third wheel speed difference.

[0126] Step 802: Based on the second wheel speed difference and the integral braking torque of the front wheel at the previous moment, determine the proportional braking torque and integral braking torque used to control the front wheel at the current moment.

[0127] In some embodiments, based on the second wheel speed difference, a proportional part brake torque for controlling the front wheel at the current moment can be determined.

[0128] For example, the second wheel speed difference is w, and the proportional part brake torque for controlling the front wheel is Kp*w, where Kp is a proportional coefficient.

[0129] In some embodiments, based on the second wheel speed difference and the integral part brake torque of the front wheel at the previous moment, an integral part brake torque for controlling the front wheel at the current moment can be determined.

[0130] For example, the second wheel speed difference is w, and the integral part brake torque of the front wheel at the previous moment is Then, the integral part brake torque for controlling the front wheel at the current moment is where Ki is an integral coefficient, and dt is an operation period.

[0131] Step 803: The sum of the proportional part brake torque for controlling the front wheel and the integral part brake torque for controlling the front wheel is determined as the target brake torque for controlling the front wheel at the current moment.

[0132] In some embodiments, the sum of the proportional part brake torque and the integral part brake torque obtained in step 802 is determined as the target brake torque for controlling the front wheel at the current moment.

[0133] Step 804: Based on the third wheel speed difference and the integral part brake torque of the rear wheel at the previous moment, a proportional part brake torque and an integral part brake torque for controlling the rear wheel at the current moment are respectively determined.

[0134] In some embodiments, based on the third wheel speed difference, a proportional part brake torque for controlling the rear wheel at the current moment can be determined.

[0135] For example, the third wheel speed difference is v, and the proportional part brake torque for controlling the rear wheel at the current moment is Kp*v, where Kp is a proportional coefficient.

[0136] In some embodiments, based on the third wheel speed difference and the integral part brake torque of the rear wheel at the previous moment, an integral part brake torque for controlling the rear wheel at the current moment can be determined.

[0137] For example, the third wheel speed difference is v, and the integral part brake torque of the rear wheel at the previous moment is The integral part brake torque for controlling the rear wheel at the current moment is where Ki is an integral coefficient, and dt is an operation period.

[0138] Step 805: The sum of the proportional part brake torque for controlling the rear wheel and the integral part brake torque for controlling the rear wheel is determined as the target brake torque for controlling the rear wheel at the current moment.

[0139] In some embodiments, the sum of the proportional part brake torque and the integral part brake torque for controlling the rear wheel at the current time obtained in step 804 is determined as the target brake torque for controlling the rear wheel at the current time.

[0140] In the above embodiments, when the vehicle is controlled by two motors and two brakes respectively controlling the front wheel and the rear wheel, the target brake torque for controlling the front wheel and the target brake torque for controlling the rear wheel can be calculated respectively by the wheel speed difference of the front wheel and the rear wheel, so as to achieve the brake control of the front wheel and the rear wheel respectively.

[0141] Figure 9 The method flowchart for controlling the vehicle is proposed in the embodiments of the present disclosure. Based on the embodiments shown in Figures 1-5 、 Figure 8 , Figure 9 is a further description of step 103 of Figure 1 . Figure 9 The embodiments shown in can include the following steps.

[0142] Step 901, controlling the second motor and the third motor with the first target drive torque.

[0143] In some embodiments, when the vehicle is controlled by two motors, the second motor controls the front wheel of the vehicle, and the third motor controls the rear wheel of the vehicle. The second motor and the third motor are controlled with the first target drive torque.

[0144] In some embodiments, when the vehicle is controlled by three motors or four motors, the three motors or four motors of the vehicle are controlled with the first target drive torque.

[0145] In some embodiments, controlling the second motor and the third motor with the first target drive torque can be sending the first target drive torque obtained in Figure 4 to an execution module, and the execution module receives the first target drive torque and sends it to the second motor and the third motor, so as to control the drive torque of the front wheel and the rear wheel of the vehicle.

[0146] Step 902, controlling the second brake with the target brake torque for controlling the front wheel, and controlling the third brake with the target brake torque for controlling the rear wheel.

[0147] In some embodiments, controlling the second brake with the target brake torque for controlling the front wheel can be sending the target brake torque for controlling the front wheel determined in Figure 8 to an execution module, and the execution module receives and sends it to the second brake for controlling the brake torque of the front wheel.

[0148] In some embodiments, the third brake controlled by the target brake torque of the rear wheel can be a brake controlled by the target brake torque of the rear wheel determined in the control module Figure 8 The target brake torque of the rear wheel determined in the control module is sent to the execution module, and the execution module receives and sends to the third brake for controlling the brake torque of the rear wheel.

[0149] In the above embodiments, when the vehicle is controlled by two motors and two brakes respectively controlling the front wheel and the rear wheel, the first target drive torque is output to the first motor and the second motor to control the drive torque of the front wheel and the rear wheel of the vehicle, the target brake torque for controlling the front wheel is output to the brake controlling the front wheel, and the target brake torque for controlling the rear wheel is output to the brake controlling the rear wheel to achieve separate control of the front wheel and the rear wheel, so that the vehicle remains at the first target drive torque, the brake torque is closed-loop controlled, the cooperative control of the drive and the brake of the vehicle is optimized, the high adhesion wheel is prevented from slipping, and stable and fast climbing is achieved.

[0150] Figure 10 A flowchart of a vehicle control method is provided for the embodiments of the present disclosure. Based on the embodiments shown in Figures 1-9 The method further includes the following steps.

[0151] Step 1001, when the control mode is the normal mode, the second demand torque of the vehicle is determined based on the drive information and the longitudinal acceleration.

[0152] In some embodiments, the drive information can include accelerator opening degree, throttle pedal opening degree, engine throttle opening degree, energy supply amount, fuel injection amount, etc., and the drive information is used to determine the drive torque of the vehicle.

[0153] In some embodiments, when the current road slope of the vehicle is less than or equal to a first threshold value, or the wheel speed difference is less than or equal to a second threshold value, the control mode is the normal mode, and in the normal mode, the second demand torque of the vehicle can be obtained by looking up the table based on the throttle pedal opening degree and the longitudinal acceleration.

[0154] Step 1002, the second target brake torque is determined based on the four-wheel wheel speed.

[0155] In some embodiments, the second target brake torque determined based on the four-wheel wheel speed can be a method for determining the target brake torque as shown in Figure 6 The vehicle includes the first motor and the first brake controlling the front wheel and the rear wheel, which is not repeated here.

[0156] In some embodiments, the second target brake torque determined based on the four-wheel wheel speed can be a method for determining the target brake torque as shown in Figure 8The method for determining the target braking torque in a vehicle including a second motor and a second brake controlling the front wheels, and a third motor and a third brake controlling the rear wheels, will not be described in detail here.

[0157] Step 1003: Control the vehicle based on the second required torque and the second target braking torque.

[0158] In some embodiments, controlling the vehicle based on a second demand torque and a second target braking torque may involve controlling the vehicle's first motor with the second demand torque and the vehicle's first brake with the second target braking torque, provided that the vehicle includes a first motor and a first brake for controlling the front and rear wheels.

[0159] In some embodiments, controlling the vehicle based on a second demand torque and a second target braking torque may involve controlling the second and third motors of the vehicle with the second demand torque, controlling the second brake of the vehicle with the target braking torque for controlling the front wheels (which is part of the second target braking torque), and controlling the third brake of the vehicle with the target braking torque for controlling the rear wheels, when the vehicle includes a second motor and a second brake for controlling the front wheels and a third motor and a third brake for controlling the rear wheels.

[0160] In the above embodiments, when the vehicle is in normal mode, that is, the vehicle can maintain slip ratio control mode and braking control mode, send the required torque to the motor as the motor request torque, and control the braking torque based on the wheel speed difference, so as to achieve coordinated control of drive and braking in normal mode.

[0161] In summary, the vehicle control method proposed in this disclosure can keep the drive torque request stable and limit its maximum value during the vehicle's hill climbing and extrication process; by controlling the wheel speed difference through the braking control module, the coordinated control of drive and braking is optimized to ensure that the high-attachment side wheel does not slip, thus achieving stable and rapid hill climbing and extrication.

[0162] Figure 11 This is a schematic diagram of the architecture of a vehicle control system disclosed herein, such as... Figure 11 As shown, the system includes a sensing module, a control module, and an execution module. The execution module receives torque requests from the motor and brake, sends them to the motor and brake, and responds to the torque requests.

[0163] Step 1: The sensing module receives the accelerator pedal opening and sensor information from the vehicle. The sensor information includes longitudinal acceleration and wheel speeds of the four wheels.

[0164] Step 2: Based on the longitudinal acceleration and accelerator pedal opening, obtain the required torque through a two-dimensional lookup table.

[0165] Step 3: Calculate the road surface slope and wheel speed difference based on the longitudinal acceleration and the four wheel speeds.

[0166] The calculation method of the road slope is: Slope=ax-dv, wherein ax is the longitudinal acceleration, and dv is the wheel speed derivation, and the wheel speed derivation of the lowest wheel speed among the four wheel speeds is selected; the calculation method of the wheel speed difference is: wheel speed difference=left wheel speed-right wheel speed, that is, the difference between the left and right wheel speeds of the same shaft.

[0167] Step 4, the driving torque control judges whether to enter the escape mode according to the received slope and wheel speed difference: when the slope>10% and |wheel speed difference|>3m / s, the escape mode is entered, otherwise the slip rate control mode is maintained.

[0168] Step 5, after entering the escape mode, the maximum value of the motor request torque is limited, and the motor request torque=min(driver demand torque, maximum value). The calculation method of the maximum value is: MaxDriveTorqueRequest=m*cos(Slope)*g / R*Coefficient, wherein: m is the vehicle mass; slope is the slope; g is the gravity acceleration; R is the tire rolling radius; and Coefficient is a coefficient obtained by looking up a table according to the driving mode, for example, when the vehicle is in the comfort mode, Coefficient=1.2, and when the vehicle is in the sports mode, Coefficient=1.3.

[0169] Step 6, the brake torque control receives the wheel speed difference of the same shaft and controls the wheel speed difference. The target wheel speed difference is 0m / s, when |wheel speed difference|>1m / s, the brake torque control function is activated, the brake torque is applied to the high wheel speed wheel, and the brake torque is closed-loop PID controlled according to the wheel speed difference. The PID control includes a proportional part ProportionControl and an integral part IntegralControl. The input of the proportional part is the wheel speed difference, and the output brake torque=Kp*wheel speed difference, wherein Kp is the proportional coefficient; the input of the integral part is the wheel speed difference, and the output brake torque=Trq K-1 +Ki*wheel speed difference*dt, wherein: Trq K-1 is the brake torque of the integral part at the last moment, Ki is the integral coefficient, and dt is the operation period. The brake request torque=proportional part+integral part.

[0170] Step 7, the motor request torque and the brake request torque are sent to the execution module, the execution module receives the motor and brake request torque, and sends the motor and brake request torque to the motor and brake to respond to the torque request.

[0171] Figure 12 FIG. 1 is a structural schematic diagram of a vehicle control device 1200 according to an embodiment of the present disclosure. As shown in the figure, the device includes: Figure 12

[0172] ​The determining module 1210 is configured to determine a control mode of the vehicle based on sensor information of the vehicle.

[0173] The control module 1220 is configured to determine a torque parameter of the vehicle based on driving information and the sensor information of the vehicle when the control mode of the vehicle is the escape mode.

[0174] The execution module 1230 is configured to control the vehicle based on the torque parameter.

[0175] In some embodiments, the determining module is further configured to determine a road slope in which the vehicle is currently located according to the sensor information, the sensor information comprising a longitudinal acceleration and four-wheel speeds of the vehicle; determine a wheel speed difference of the vehicle according to the four-wheel speeds, the wheel speed difference being an absolute value of a same-shaft wheel speed difference; and determine the control mode based on the road slope and the wheel speed difference.

[0176] In some embodiments, the determining module is further configured to derive a minimum value in the four-wheel speeds to obtain a first numerical value; and determine the road slope based on a difference between the longitudinal acceleration and the first numerical value.

[0177] In some embodiments, the determining module is further configured to determine that the control mode is the escape mode when the road slope is greater than a first threshold value and the wheel speed difference is greater than a second threshold value; and determine that the control mode is the normal mode when the road slope is less than or equal to the first threshold value or the wheel speed difference is less than or equal to the second threshold value.

[0178] In some embodiments, the control module is further configured to determine a first target driving torque of the vehicle based on the driving information and the longitudinal acceleration; determine a first target braking torque of the vehicle based on the four-wheel speeds, the torque parameter comprising the first target driving torque and the first target braking torque.

[0179] In some embodiments, the control module is further configured to determine a first demand torque of the vehicle based on the driving information and the longitudinal acceleration; determine the first demand torque as the first target driving torque when the first demand torque is less than or equal to a torque threshold value; and determine the torque threshold value as the first target driving torque when the first demand torque is greater than the torque threshold value.

[0180] In some embodiments, the control module is further configured to obtain a mass and a tire rolling radius of the vehicle; determine a first coefficient according to a driving mode of the vehicle; and determine the torque threshold value based on the mass and the tire rolling radius of the vehicle, the first coefficient, and the road slope.

[0181] In some embodiments, the control module is further configured to: determine a first wheel speed difference of the vehicle based on the four wheel speeds; determine a proportional part brake torque for controlling the vehicle at the current moment based on the first wheel speed difference; determine an integral part brake torque for controlling the vehicle at the current moment based on the first wheel speed difference and the integral part brake torque at the previous moment; and determine the first target brake torque as a sum of the proportional part brake torque and the integral part brake torque.

[0182] In some embodiments, the execution module is further configured to: control the first motor at the first target drive torque; and control the first brake at the first target brake torque.

[0183] In some embodiments, the control module is further configured to: determine a second wheel speed difference of front wheels and a third wheel speed difference of rear wheels of the vehicle based on the four wheel speeds; determine a proportional part brake torque and an integral part brake torque for controlling the front wheels at the current moment based on the second wheel speed difference and the integral part brake torque of the front wheels at the previous moment, respectively; determine a target brake torque for controlling the front wheels at the current moment as a sum of the proportional part brake torque for controlling the front wheels and the integral part brake torque for controlling the front wheels; determine a proportional part brake torque and an integral part brake torque for controlling the rear wheels at the current moment based on the third wheel speed difference and the integral part brake torque of the rear wheels at the previous moment, respectively; determine a target brake torque for controlling the rear wheels at the current moment as a sum of the proportional part brake torque for controlling the rear wheels and the integral part brake torque for controlling the rear wheels, and the first target brake torque comprises the target brake torque for controlling the front wheels and the target brake torque for controlling the rear wheels.

[0184] In some embodiments, the execution module is further configured to: control the second motor and the third motor at the first target drive torque; control the second brake at the target brake torque for controlling the front wheels and control the third brake at the target brake torque for controlling the rear wheels.

[0185] In some embodiments, the control module is further configured to: when the control mode is the normal mode, determine a second demand torque of the vehicle based on the driving information and the longitudinal acceleration; determine a second target brake torque based on the four wheel speeds; and control the vehicle based on the second demand torque and the second target brake torque.

[0186] As to the apparatus in the above-mentioned embodiments, the specific manners in which various modules perform operations have been described in detail in the embodiments of the method, and thus will not be described in detail here.

[0187] Figure 13is a block diagram of a vehicle 1300 according to an example embodiment. The vehicle 1300 can be a hybrid vehicle, for example, or a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. The vehicle 1300 can be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0188] Referring to Figure 13 The vehicle 1300 can include various subsystems, such as an infotainment system 1310, a perception system 1320, a decision control system 1330, a drive system 1340, and a computing platform 1350. The vehicle 1300 can include more or fewer subsystems, and each subsystem can include multiple components.

[0189] In some embodiments, the infotainment system 1310 can include a communication system, an entertainment system, a navigation system, and the like.

[0190] The perception system 1320 can include several sensors for sensing information about the environment surrounding the vehicle 1300. For example, the perception system 1320 can include a global positioning system (which can be a GPS system, a Beidou system, or other positioning system), an inertial measurement unit (IMU), a lidar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0191] The decision control system 1330 can include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0192] The drive system 1340 can include components that provide motive power for the vehicle 1300. In one embodiment, the drive system 1340 can include an engine, an energy source, a transmission system, and wheels. The engine can be one or a combination of an internal combustion engine, an electric motor, an air compression engine, or the like. The engine can convert energy provided by the energy source into mechanical energy.

[0193] Some or all of the functions of the vehicle 1300 are controlled by the computing platform 1350. The computing platform 1350 can include at least one processor 1351 and a memory 1352, and the processor 1351 can execute instructions 1353 stored in the memory 1352.

[0194] The processor 1351 can be any conventional processor, such as a commercially available CPU. The processor can also include a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0195] The memory 1352 can be implemented by any type of volatile or nonvolatile memory devices 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.

[0196] In addition to the instructions 1353, the memory 1352 can store data, such as road maps, route information, the position, direction, speed, and the like of the vehicle. The data stored by the memory 1352 can be used by the computing platform 1350.

[0197] In embodiments of the present disclosure, the processor 1351 can execute the instructions 1353 to complete all or part of the steps of the vehicle control method described above.

[0198] The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the vehicle control method provided by the present disclosure.

[0199] Further, the word "exemplary" is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as "exemplary" is not necessarily to be construed as advantageous over other aspects or designs. Rather, use of the word exemplary is intended to present concepts in a concrete manner. As used in this application, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or". That is, unless specified otherwise, or clear from context, "X employs A or B" is intended to mean any of the natural inclusive permutations. That is, if X employs A; X employs B; or X employs both A and B, then "X employs A or B" is satisfied under any of the foregoing instances. In addition, the articles "a" and "an" as used in this application and the appended claims should generally be construed to mean "one or more" unless specified otherwise or clear from context to be directed to a singular form. Thus, use of the articles in this application and the following claims is not limiting.

[0200] Likewise, although the disclosure has been illustrated and described with respect to one or more implementations, equivalent alterations and modifications will occur to others skilled in the art upon the reading and understanding of this specification and the annexed drawings. The disclosure includes all such modifications and alterations and is limited only by the scope of the following claims. In particular regard to the various functions performed by the above described components (e.g., elements, resources, etc.), the terms (including a reference to a "means") used to describe such components are intended to correspond, unless otherwise indicated, to any component which performs the specified function of the described component (e.g., a functional equivalent), even though not structurally equivalent to the disclosed structure. In addition, although a particular feature of the disclosure can have been disclosed with respect to only one of several implementations, other implementations can include the particular feature. For example, the disclosure can be implemented with respect to other implementations that incorporate the particular feature, and that implement other elements or components in a different manner. Furthermore, although the disclosure has been described in language specific to structural features, it is to be understood that the disclosure is not limited to the specific features so far described, but rather includes any and all equivalent features.

[0201] Other implementations of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. This application is intended to cover any and all alternatives, modifications and equivalents of the disclosure that are included within the scope of the disclosure as defined by the appended claims. The specification and examples given herein are intended to be illustrative only and not in a limiting sense. The true scope and spirit of the disclosure are indicated by the appended claims.

[0202] It is to be understood that the disclosure is not limited to the precise construction here described and as illustrated in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the disclosure. The scope of the disclosure is limited only by the claims appended hereto.

[0203] It should be noted that the terms "first", "second", and the like, used in the description and in the claims of the present disclosure, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of these terms in the description and in the claims of the present disclosure is merely for distinguishing between the similar elements. It is further understood that the terms "comprising", "including", "having" and the like, are meant as inclusive and not exclusive in that a process or method comprising, including or having an item or a step does not include only that item or only that step, but can also include other items or steps not specifically listed or other structural or functional similar or equivalent items. Moreover, it is to be understood that the terms "first", "second", and the like, are used in the description and in the claims of the present disclosure for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of these terms in the description and in the claims of the present disclosure is merely for distinguishing between similar elements. It is further understood that the terms "comprising", "including", "having" and the like, are meant as inclusive and not exclusive in that a process or method comprising, including or having an item or a step does not include only that item or only that step, but can also include other items or steps not specifically listed or other structural or functional similar or equivalent items. Furthermore, it is to be understood that the use of the terms "first", "second", etc., merely designate the names of similar elements, and do not necessarily limit the order or the number of the elements, unless otherwise indicated by the context.

[0204] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "certain embodiments", "an example", "a specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0205] Any process or method descriptions or descriptions of the flow diagrams in the specification or elsewhere in this document, can be understood as representing the steps of any one or more of the methods or processes, including a computer program in which the functions of each step are implemented, and the preferred embodiments of the present disclosure include additional implementations in which the functions of the steps are implemented in the order shown or discussed, including substantially simultaneously, in reverse order, or in other orders, depending on the functionality involved, as will be understood by those skilled in the art of the embodiments to which this disclosure belongs.

[0206] The logic and / or steps represented in the flow diagrams or otherwise described herein, for example, can be considered as a list of steps to be executed in a certain order, and the preferred embodiments of the present disclosure include additional implementations in which the steps are executed in an order different from that shown or discussed, including substantially simultaneously, in reverse order, or in other orders, depending on the functionality involved, as will be understood by those skilled in the art of the embodiments to which this disclosure belongs.

[0207] It should be understood that parts of the embodiments of the present disclosure can be realized by hardware, software, firmware, or a combination thereof. In the above-described embodiments, a plurality of steps or methods can be realized by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if realized by hardware, and as in another embodiment, any one or a combination of the following technologies known in the art can be used: discrete logic circuit having logic gates for implementing logic functions on data signals, application specific integrated circuit having appropriate combinational logic gates, programmable gate array (PGA), field programmable gate array (FPGA), etc.

[0208] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment method can be completed by a program instructing the relevant hardware, and the program can be stored in a computer readable storage medium. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

[0209] In addition, each functional unit in each embodiment of the present disclosure can be integrated into one processing module, or each unit can exist physically independently, or two or more units can be integrated into one module. The integrated module can be realized in the form of hardware or in the form of a software functional module. The integrated module, if realized in the form of a software functional module and sold or used as an independent product, can also be stored in a computer readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0210] Although the embodiments of the present disclosure have been shown and described above, it should be understood that the above-described embodiments are exemplary and should not be construed as limiting the present disclosure, and those skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present disclosure.

Claims

1. A vehicle control method, characterized in that, The method includes: Based on the vehicle's sensor information, the control mode of the vehicle is determined. The sensor information includes the vehicle's longitudinal acceleration and four-wheel wheel speed. The control mode of the vehicle includes an escape mode and a normal mode. The escape mode indicates that the vehicle is on a road surface with one side high adhesion and the other side low adhesion. When the vehicle's control mode is in the escape mode, the driving torque and braking torque of the vehicle are determined based on the vehicle's driving information and the sensor information. The vehicle is controlled in a coordinated manner based on the driving torque and the braking torque; The step of coordinating the control of the vehicle based on the driving torque and the braking torque includes: maintaining the driving torque at a fixed value and limiting the maximum value of the driving torque, and coordinating the control of the vehicle by controlling the wheel speed difference.

2. The method according to claim 1, characterized in that, Determining the vehicle's control mode based on the vehicle's sensor information includes: Based on the sensor information, the current road slope of the vehicle is determined, and the sensor information includes the vehicle's longitudinal acceleration and four-wheel speed. Based on the wheel speeds of the four wheels, the wheel speed difference of the vehicle is determined, and the wheel speed difference is the absolute value of the wheel speed difference of the wheels on the same axle; The control mode is determined based on the road surface slope and the wheel speed difference.

3. The method according to claim 2, characterized in that, Determining the road slope where the vehicle is currently located based on the sensor information includes: The first value is obtained by differentiating the minimum value among the four wheel speeds. The road surface slope is determined based on the difference between the longitudinal acceleration and the first value.

4. The method according to claim 2, characterized in that, The control mode determined based on the road surface slope and the wheel speed difference includes any one of the following: If the road surface slope is greater than a first threshold and the wheel speed difference is greater than a second threshold, the control mode is determined to be the escape mode. If the road surface slope is less than or equal to the first threshold, or the wheel speed difference is less than or equal to the second threshold, the control mode is determined to be the normal mode.

5. The method according to claim 2, characterized in that, Determining the vehicle's drive torque and braking torque based on the vehicle's drive information and the sensor information includes: Based on the driving information and the longitudinal acceleration, the first target driving torque of the vehicle is determined; Based on the wheel speeds of the four wheels, the first target braking torque of the vehicle is determined. The torque parameters include the first target driving torque and the first target braking torque.

6. The method according to claim 5, characterized in that, Determining the first target drive torque of the vehicle based on the drive information and the longitudinal acceleration includes: Based on the driving information and the longitudinal acceleration, the first required torque of the vehicle is determined; If the first required torque is less than or equal to the torque threshold, the first required torque is determined as the first target drive torque; If the first required torque is greater than the torque threshold, the torque threshold is determined as the first target drive torque.

7. The method according to claim 6, characterized in that, The method further includes: Obtain the vehicle's mass and tire rolling radius; Determine the first coefficient based on the vehicle's driving mode; The torque threshold is determined based on the vehicle's mass, the tire rolling radius, the first coefficient, and the road surface slope.

8. The method according to claim 5, characterized in that, Determining the first target braking torque of the vehicle based on the four wheel speeds includes: Based on the four wheel speeds, determine the first wheel speed difference of the vehicle; Based on the first wheel speed difference, determine the proportional portion of the braking torque used to control the vehicle at the current moment; Based on the first wheel speed difference and the integral braking torque of the previous moment, the integral braking torque used to control the vehicle at the current moment is determined. The sum of the proportional portion of the braking torque and the integral portion of the braking torque is determined as the first target braking torque.

9. The method according to claim 8, characterized in that, The vehicle includes a first motor and a first brake for controlling the front and rear wheels, and the coordinated control of the vehicle based on the drive torque and braking torque includes: The first motor is controlled by the first target driving torque; The first brake is controlled by the first target braking torque.

10. The method according to claim 5, characterized in that, Determining the first target braking torque of the vehicle based on the four wheel speeds includes: Based on the speeds of the four wheels, the second speed difference of the front wheels and the third speed difference of the rear wheels of the vehicle are determined; Based on the second wheel speed difference and the integral braking torque of the front wheel at the previous moment, the proportional braking torque and integral braking torque used to control the front wheel at the current moment are determined respectively. The sum of the proportional braking torque used to control the front wheels and the integral braking torque used to control the front wheels is determined as the target braking torque used to control the front wheels at the current moment. Based on the third wheel speed difference and the integral braking torque of the rear wheel at the previous moment, the proportional braking torque and integral braking torque used to control the rear wheel at the current moment are determined respectively. The sum of the proportional braking torque used to control the rear wheels and the integral braking torque used to control the rear wheels is determined as the target braking torque used to control the rear wheels at the current moment. The first target braking torque includes the target braking torque used to control the front wheels and the target braking torque used to control the rear wheels.

11. The method according to claim 10, characterized in that, The vehicle includes a second motor and a second brake controlling the front wheels, and a third motor and a third brake controlling the rear wheels. The coordinated control of the vehicle based on the drive torque and the braking torque includes: The second motor and the third motor are controlled by the first target drive torque; The second brake is controlled by a target braking torque for controlling the front wheels, and the third brake is controlled by a target braking torque for controlling the rear wheels.

12. The method according to claim 1, characterized in that, The method further includes: When the control mode is the normal mode, the second required torque of the vehicle is determined based on the driving information and the longitudinal acceleration; Based on the wheel speeds of the four wheels, the second target braking torque is determined; The vehicle is controlled based on the second required torque and the second target braking torque.

13. A vehicle control device, characterized in that, include: Determine module, control module, execution module, The determining module is used to determine the control mode of the vehicle based on the vehicle's sensor information, including the vehicle's longitudinal acceleration and four-wheel wheel speed; wherein, the vehicle's control mode includes an escape mode and a normal mode, the escape mode indicating that the vehicle is on a road surface with one side high adhesion and the other side low adhesion; The control module is used to determine the driving torque and braking torque of the vehicle based on the vehicle's driving information and the sensor information when the vehicle's control mode is the escape mode. The execution module is used to perform coordinated control of the vehicle based on the driving torque and the braking torque; The step of coordinating the control of the vehicle based on the driving torque and the braking torque includes: maintaining the driving torque at a fixed value and limiting the maximum value of the driving torque, and coordinating the control of the vehicle by controlling the wheel speed difference.

14. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to implement the method of any one of claims 1-12.

15. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-12.

Images