Vehicle control methods, devices, vehicles, storage media, and software products

Abstract

This disclosure relates to a vehicle control method, apparatus, vehicle, storage medium, and program product, belonging to the field of vehicle technology. The vehicle control method includes: in response to a user's drifting operation, determining the maximum traction force of the vehicle's rear axle; determining a recovery torque of the rear axle, the recovery torque being capable of generating a braking force greater than the maximum traction force through the wheels of the vehicle's rear axle; and controlling the vehicle's rear axle motor based on the recovery torque. Using this method, the recovery torque can be determined when the user controls the vehicle to drift, and the vehicle's rear axle motor can be controlled based on the recovery torque. Since the recovery torque can generate a braking force greater than the maximum traction force through the wheels of the vehicle's rear axle, the recovery torque can cause the rear wheels to lock up, thereby assisting the user in completing a vehicle drift.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, and more particularly to methods, apparatus, vehicles, storage media, and program products for vehicle control. Background Technology

[0002] Drifting is a driving technique that allows a vehicle to corner at high speeds by causing the rear wheels to slip. For example, a driver can turn off the vehicle's ESP (Electronic Stability Program) system and manipulate the accelerator pedal, causing the rear wheels to slip and lose lateral force, thus completing a drift. However, in some scenarios, it may be difficult for a driver to perform a drift maneuver in the relevant vehicle. Summary of the Invention

[0003] To overcome the problems existing in related technologies, this disclosure provides a method, apparatus, vehicle, storage medium, and program product for vehicle control.

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

[0005] In response to the user's control of the vehicle to perform a drifting operation, determine the maximum adhesion of the vehicle's rear axle;

[0006] Determine the recovery torque of the rear axle, the recovery torque being able to generate a braking force greater than the maximum traction force through the wheels of the vehicle's rear axle;

[0007] The rear axle motor of the vehicle is controlled based on the recovered torque.

[0008] Optionally, controlling the rear axle motor of the vehicle based on the recovered torque includes:

[0009] The target slope of the recovered torque is determined based on the vehicle speed, and the target slope is negatively correlated with the vehicle speed.

[0010] Based on the current torque of the rear axle motor, the rear axle motor is controlled to output the recovery torque according to the target slope.

[0011] Optionally, determining the target slope of the recovered torque based on the vehicle speed includes:

[0012] When the vehicle is in a stable state, the first slope is determined based on the vehicle speed;

[0013] When the vehicle is in an unstable state, a second slope is determined based on the vehicle speed. The second slope is less than the first slope. The target slope includes either the first slope or the second slope.

[0014] Optionally, the method includes:

[0015] Obtain the sideslip angle of the vehicle;

[0016] If the sideslip angle is less than a first threshold, the vehicle is determined to be in the stable state.

[0017] If the sideslip angle is greater than or equal to the first threshold, the vehicle is determined to be in the unstable state.

[0018] Optionally, determining the recovery torque of the rear axle includes:

[0019] Obtain the rolling radius of the wheels on the rear axle of the vehicle;

[0020] Based on the vehicle speed information, a target ratio is determined, wherein the target ratio is greater than 1 and is negatively correlated with the vehicle speed.

[0021] The recovery torque is calculated based on the maximum adhesion, the rolling radius, and the target ratio.

[0022] Optionally, the vehicle speed information includes the vehicle's lateral acceleration and longitudinal speed, and determining the target ratio based on the vehicle speed information includes:

[0023] If the lateral acceleration is less than the second threshold and the longitudinal vehicle speed is less than the third threshold, the target ratio is determined to be 1.5.

[0024] If the lateral acceleration is greater than or equal to the second threshold and the longitudinal vehicle speed is greater than or equal to the third threshold, the target ratio is determined to be 1.2.

[0025] Optionally, calculating the recovery torque based on the maximum adhesion, the rolling radius, and the target ratio includes:

[0026] The value of the recovery torque is obtained by calculating the product of the maximum adhesion, the rolling radius, and the target ratio.

[0027] According to a second aspect of the present disclosure, a vehicle control apparatus is provided, comprising:

[0028] The first module is configured to determine the maximum adhesion of the rear axle of the vehicle in response to a user's control of the vehicle to perform a drifting operation.

[0029] The second module is configured to determine the recovery torque of the rear axle, the recovery torque being capable of generating a braking force greater than the maximum traction force through the wheels of the vehicle's rear axle;

[0030] The third module is configured to control the rear axle motor of the vehicle based on the recovered torque.

[0031] Optionally, the third module includes:

[0032] The first submodule is configured to determine the target slope of the recovered torque based on the vehicle speed, the target slope being negatively correlated with the vehicle speed.

[0033] The second submodule is configured to control the rear axle motor to output the recovery torque according to the target slope, based on the current torque of the rear axle motor.

[0034] Optionally, the first submodule includes:

[0035] The first subunit is configured to determine a first slope based on the vehicle speed when the vehicle is in a stable state.

[0036] The second subunit is configured to determine a second slope based on the vehicle speed when the vehicle is in an unstable state, the second slope being less than the first slope, and the target slope including either the first slope or the second slope.

[0037] Optionally, the vehicle control device includes:

[0038] The fourth module is configured to acquire the sideslip angle of the vehicle;

[0039] The fifth module is configured to determine that the vehicle is in the stable state when the sideslip angle is less than a first threshold.

[0040] The sixth module is configured to determine that the vehicle is in the unstable state if the sideslip angle is greater than or equal to the first threshold.

[0041] Optionally, the second module includes:

[0042] The third submodule is configured to obtain the rolling radius of the wheels on the rear axle of the vehicle;

[0043] The fourth submodule is configured to determine a target ratio based on the vehicle speed information, wherein the target ratio is greater than 1 and the target ratio is negatively correlated with the vehicle speed.

[0044] The fifth submodule is configured to calculate the recovery torque based on the maximum adhesion, the rolling radius, and the target ratio.

[0045] Optionally, the vehicle speed information includes the vehicle's lateral acceleration and longitudinal speed, and the fourth submodule is configured as follows:

[0046] If the lateral acceleration is less than the second threshold and the longitudinal vehicle speed is less than the third threshold, the target ratio is determined to be 1.5.

[0047] If the lateral acceleration is greater than or equal to the second threshold and the longitudinal vehicle speed is greater than or equal to the third threshold, the target ratio is determined to be 1.2.

[0048] Optionally, the fifth submodule is configured as follows:

[0049] The value of the recovery torque is obtained by calculating the product of the maximum adhesion, the rolling radius, and the target ratio.

[0050] According to a third aspect of the present disclosure, a vehicle is provided, comprising:

[0051] processor;

[0052] Memory used to store processor-executable instructions;

[0053] The processor is configured to perform the steps of the method described in any of the first aspects.

[0054] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps of the method described in any of the first aspects.

[0055] According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0056] In the above scheme, in response to the user's drifting operation, the maximum traction force of the vehicle's rear axle can be determined. The recovery torque of the rear axle can also be determined, which can generate a braking force greater than the maximum traction force through the wheels of the vehicle's rear axle. Thus, the rear axle motor of the vehicle can be controlled based on the recovery torque.

[0057] Using the above method, the recovery torque can be determined when the user controls the vehicle to drift, and the rear axle motor of the vehicle can be controlled by the recovery torque. Since the recovery torque can generate a braking force greater than the maximum traction force through the wheels of the rear axle of the vehicle, the recovery torque can cause the rear wheels to lock up, thereby assisting the user in completing the vehicle drift.

[0058] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0059] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0060] Figure 1 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment.

[0061] Figure 2 This is a schematic diagram illustrating a vehicle control system according to an exemplary embodiment.

[0062] Figure 3 This is a flowchart illustrating the determination of the recovery torque of the rear axle according to an exemplary embodiment.

[0063] Figure 4 This is a flowchart illustrating an implementation of step S13 according to an exemplary embodiment.

[0064] Figure 5 This is a block diagram illustrating a vehicle control device according to an exemplary embodiment.

[0065] Figure 6 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0066] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0067] The embodiments described in the following examples of this disclosure do not represent all embodiments consistent with this disclosure.

[0068] Before introducing the vehicle control method, apparatus, vehicle, storage medium, and program product of this disclosure, the relevant scenarios of the various embodiments of this disclosure will be introduced first.

[0069] Drifting is a driving technique that achieves high-speed cornering by causing the rear wheels of a vehicle to slip laterally. For example, a driver can turn off the vehicle's ESP system and manipulate the accelerator pedal, causing the rear-wheel drive torque to exceed the road surface traction. This causes the rear wheels to slip and lose lateral force, thus enabling a drift. Alternatively, the driver can apply braking force to the rear wheels. This locks the rear wheels, causing them to lose lateral force and also resulting in a drift.

[0070] The applicant discovered that some new energy vehicles have strong regenerative braking capabilities in their motors. Theoretically, when the driver releases the accelerator, the regenerative torque generated by the motor should be sufficient to lock the wheels, thus achieving a drift. However, when the vehicle is in a drifting scenario or in a mode that could cause ESP to deactivate, the vehicle may disable the regenerative braking function or provide limited regenerative braking. In this situation, the regenerative torque is insufficient to lock the wheels, making it difficult for the driver to achieve a drift by releasing the accelerator.

[0071] Therefore, embodiments of this disclosure provide a method for vehicle control, which can be applied, for example, to a vehicle. Figure 1 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment of this disclosure, with reference to... Figure 1 The method includes:

[0072] In step S11, in response to the user's control of the vehicle to perform a drift operation, the maximum adhesion of the vehicle's rear axle is determined.

[0073] In one implementation, controlling the vehicle to drift can be an operation performed by the user switching the vehicle's driving mode to drift mode. For example, the vehicle can provide a corresponding mode switching button or shift switch. When the user triggers the button or shift switch and selects to switch to drift mode, it can be determined that the user has triggered an operation to control the vehicle to drift.

[0074] In one implementation, controlling the vehicle to drift can be done by the user turning off the ESP system. Furthermore, various operations can be set as the actions to control the vehicle to drift, depending on application requirements; this disclosure does not limit this approach.

[0075] After determining that the user is controlling the vehicle to drift, the maximum adhesion of the vehicle's rear axle can be determined.

[0076] Figure 2 This is a schematic diagram of a vehicle control system shown in an exemplary embodiment of the present disclosure, with reference to... Figure 2 The vehicle control system includes a sensing module, a control module, and an execution module. The control module includes a request module and a status module, and the execution module includes the vehicle's rear motor.

[0077] The perception module can acquire the vehicle's GPS (Global Positioning System) information, sensor information, and so on. GPS information may include the vehicle's longitudinal speed and lateral speed. Sensor information may include the vehicle's longitudinal acceleration, lateral acceleration, and wheel speeds, etc.

[0078] The sensing module can calculate the maximum adhesion force of the rear axle based on GPS information and sensor information. For example, in one embodiment, the maximum adhesion force Fx of the rear axle can be calculated using the following formula:

[0079] Fx=Mue F N .

[0080] Where Mue is the road surface adhesion coefficient, F N This refers to the load on the rear axle of the vehicle.

[0081] When calculating the road surface adhesion coefficient, the maximum value of the road surface adhesion coefficient Mue (MueMax) can be set to 1, and the maximum value of the road surface adhesion coefficient Mue can be calibrated. Furthermore, the road surface utilizes the adhesion coefficient MueUsed= Where g is the acceleration due to gravity, ax is the longitudinal acceleration read by the inertial sensor, and ay is the lateral acceleration read by the inertial sensor. The units for longitudinal and lateral acceleration are g (acceleration due to gravity).

[0082] Thus, when the rear axle speed ( When the result of subtracting the longitudinal vehicle speed Vx is greater than the first target threshold, the road adhesion coefficient Mue = min(MueMax, MueUsed), meaning the road adhesion coefficient Mue takes the smaller of MueMax and MueUsed. When the result is less than or equal to the first target threshold, the road adhesion coefficient Mue = MueMax. Here, Vrl is the left rear wheel speed, Vrr is the right rear wheel speed, and the first target threshold can be set based on requirements.

[0083] Furthermore, the rear axle load F of the vehicle can be calculated using the following formula. N :

[0084] ;

[0085] Where m is the vehicle's total mass, g is the acceleration due to gravity, a is the distance from the front axle to the vehicle's center of gravity, L is the wheelbase, and a x Let be the longitudinal acceleration, and h be the height of the center of mass.

[0086] Reference Figure 1In step S12, the recovery torque of the rear axle is determined, and the recovery torque can generate a braking force greater than the maximum adhesion through the wheels of the rear axle of the vehicle.

[0087] by Figure 2 For example, the request module can determine the target recovery torque based on the maximum rear axle adhesion, lateral acceleration, and longitudinal vehicle speed output by the sensing module. The target recovery torque can be input to the status module, which can determine the slope of the recovery torque based on the longitudinal vehicle speed and vehicle sideslip angle, and output the slope and the target recovery torque to the execution module. In this way, the execution module can control the rear motor on the vehicle's rear axle based on the slope and the target recovery torque.

[0088] Figure 3 This is a flowchart illustrating a method for determining the regenerative torque of the rear axle, as shown in an exemplary embodiment of this disclosure. (Refer to...) Figure 3 In one embodiment, determining the recovery torque of the rear axle includes:

[0089] In step S31, the rolling radius of the wheels on the rear axle of the vehicle is obtained. For example, the rolling radius of the wheels on the rear axle (rear wheels of the vehicle) can be determined based on the vehicle's data and denoted as R.

[0090] In step S32, a target ratio is determined based on the vehicle speed information. The target ratio is greater than 1 and is negatively correlated with the vehicle speed.

[0091] In one implementation, a mapping table between vehicle speed and target ratio can be established, wherein vehicle speed and target ratio are negatively correlated. For example, when the vehicle speed is high, the target ratio is low, and when the vehicle speed is low, the target ratio is high.

[0092] In one implementation, the vehicle speed information includes the vehicle's lateral acceleration and longitudinal speed. This allows for the creation of a mapping table between lateral acceleration, longitudinal speed, and the target ratio. Thus, the target ratio can be obtained by looking up the table based on the lateral acceleration and longitudinal speed.

[0093] In possible implementations, vehicle speed may also include other speeds, such as speeds in other directions, accelerations, wheel speeds, etc., or one or more of them. Accordingly, a mapping table can be established between speeds in other directions, accelerations, and wheel speeds, and the target ratio. Thus, the target ratio can be obtained by looking up the table based on the speeds in other directions, accelerations, and wheel speeds.

[0094] In this way, by setting a smaller target ratio at higher vehicle speeds and a larger target ratio at lower vehicle speeds, it is possible to avoid large vehicle slippage and improve vehicle driving safety.

[0095] Furthermore, in one embodiment, the lateral acceleration is less than a second threshold, and the longitudinal vehicle speed is less than a third threshold. Thus, the target ratio can be determined to be 1.5.

[0096] In one implementation, the lateral acceleration is greater than or equal to the second threshold, and the longitudinal vehicle speed is greater than or equal to the third threshold. Thus, the target ratio can be determined to be 1.2.

[0097] Tests have shown that setting the target ratio as described above can further improve vehicle driving safety.

[0098] Reference Figure 3 In step S33, the recovery torque is calculated based on the maximum adhesion, rolling radius, and target ratio.

[0099] As an example, the value of the recovery torque can be obtained by calculating the product of the maximum adhesion, the rolling radius, and the target ratio.

[0100] Still refer to Figure 1 In step S13, the rear axle motor of the vehicle is controlled based on the recovered torque.

[0101] Figure 4 This is a flowchart illustrating an embodiment of step S13 of this disclosure. (Refer to...) Figure 4 The control of the vehicle's rear axle motor based on regenerated torque includes:

[0102] In step S41, the target slope of the recovered torque is determined based on the vehicle speed, and the target slope is negatively correlated with the vehicle speed.

[0103] For example, a smaller target slope can be determined at higher vehicle speeds, and a larger target slope can be determined at lower vehicle speeds.

[0104] In one possible implementation, the state of the vehicle can also be determined, and the target slope can be determined based on the state of the vehicle.

[0105] For example, taking a linear two-degree-of-freedom vehicle model as an example, the sideslip angle β of the vehicle can be obtained:

[0106] ;

[0107] Where Vy is the lateral vehicle speed and Vx is the longitudinal vehicle speed. Vy and Vx can be provided by GPS or calculated from the vehicle's driving data.

[0108] Thus, if the sideslip angle is less than a first threshold, the vehicle can be determined to be in a stable state. If the sideslip angle is greater than or equal to the first threshold, the vehicle can be determined to be in an unstable state.

[0109] In addition, depending on the requirements, it is also possible to determine whether the vehicle is in a stable state based on data such as the vehicle's yaw rate and lateral acceleration. This disclosure does not limit this aspect.

[0110] The target slope can be determined based on whether the vehicle is in a stable state. For example, in one embodiment, determining the target slope for recovering torque based on the vehicle speed includes:

[0111] When the vehicle is in a stable state, the first slope is determined based on the vehicle speed;

[0112] When the vehicle is in an unstable state, a second slope is determined based on the vehicle speed. The second slope is less than the first slope. The target slope includes either the first slope or the second slope.

[0113] For example, when the vehicle speed is 80 km / h and the vehicle is in a stable state, a first slope can be determined. When the vehicle speed is still 80 km / h and the vehicle is in an unstable state, a second slope can be determined. In this case, the second slope is less than the first slope.

[0114] In other words, at the same vehicle speed, the slope determined when the vehicle is in a stable state is greater than the slope determined when the vehicle is in an unstable state. Thus, when the vehicle is in an unstable state, the relatively lower torque slope can slow down the vehicle's dynamic speed, thereby allowing the driver more reaction time.

[0115] Reference Figure 4 In step S42, based on the current torque of the rear axle motor, the rear axle motor is controlled to output recovery torque according to the target slope.

[0116] Thus, since the regenerative torque can generate braking force greater than the maximum traction force through the rear wheels of the vehicle, controlling the rear axle motor to output the regenerative torque can lock the rear wheels, thereby assisting the user in drifting. In this way, even when the vehicle is in drift mode or the ESP is off, the driver can still complete a drift by releasing the accelerator and using the regenerative torque to lock the rear wheels.

[0117] Furthermore, in one implementation, steps S11 to S13 may be performed while the vehicle's ESP is turned off.

[0118] Based on the same inventive concept, embodiments of this disclosure provide a vehicle control device. Figure 5 This is a block diagram of a vehicle control device shown in an exemplary embodiment of the present disclosure, with reference to... Figure 5 The vehicle control device includes:

[0119] The first module 501 is configured to determine the maximum adhesion of the rear axle of the vehicle in response to a user's control of the vehicle to perform a drifting operation.

[0120] The second module 502 is configured to determine the recovery torque of the rear axle, the recovery torque being capable of generating a braking force greater than the maximum traction force through the wheels of the rear axle of the vehicle.

[0121] The third module 503 is configured to control the rear axle motor of the vehicle based on the recovered torque.

[0122] Based on the above device, in response to a user's drifting operation, the maximum traction force of the vehicle's rear axle can be determined. The recovery torque of the rear axle can also be determined, which generates a braking force greater than the maximum traction force through the rear wheels. Thus, the rear axle motor of the vehicle can be controlled based on the recovery torque.

[0123] In other words, the recovery torque can be determined when the user controls the vehicle to drift, and the rear axle motor of the vehicle can be controlled by the recovery torque. Since the recovery torque can generate a braking force greater than the maximum traction force through the wheels of the rear axle of the vehicle, the recovery torque can cause the rear wheels to lock up, thereby assisting the user in completing the vehicle drift.

[0124] Optionally, the third module 503 includes:

[0125] The first submodule is configured to determine the target slope of the recovered torque based on the vehicle speed, the target slope being negatively correlated with the vehicle speed.

[0126] The second submodule is configured to control the rear axle motor to output the recovery torque according to the target slope, based on the current torque of the rear axle motor.

[0127] Optionally, the first submodule includes:

[0128] The first subunit is configured to determine a first slope based on the vehicle speed when the vehicle is in a stable state.

[0129] The second subunit is configured to determine a second slope based on the vehicle speed when the vehicle is in an unstable state, the second slope being less than the first slope, and the target slope including either the first slope or the second slope.

[0130] Optionally, the vehicle control device includes:

[0131] The fourth module is configured to acquire the sideslip angle of the vehicle;

[0132] The fifth module is configured to determine that the vehicle is in the stable state when the sideslip angle is less than a first threshold.

[0133] The sixth module is configured to determine that the vehicle is in the unstable state if the sideslip angle is greater than or equal to the first threshold.

[0134] Optionally, the second module 502 includes:

[0135] The third submodule is configured to obtain the rolling radius of the wheels on the rear axle of the vehicle;

[0136] The fourth submodule is configured to determine a target ratio based on the vehicle speed information, wherein the target ratio is greater than 1 and the target ratio is negatively correlated with the vehicle speed.

[0137] The fifth submodule is configured to calculate the recovery torque based on the maximum adhesion, the rolling radius, and the target ratio.

[0138] Optionally, the vehicle speed information includes the vehicle's lateral acceleration and longitudinal speed, and the fourth submodule is configured as follows:

[0139] If the lateral acceleration is less than the second threshold and the longitudinal vehicle speed is less than the third threshold, the target ratio is determined to be 1.5.

[0140] If the lateral acceleration is greater than or equal to the second threshold and the longitudinal vehicle speed is greater than or equal to the third threshold, the target ratio is determined to be 1.2.

[0141] Optionally, the fifth submodule is configured as follows:

[0142] The value of the recovery torque is obtained by calculating the product of the maximum adhesion, the rolling radius, and the target ratio.

[0143] This disclosure provides a vehicle, including:

[0144] processor;

[0145] Memory used to store processor-executable instructions;

[0146] The processor is configured to perform the steps of the vehicle control method provided in any embodiment of this disclosure.

[0147] This disclosure provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the vehicle control method provided in any embodiment of this disclosure.

[0148] This disclosure provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the vehicle control method provided in any embodiment of this disclosure.

[0149] Figure 6 This is a block diagram illustrating a vehicle 600 according to an exemplary embodiment. For example, vehicle 600 can be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicle. Vehicle 600 can be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0150] Reference Figure 6 The vehicle 600 may include various subsystems, such as 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. Furthermore, each subsystem and each component of the vehicle 600 can be interconnected via wired or wireless means.

[0151] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, etc.

[0152] The perception system 620 may include several sensors for sensing information about the environment surrounding the vehicle 600. For example, the perception system 620 may include a global positioning system (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0153] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0154] The drive system 640 may include components that provide powered motion to 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 internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0155] Some or all of the functions of vehicle 600 are controlled by computing platform 650. Computing platform 650 may include at least one processor 651 and memory 652, processor 651 can execute instructions 653 stored in memory 652.

[0156] Processor 651 can be any conventional processor, such as a commercially available CPU. Processors may also include graphics processing units (GPUs), field-programmable gate arrays (FPGAs), systems-on-chips (SoCs), application-specific integrated circuits (ASICs), or combinations thereof.

[0157] The memory 652 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0158] In addition to instruction 653, memory 652 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 652 can be used by computing platform 650.

[0159] In this embodiment of the disclosure, processor 651 may execute instructions 653 to complete all or part of the steps of the vehicle control method described above.

[0160] Furthermore, the term “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 compared to other aspects or designs. Rather, the use of the term “exemplary” is intended to present the concept in a concrete manner. As used herein, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise specified or clear from the context, “X applies A or B” is intended to mean any of the natural inclusive arrangements. That is, “X applies A or B” satisfies any of the foregoing instances if X applies A; X applies B; or both X applies A and B. Additionally, unless otherwise specified or clear from the context to refer to the singular form, the articles “a” and “an” as used in this application and the appended claims are generally understood to mean “one or more.”

[0161] Similarly, although this 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 upon reading and understanding this specification and the accompanying drawings. This 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 indicated, the terminology used to describe such components is intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if structurally not equivalent to the disclosed structure. Furthermore, although specific features of this 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 advantageous to any given or particular application. Moreover, with regard to the terms “comprising,” “owning,” “having,” “having,” or variations thereof as used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term “including.”

[0162] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

[0163] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

[0164] Furthermore, unless otherwise specified, features of various embodiments of this disclosure described herein may be combined with each other. As used herein, the term “and / or” includes any one of the relevant listed items and any combination of any two or more; similarly, “at least one of…” includes any one of the relevant listed items and any combination of any two or more.

[0165] Although terms such as “first,” “second,” and “third” may be used herein to describe various modules, these modules are not limited to these terms. Rather, these terms are used only to distinguish one module from another. Thus, without departing from the teachings of the examples described herein, the first module mentioned in the examples may also be referred to as the third module. Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as “first” or “second” may explicitly or implicitly include at least one of that feature. In the description herein, “multiple” means at least two, such as two, three, etc., unless otherwise explicitly specified.

Claims

1. A method for vehicle control, characterized in that, include: In response to the user's control of the vehicle to perform a drifting operation, determine the maximum adhesion of the vehicle's rear axle; Determine the recovery torque of the rear axle, the recovery torque being able to generate a braking force greater than the maximum traction force through the wheels of the vehicle's rear axle; The rear axle motor of the vehicle is controlled based on the recovered torque; Determining the recovery torque of the rear axle includes: Obtain the rolling radius of the wheels on the rear axle of the vehicle; Based on the vehicle speed information, a target ratio is determined, wherein the target ratio is greater than 1 and is negatively correlated with the vehicle speed. The recovery torque is calculated based on the maximum adhesion, the rolling radius, and the target ratio; The control of the rear axle motor of the vehicle based on the recovered torque includes: The target slope of the recovered torque is determined based on the vehicle speed, and the target slope is negatively correlated with the vehicle speed. Based on the current torque of the rear axle motor, control the rear axle motor to output the recovery torque according to the target slope; Determining the target slope of the recovered torque based on the vehicle speed includes: When the vehicle is in a stable state, the first slope is determined based on the vehicle speed; When the vehicle is in an unstable state, a second slope is determined based on the vehicle speed. The second slope is less than the first slope. The target slope includes either the first slope or the second slope.

2. The method according to claim 1, characterized in that, include: Obtain the sideslip angle of the vehicle; If the sideslip angle is less than a first threshold, the vehicle is determined to be in the stable state. If the sideslip angle is greater than or equal to the first threshold, the vehicle is determined to be in the unstable state.

3. The method according to claim 1, characterized in that, The vehicle speed information includes the vehicle's lateral acceleration and longitudinal speed. Determining the target ratio based on the vehicle speed information includes: If the lateral acceleration is less than the second threshold and the longitudinal vehicle speed is less than the third threshold, the target ratio is determined to be 1.

5. If the lateral acceleration is greater than or equal to the second threshold and the longitudinal vehicle speed is greater than or equal to the third threshold, the target ratio is determined to be 1.

2.

4. The method according to claim 1, characterized in that, The calculation of the recovery torque based on the maximum adhesion, the rolling radius, and the target ratio includes: The value of the recovery torque is obtained by calculating the product of the maximum adhesion, the rolling radius, and the target ratio.

5. A vehicle control device, characterized in that, include: The first module is configured to determine the maximum adhesion of the rear axle of the vehicle in response to a user's control of the vehicle to perform a drifting operation. The second module is configured to determine the recovery torque of the rear axle, the recovery torque being capable of generating a braking force greater than the maximum traction force through the wheels of the vehicle's rear axle; The third module is configured to control the rear axle motor of the vehicle based on the recovered torque; The second module includes: The third submodule is configured to obtain the rolling radius of the wheels on the rear axle of the vehicle; The fourth submodule is configured to determine a target ratio based on the vehicle speed information, wherein the target ratio is greater than 1 and the target ratio is negatively correlated with the vehicle speed. The fifth submodule is configured to calculate the recovery torque based on the maximum adhesion, the rolling radius, and the target ratio; The third module includes: The first submodule is configured to determine the target slope of the recovered torque based on the vehicle speed, the target slope being negatively correlated with the vehicle speed. The second submodule is configured to control the rear axle motor to output the recovery torque according to the target slope, based on the current torque of the rear axle motor. The first submodule includes: The first subunit is configured to determine a first slope based on the vehicle speed when the vehicle is in a stable state. The second subunit is configured to determine a second slope based on the vehicle speed when the vehicle is in an unstable state, the second slope being less than the first slope, and the target slope including either the first slope or the second slope.

6. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to perform the steps of the method according to any one of claims 1 to 4.

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

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

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