Vehicle control method, vehicle, device, storage medium, and program product

Abstract

The present application relates to a vehicle control method, device, vehicle, computer-readable storage medium, and computer program product, which obtains the rotation speed of a steering actuator motor in a target vehicle; compares the rotation speed with a preset rotation speed threshold to determine the working condition of the steering actuator motor; if the working condition is a target working condition, determines the protection torque of the steering actuator motor according to the rotation speed. The present application can achieve performance protection of the vehicle steering actuator motor, thereby improving the user's driving experience.

Description

Technical Field

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

[0002] In recent years, with the development of automotive electronic technology, the electric power steering system (EPS) has gradually tended to develop towards the steer-by-wire system (SBW), and the steer-by-wire system will also be more and more widely used.

[0003] When the vehicle is turning in place or at a low speed, the steering transmission ratio of the wire control system is generally much lower than that of EPS, and the steering load is also larger at this time.

[0004] At this time, if the driver turns the steering wheel abnormally and quickly, the steering execution motor is likely to operate under high torque and high speed conditions, and the excessively high torque request value is likely to cause fluctuations in the motor output torque, resulting in abnormal shaking of the hand feel, thereby affecting the driver's controllability of the vehicle and steering comfort. Summary of the invention

[0005] The embodiments of the present application provide a vehicle control method, device, vehicle, computer-readable storage medium and computer program product to achieve performance protection for the vehicle steering actuator motor, thereby improving the user driving experience, so as to at least partially solve the above-mentioned technical problems.

[0006] In order to achieve the above object, according to a first aspect of the present application, a vehicle control method is provided, comprising:

[0007] Obtaining the rotation speed of the steering actuator motor in the target vehicle;

[0008] Comparing the rotation speed with a preset rotation speed threshold to determine the working condition of the steering actuator motor;

[0009] If the operating condition is the target operating condition, the protection torque of the steering actuator motor is determined according to the rotation speed.

[0010] Optionally, comparing the rotation speed with a preset rotation speed threshold to determine the working condition of the steering actuator motor includes:

[0011] Acquiring motor parameters of the steering actuator motor, wherein the motor parameters include a maximum allowable power and a maximum allowable torque;

[0012] determining a speed threshold value according to the maximum allowable power and the maximum allowable torque;

[0013] comparing the rotation speed with the rotation speed threshold;

[0014] If the rotation speed is greater than the rotation speed threshold, it is determined that the operating condition of the steering actuator motor is the target operating condition.

[0015] Optionally, after comparing the rotation speed with the rotation speed threshold, the method includes:

[0016] If the rotation speed is less than the rotation speed threshold, determining that the operating condition of the steering actuator motor is not the target operating condition, and obtaining the steering wheel torque and steering wheel angle in the target vehicle;

[0017] determining a road feel simulation torque according to the vehicle speed, the steering wheel torque and the steering wheel angle;

[0018] A road sense motor in the target vehicle is controlled according to the road sense simulation torque.

[0019] The method further comprises:

[0020] Obtaining the speed of the target vehicle;

[0021] The step of determining the protection torque of the steering actuator motor according to the rotation speed includes:

[0022] A protection torque of the steering actuator motor is determined according to the vehicle speed and / or the rotation speed.

[0023] Optionally, determining the protection torque of the steering actuator motor according to the vehicle speed and / or the rotation speed includes:

[0024] Determine the first protection torque according to the preset correlation between the vehicle speed and the protection torque; and / or determine the second protection torque according to the preset correlation between the rotation speed and the protection torque;

[0025] A protection torque corresponding to the steering actuator motor is determined according to the first protection torque and / or the second protection torque.

[0026] Optionally, after determining the protection torque of the steering actuator motor according to the vehicle speed and / or the rotation speed, the method further comprises:

[0027] Optionally, a road sensing motor in the target vehicle is controlled according to the protection torque to increase the output torque of the road sensing motor.

[0028] Optionally, controlling a road sensing motor in the target vehicle according to the protection torque includes:

[0029] Determine a first current signal of the protection torque, and determine a second current signal of a road feel simulation torque determined based on the vehicle speed, the steering wheel torque, and the steering wheel angle;

[0030] A road sensing motor in the target vehicle is controlled according to the first current signal and the second current signal.

[0031] Optionally, controlling a road sensing motor in the target vehicle according to the first current signal and the second current signal includes:

[0032] calculating a speed difference between the speed and the speed threshold;

[0033] If the speed difference is greater than a preset difference threshold, querying a torque weight mapping table according to the speed difference, and assigning corresponding weights to the first current signal and the second current signal;

[0034] The target torque is calculated according to the first current signal, the second current signal and the corresponding weight, and the road sensing motor is controlled according to the target torque.

[0035] Optionally, before obtaining the rotation speed of the steering execution motor in the target vehicle, the method includes:

[0036] Collecting a vehicle speed test signal of the target vehicle and a rotation speed test signal of the steering execution motor;

[0037] Determining whether the vehicle speed test signal and the rotation speed test signal are within corresponding preset test ranges;

[0038] If both are within the preset test range, the rotation speed of the steering execution motor in the target vehicle is obtained.

[0039] According to a second aspect of the present application, a vehicle control device is provided, comprising:

[0040] An acquisition module, used for acquiring the rotation speed of the steering execution motor in the target vehicle;

[0041] A comparison model, used to compare the rotation speed with a preset rotation speed threshold to determine the working condition of the steering execution motor;

[0042] A determination module is used to determine the protection torque of the steering execution motor according to the rotation speed if the operating condition is the target operating condition.

[0043] According to a third aspect of the present application, a vehicle is also provided, which includes a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the above-mentioned vehicle control method.

[0044] According to a fourth aspect of the present application, a computer-readable storage medium is also provided, which includes a computer program. When the computer program is run on an electronic device, the computer program is used to enable the electronic device to execute the steps of the above-mentioned vehicle control method.

[0045] According to the fifth aspect of the present application, a computer program product is also provided, comprising a computer program, wherein the computer program is stored in a computer-readable storage medium; when a processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, so that the electronic device performs the steps of the above method.

[0046] In the vehicle control method, device, vehicle, computer-readable storage medium and computer program product of the embodiment of the present application, through the above technical solution, the target vehicle can obtain the speed of the target vehicle and the speed of the steering actuator motor. Then, the speed of the target vehicle can be compared with the preset speed threshold to determine whether the working condition of the steering actuator motor is the target working condition. If it is determined that the working condition of the steering actuator motor is the target working condition, the protection torque corresponding to the steering actuator motor can be determined to control the road sense motor in the target vehicle. Therefore, in the embodiment of the present application, the speed of the steering actuator motor is used as a detection parameter. Once it is detected that the steering actuator motor is in the target working condition, a protection torque can be generated to control the road sense motor, increase the output torque of the road sense motor, so that the user needs more hand force when operating the steering wheel, strengthen the road sense felt by the user, and avoid the influence of the driver's abnormal operation on the vehicle's controllability and steering comfort when turning the steering wheel quickly, effectively reduce the abnormal steering operation, and realize the protection of the performance of the steering actuator motor, thereby increasing the service life of the relevant parts of the vehicle steering actuator.

[0047] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0049] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0050] Figure 1 is a schematic diagram of a speed-torque curve of a steering actuator motor provided in an exemplary embodiment of the present application;

[0051] Figure 2 is a schematic diagram of the principle of a vehicle system performance limit protection system in an exemplary embodiment of the present application;

[0052] Figure 3 is a first schematic diagram of a vehicle control process provided in an exemplary embodiment of the present application;

[0053] Figure 4 is a second schematic diagram of a vehicle control process provided in an exemplary embodiment of the present application;

[0054] Figure 5 is a schematic diagram of a system performance limit protection road feel simulation system provided in an exemplary embodiment of the present application;

[0055] Figure 6 is a schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0056] Figure 7 It is a schematic diagram of the structure of the vehicle provided in the embodiment of the present application. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0058] In recent years, with the development of automotive electronic technology, the electric power steering system (EPS) has gradually developed towards the steering by wire system (SBW), and the steering by wire system has been more and more widely used. At present, the steering by wire system is increasingly used in vehicles, so that the steering wheel and the steering wheel are no longer mechanically connected, but the vehicle body and chassis structure are completely decoupled to improve the efficiency of vehicle development. The steering by wire system can not only take into account the road feel of the steering wheel, but also greatly reduce the impact vibration of the road surface. Its transmission ratio can be adjusted with speed, the steering is comfortable at low speed and stable at high speed, which effectively improves the driving comfort. In addition, the steering by wire system also has an active front wheel steering function, which can effectively improve the safety and stability of the vehicle.

[0059] like Figure 1 As shown in the figure, the torque (power)-speed curve of the vehicle's steering actuator motor is divided into two areas: constant torque area and constant power area as the speed increases within the steering actuator motor speed operating range. The boundary between the two areas is V m In the constant torque area (0~V m ), the steering actuator motor running speed is lower than V m When the steering actuator motor can run for a long time, the maximum torque it can output. As the speed increases, the power supply voltage required by the steering actuator motor also increases until the power supply voltage reaches the maximum voltage that the controller can provide. At this time, the power of the steering actuator motor d1 also gradually increases to P max Before the motor increases to the maximum power, the motor current gradually increases, the motor speed increases, and the motor torque also gradually increases. In the constant power area ( V m ~ V max , V max The maximum speed of the steering motor is higher than V m When the motor power remains constant in the constant power area, the motor speed increases and the only way to keep the motor running is to continue to reduce the motor q-axis current. At this time, the motor current decreases and the motor torque also gradually decreases.

[0060] It can be seen that when the vehicle is stationary or running at a low speed, if the driver makes an abnormal operation and turns the steering wheel quickly, the steering execution motor is prone to high-torque and high-speed operating conditions. When the speed increases to the constant power zone, the excessively high torque request value is likely to cause fluctuations in the motor output torque, resulting in abnormal shaking of the hand feel, thereby affecting the driver's controllability of the vehicle and steering comfort. Therefore, it is necessary to provide extreme protection for the system performance.

[0061] Therefore, in order to solve the above problems, the present application proposes a vehicle control method, device, vehicle, computer-readable storage medium and computer program product, which aim to achieve extreme protection for the performance of the vehicle's wire-controlled steering system, increase the output torque of the road sense motor, enhance the road feel felt by the driver, and thereby reduce abnormal steering operation of the steering wheel, thereby realizing the extreme protection function of the performance of the wire-controlled steering system.

[0062] Specifically, Figure 2 As shown, the system performance limit protection system in the present application is composed of at least a TAS-1 sensor, a road sense motor, a road sense main controller, a steering execution main controller, a reducer, a steering execution motor, and a TAS-2 sensor.

[0063] Among them, the TAS-1 sensor inputs the actual steering wheel angle signal to the road sense main controller; the road sense motor is mainly responsible for receiving instructions from the road sense main controller to realize the road sense simulation function; the road sense main controller receives the TAS-1 sensor signal and the steering execution main controller signal, and is mainly responsible for signal transmission and reception and algorithm processing and operation; the steering execution main controller receives the signal from the TAS-2 sensor and the road sense main controller signal, and is mainly responsible for signal transmission and reception and the execution of control instructions; the steering execution motor is responsible for receiving control instructions from the steering execution main controller to realize front wheel steering; the TAS-2 sensor inputs the pinion angle signal to the steering execution main controller; the steering execution main controller is responsible for reading the required signals collected by the TAS-2 sensor and the steering execution motor, and sending the signals to the road sense main controller through the CAN bus; the road sense main controller processes and calculates the signal from the steering execution main controller to determine whether the system needs performance limit protection. If necessary, it outputs the system performance limit protection torque to the road sense motor, increases the output torque of the road sense motor, strengthens the road sense felt by the driver, and thus reduces abnormal steering operations, so that the performance of the steering execution motor can be protected and the service life of the relevant components of the vehicle steering actuator can be increased.

[0064] On this basis, the vehicle control method in the embodiment of the present application can be applied to the target vehicle, and specifically can be applied to the road sensing main controller in the target vehicle. The vehicle control method in this embodiment can at least include the following steps:

[0065] S10, obtaining the rotation speed of the steering actuator motor in the target vehicle;

[0066] In this embodiment, the target vehicle may collect the rotation speed of the steering execution motor in the target vehicle.

[0067] In addition, the target vehicle can also collect its current speed through a speed sensor.

[0068] Specifically, for example, the road sense main controller in the target vehicle can serve as the specific executor of the present application. The road sense main controller can receive the vehicle speed collected by the vehicle speed sensor, and the steering execution main controller can read the rotational speed collected by the steering execution motor itself and send it to the road sense main controller, so that the road sense main controller can obtain the vehicle speed of the target vehicle and the rotational speed of the steering execution motor.

[0069] S20, comparing the rotation speed with a preset rotation speed threshold to determine the working condition of the steering actuator motor;

[0070] In this embodiment, after acquiring the rotation speed of the target vehicle and the rotation speed of the steering actuator motor, the road sense main controller may first compare the rotation speed of the target vehicle with a preset rotation speed threshold.

[0071] If it is determined that the speed of the target vehicle is greater than or equal to the above-mentioned speed threshold, it means that at this time, due to the excessive speed of the execution motor, when the speed increases to the constant power zone, the excessively high torque request value will easily cause fluctuations in the motor output torque, resulting in abnormal shaking of the hand feel, thereby affecting the driver's controllability and steering comfort of the entire vehicle. Therefore, this embodiment can use the speed threshold as a reference value for whether to perform extreme protection on the vehicle system performance.

[0072] S30: If the operating condition is the target operating condition, determining a protection torque of the steering actuator motor according to the rotation speed.

[0073] It should be noted that, in this embodiment, the target operating condition may specifically be an operating condition in which the vehicle system requires performance protection, so that after the vehicle determines that the operating condition of the steering actuator motor is a target operating condition requiring performance protection, the protection torque of the steering actuator motor can be determined based on the above-mentioned speed.

[0074] Specifically, for example, in this embodiment, if the road sense main controller determines that the speed is greater than or equal to the preset speed threshold, the road sense main controller can determine that the vehicle system performance limit protection is currently required. At this time, the road sense main controller can determine the protection torque corresponding to the steering execution motor according to the speed of the steering execution motor of the target vehicle.

[0075] In one embodiment, the present embodiment may further include:

[0076] Obtaining the speed of the target vehicle;

[0077] On this basis, in the above S30, "determining the protection torque of the steering execution motor according to the rotation speed" may include:

[0078] S301, determining a protection torque of the steering actuator motor according to the vehicle speed and / or the rotation speed.

[0079] In this embodiment, the road sense main controller can determine the protection torque according to at least one of the vehicle speed or the rotational speed of the execution motor. The specific situation can be determined according to the difference between the rotational speed and the rotational speed threshold. If the difference between the two is too large, it means that the rotational speed is too large at this time. At this time, in order to protect the system and avoid abnormal shaking of the steering wheel, the protection torque corresponding to the steering execution motor can be determined based on the speed of the target vehicle and the rotational speed of the steering execution motor. The subsequent embodiments will explain in detail.

[0080] Further, after the above S301, "determining the protection torque of the steering execution motor according to the vehicle speed and / or the rotation speed", it may also include:

[0081] S302: Control a road sensing motor in the target vehicle according to the protection torque to increase an output torque of the road sensing motor.

[0082] In this embodiment, after the road sense main controller determines the protection torque according to at least one of the vehicle speed and the rotation speed of the steering actuator motor, the road sense motor can be controlled according to the protection torque.

[0083] Specifically, for example, the road sense main controller can send the current signal corresponding to the protection torque to the current driver, which controls the output torque of the road sense motor, thereby increasing the output of the road sense motor, increasing the driver's hand force, and reducing abnormal steering operations. In this way, the performance of the steering actuator motor can be protected and the service life of related components of the vehicle steering actuator can be increased.

[0084] Therefore, in this embodiment, the target vehicle can obtain the speed of the target vehicle and the speed of the steering actuator motor. Furthermore, the speed of the target vehicle can be compared with the preset speed threshold to determine whether the steering actuator motor is in a working condition requiring performance protection. If it is determined that the steering actuator motor needs performance protection, the protection torque corresponding to the steering actuator motor can be determined, so as to use the protection torque to control the road sense motor in the target vehicle. Therefore, in the embodiment of the present application, the speed of the steering actuator motor is used as a detection parameter. Once it is detected that the steering actuator motor needs performance protection, a protection torque can be generated to control the road sense motor, increase the output torque of the road sense motor, and require greater hand force when the user operates the steering wheel, thereby enhancing the road sense felt by the user, and avoiding the impact of the driver's abnormal operation of turning the steering wheel quickly on the vehicle's handling and steering comfort, effectively reducing abnormal steering operations, and realizing protection of the performance of the steering motor, thereby increasing the service life of the vehicle's steering actuator related components.

[0085] In one embodiment, in the above S20, “comparing the rotation speed with a preset rotation speed threshold to determine the working condition of the steering actuator motor” may include:

[0086] S201, acquiring motor parameters of the steering actuator motor, wherein the motor parameters include a maximum allowable power and a maximum allowable torque;

[0087] S202, determining a speed threshold according to the maximum allowable power and the maximum allowable torque;

[0088] S203, comparing the rotation speed with the rotation speed threshold;

[0089] S204: If the rotation speed is greater than the rotation speed threshold, determining that the operating condition of the steering actuator motor is the target operating condition.

[0090] In this embodiment, after obtaining the speed of the target vehicle and the rotation speed of the steering actuator motor, the road sense main controller needs to determine whether the steering actuator motor is in a performance protection condition, that is, whether the performance of the steering actuator motor needs to be protected.

[0091] Before the road sense main controller compares the rotation speed of the steering motor with the rotation speed threshold, the rotation speed threshold may be calculated in advance.

[0092] Specifically, for example, the road sense main controller can send a control instruction to the steering execution main controller, and the steering execution main controller sends the control instruction to the steering execution motor so that the steering execution motor can return to its maximum power. P max and maximum torque T c to the road sense main controller. Then, according to the maximum power P max and maximum torque T c. Calculate the speed threshold, for example, .

[0093] Furthermore, after calculating the speed threshold, the road sense main controller can compare the speed of the steering motor with the speed threshold.

[0094] If it is detected that the speed is greater than the speed threshold, it means that the speed of the actuator motor is too high at this time, and the speed has increased to the constant power zone. The excessively high torque request value causes fluctuations in the motor output torque, resulting in abnormal shaking of the hand feel, which seriously affects the driver's controllability and steering comfort of the vehicle. At this time, it can be determined that the steering actuator motor needs performance protection to ensure the stability of the steering actuator motor output torque and extend the service life of related components of the system vehicle steering actuator mechanism.

[0095] Furthermore, after the above S203, “comparing the rotation speed with the rotation speed threshold”, the following may also be included:

[0096] S204, if the rotation speed is less than the rotation speed threshold, determining that the operating condition of the steering actuator motor is not the target operating condition, and obtaining the steering wheel torque and steering wheel angle in the target vehicle;

[0097] S205, determining a road feel simulation torque according to the vehicle speed, the steering wheel torque and the steering wheel angle;

[0098] S206: Control a road sense motor in the target vehicle according to the road sense simulation torque.

[0099] In this embodiment, according to the above description, when the road feel control sensor detects that the speed is greater than or equal to the speed threshold, it means that the speed of the execution motor is too high, resulting in abnormal shaking of the hand feeling, which seriously affects the driver's controllability and steering comfort of the whole vehicle. If the road feel control sensor detects that the speed is less than the speed threshold, such as Figure 2 As shown, at this time, the speed of the steering actuator motor is between 0 and V m The steering actuator motor runs stably, and there is no excessive consumption condition of high torque and high speed. Therefore, the road feel control sensor does not need to apply a protective torque to the steering actuator motor.

[0100] In this case, if Figure 2 As shown, the road sense main controller can directly control the TAS-1 sensor to collect steering wheel torque and steering wheel angle. Furthermore, the road sense simulation torque can be calculated according to the speed, steering wheel torque and steering wheel angle of the target vehicle, and the road sense motor can be controlled by using the road sense simulation torque, so that the road sense motor receives the instructions sent by the road sense main controller to realize the road sense simulation function, provide the driver with rich road sense information, and enhance driving safety and comfort.

[0101] Specifically, for example, the road sense main controller can define a road sense torque model in advance according to the vehicle dynamics and steering system characteristics, including the vehicle's stability, steering gradient, road conditions, etc., and then establish a control strategy (such as a PID controller or other control strategy). On this basis, the control algorithm and the road sense model can be used to calculate the road sense simulation torque according to the target vehicle's speed, steering wheel torque and steering wheel angle. The specific calculation method can refer to the existing road sense simulation torque calculation process, which will not be repeated here.

[0102] Therefore, in the present embodiment, different road sense motor control methods are adopted for the working conditions where the steering actuator motor needs performance protection and the working conditions where the steering actuator motor does not need performance protection. Only when the user triggers an excessively high torque request value based on the steering wheel, causing the motor output torque to fluctuate, is the protection torque determined based on the vehicle speed and the speed of the steering actuator motor to protect the performance of the steering actuator motor. Otherwise, the road sense simulation torque can be directly calculated to control the road sense motor, which not only effectively protects the vehicle system performance, but also increases the service life of the vehicle steering actuator related components. In addition, since the speed characteristics of the steering actuator motor itself are used to determine whether performance protection is needed, the performance protection response efficiency under abnormal conditions is also effectively improved.

[0103] In one embodiment, in the above S301, “determining the protection torque of the steering actuator motor according to the vehicle speed and / or the rotation speed” may include:

[0104] S3011, determining a first protection torque according to a preset correlation between the vehicle speed and the protection torque; and / or determining a second protection torque according to a preset correlation between the rotation speed and the protection torque;

[0105] S3012: Determine a protection torque corresponding to the steering actuator motor according to the first protection torque and / or the second protection torque.

[0106] In this embodiment, according to the above description, the road sense main controller can determine the protection torque according to at least one of the vehicle speed or the rotation speed of the execution motor.

[0107] In a specific embodiment, this embodiment can simultaneously utilize the rotational speed of the target vehicle and the rotational speed of the steering actuator motor to determine the protection torque for performance protection of the steering actuator motor, that is, the road sense main controller can determine the first protection torque based on the correlation between the vehicle speed and the protection torque, and determine the second protection torque based on the correlation between the rotational speed and the protection torque.

[0108] Among them, the correlation between the above-mentioned vehicle speed and the protection torque can be specifically in a tabular form, in which each vehicle speed (or each vehicle speed range) has a corresponding first protection torque; and the correlation between the speed of the above-mentioned steering execution motor and the protection torque can also be specifically in a tabular form, in which each speed (or each speed range) has a corresponding second protection torque.

[0109] On this basis, the road sense main controller can determine the protection torque corresponding to the steering execution motor according to the first protection torque and the second protection torque queried above.

[0110] For example, the road sense main controller may sum the first protection torque and the second protection torque to obtain a protection torque for protecting the performance of the steering execution motor.

[0111] In another embodiment, the road sense main control may also apply only the first protection torque or the second protection torque to the road sense motor according to the actual working conditions. For example, when the difference between the speed and the speed threshold is less than the preset difference range, it means that although the speed of the steering actuator motor is relatively high at this time, it has not seriously affected the steering operation stability. At this time, the road sense main controller may only query the first protection torque or the second protection torque to apply to the road sense motor (since the second protection torque is actually determined based on the speed of the steering actuator motor, this embodiment preferentially controls the road sense motor according to the second protection torque, and the control is more precise); or, in order to improve the response efficiency, the road sense main controller may also directly collect the vehicle speed and apply the corresponding protection torque to the road sense motor.

[0112] Therefore, in this embodiment, the steering actuator motor torque, steering actuator motor speed and vehicle speed in the steering actuator assembly of the wire-controlled steering system can be used as inputs to the system performance limit protection algorithm, and the motor speed threshold is determined based on the maximum power and maximum torque of the steering actuator motor in the steering actuator assembly; by comparing the actual speed of the steering actuator motor with the motor speed threshold, it is determined whether the wire-controlled steering system needs performance protection; the system performance limit protection torque is determined by looking up the table according to the actual motor speed of the steering actuator motor; the protection torque required for the system related to the vehicle speed is determined by looking up the table based on the vehicle speed and the system performance limit protection torque; in this way, the torque ultimately applied to the road sense motor can be determined, so that the driver feels obvious resistance when operating the steering wheel, which enhances the road feel felt by the driver and can also remind the driver to reduce abnormal steering operations.

[0113] In one embodiment, before the above S10, "obtaining the speed of the target vehicle and the speed of the steering actuator motor in the target vehicle", the following steps may also be included:

[0114] S40, collecting a vehicle speed test signal of the target vehicle and a rotation speed test signal of the steering actuator motor;

[0115] S50, determining whether the vehicle speed test signal and the rotation speed test signal are within corresponding preset test ranges;

[0116] S60: If both are within the preset test range, obtaining the rotation speed of the steering execution motor in the target vehicle is executed.

[0117] When the target vehicle is initialized, for example, when the vehicle is started, the system can be initialized to detect whether the target vehicle is in normal working condition. In this embodiment, the road sense main controller can collect the vehicle speed test signal of the target vehicle and the speed test signal of the steering actuator motor. Then, it can be determined whether the vehicle speed test signal and the speed test signal correspond to the preset test range.

[0118] In addition, the road sense controller can also check the validity of the signals collected by TAS-1 and TAS-2, and check whether the CAN communication status is normal. If the signals are within the corresponding test range, the system initialization is completed. After the system is initialized, the speed of the target vehicle and the speed of the steering execution motor can be obtained normally, and it can be determined whether the steering execution requires performance protection.

[0119] In an embodiment, the preset test range can indicate that the vehicle speed test signal and the rotational speed test signal are valid. Subsequently, the corresponding protection torque can be determined according to the effective vehicle speed and the rotational speed of the steering execution motor to improve the vehicle control accuracy and ensure the controllability and steering comfort of the entire vehicle.

[0120] In one embodiment, in the above S302, “controlling the road sensing motor in the target vehicle according to the protection torque” may include:

[0121] S3021, determining a first current signal of the protection torque, and determining a second current signal of a road feel simulation torque determined based on the vehicle speed, the steering wheel torque, and the steering wheel angle;

[0122] S3022: Control a road sensing motor in the target vehicle according to the second current signal and the second current signal.

[0123] In this embodiment, according to the above description, the road sense main controller can directly control the TAS-1 sensor to collect the steering wheel torque and steering wheel angle. Further, the road sense simulation torque can be calculated according to the speed, steering wheel torque and steering wheel angle of the target vehicle.

[0124] On this basis, the road sense main controller can send the road sense simulation torque and the protection torque to the current driver, through which the first current signal of the protection torque and the second current signal of the road sense simulation torque are determined.

[0125] Furthermore, the output torque of the road sensing motor can be controlled according to the second current signal and the second current signal.

[0126] Furthermore, in the above S3022, “controlling the road sensing motor in the target vehicle according to the second current signal and the second current signal” may include:

[0127] Step a, calculating the speed difference between the speed and the speed threshold;

[0128] Step b: if the speed difference is greater than a preset difference threshold, querying a torque weight mapping table according to the speed difference, and assigning corresponding weights to the first current signal and the second current signal;

[0129] Step c: calculating a target torque according to the first current signal, the second current signal and corresponding weights, and controlling the road sensing motor according to the target torque.

[0130] It can be understood that in this embodiment, the speed difference between the speed and the speed threshold is too large, which means that the speed is too large at this time. In order to protect the system performance to the greatest extent and avoid abnormal jitter during vehicle steering, the speed difference can be compared with the preset difference threshold.

[0131] If the speed difference is greater than the preset difference threshold, it means that the steering actuator motor is at an abnormally high speed and high torque at this time, and the system is in an extreme working condition. At this time, simply merging the first current signal and the second current signal still cannot completely eliminate the risk of steering actuator motor loss. Therefore, in this embodiment, the torque weight mapping table can be queried according to the speed difference to obtain the weights corresponding to the first current signal and the second current signal, wherein in the torque weight mapping table, each speed difference (or each speed difference range) has a corresponding weight value. Furthermore, the road sense main controller can use the sum of the products of each current signal and its corresponding weight to control the road sense motor, so that the road sense motor receives the instructions sent from the road sense main controller to realize the road sense simulation function, provide the driver with rich road sense information, and enhance driving safety and comfort.

[0132] In a specific embodiment, Figure 4 As shown, the vehicle control method in the embodiment of the present application may at least include:

[0133] Step 1: Initialize the system, check the validity of the system TAS sensor signal and vehicle speed signal, and whether the CAN communication status is normal.

[0134] Step 2: Obtain the vehicle speed signal, and obtain the motor torque and motor speed signals through the steering actuator motor itself.

[0135] Step 3: Execute the maximum power of the motor according to the direction of rotation P max and maximum torque T c To determine the motor speed threshold, maximum power P max , Maximum torque T c The motor speed threshold V m There are the following relationships between them:

[0136]

[0137] Step 4: Compare the actual speed of the steering actuator motor with the speed threshold of the steering actuator motor to determine whether the steer-by-wire system requires performance limit protection.

[0138] Step 5: When the actual speed of the steering execution motor exceeds the motor speed threshold, the performance limit protection torque is calculated, and the performance limit protection torque related to the motor speed is obtained by looking up the motor speed table.

[0139] Step 6: According to the current vehicle speed obtained and the performance limit protection torque related to the motor speed, a table is looked up to determine the performance limit protection torque related to the vehicle speed.

[0140] In another embodiment, if Figure 5 As shown, the present application also proposes a road sense simulation system, which is mainly composed of a SBW sensor group 1, a road sense main controller 2, a current driver 3 and a road sense motor 4.

[0141] The signal of SBW sensor group 1 is input to the road sense main controller 2 through CAN bus. When the system needs performance limit protection, the road sense main controller 2 calculates the protection torque through SBW road sense simulation module and performance limit protection torque calculation module, sends current instruction to current driver 3, and current driver 3 applies current to road sense motor 4. Finally, the SBW has the best road sense simulation performance when the vehicle is in place or turning at low speed, improving the controllability and driving experience of the whole vehicle.

[0142] The SBW sensor group mainly includes vehicle speed sensor, TAS-1 sensor, TAS-2 sensor, etc.

[0143] The SBW road feel simulation module mainly calculates the road feel simulation torque based on signals such as vehicle speed, steering wheel torque and steering wheel angle.

[0144] The performance limit protection torque calculation module mainly processes signals such as vehicle speed, motor speed, and motor torque and calculates the system performance protection torque. The actual motor speed and torque signals of the steering execution motor can be obtained through the motor itself.

[0145] The motor speed threshold calculation module mainly determines the motor speed threshold based on the maximum power and maximum torque of the steering execution motor, where the speed threshold of the steering execution motor V m , Maximum Power P max , Maximum torque T c The motor speed threshold V m There are the following relationships between them:

[0146]

[0147] The motor speed-related limit protection torque calculation module determines the system performance limit protection torque related to the steering execution motor speed by looking up the actual steering execution motor speed in a table.

[0148] The vehicle speed-related limit protection torque calculation module determines the vehicle speed-related limit protection torque by looking up the table of the acquired current vehicle speed and the performance limit protection torque related to the steering execution motor speed.

[0149] The road feel fusion module mainly integrates the road feel simulation torque calculated by the SBW road feel simulation module and the performance limit protection torque determined by the performance limit protection torque calculation module to determine the requested torque of the road feel motor and provide the driver with accurate road feel.

[0150] Thus, in general, the embodiments of the present application can increase the output torque of the road sensing motor for the working conditions of abnormal steering operation of the wire-controlled steering system, increase the driver's hand force, and thereby reduce abnormal steering operation. In this way, the performance of the steering actuator motor can be protected and the service life of related components of the vehicle steering actuator can be increased.

[0151] This embodiment also provides a vehicle control device, which can be integrated into a terminal medical device, for example, Figure 6 As shown, the vehicle control device may include:

[0152] An acquisition module 1001 is used to acquire the rotation speed of the steering actuator motor in the target vehicle;

[0153] A comparison model 1002 is used to compare the rotation speed with a preset rotation speed threshold to determine the working condition of the steering execution motor;

[0154] The determination module 1003 is used to determine the protection torque of the steering execution motor according to the rotation speed if the operating condition is the target operating condition.

[0155] Optionally, the comparison model 1002 is also used for:

[0156] Acquiring motor parameters of the steering actuator motor, wherein the motor parameters include a maximum allowable power and a maximum allowable torque;

[0157] determining a speed threshold value according to the maximum allowable power and the maximum allowable torque;

[0158] comparing the rotation speed with the rotation speed threshold;

[0159] If the rotation speed is greater than the rotation speed threshold, it is determined that the operating condition of the steering actuator motor is the target operating condition.

[0160] Optionally, the comparison model 1002 is also used for:

[0161] If the rotation speed is less than the rotation speed threshold, determining that the operating condition of the steering actuator motor is not the target operating condition, and obtaining the steering wheel torque and steering wheel angle in the target vehicle;

[0162] If the road feel simulation torque is determined according to the vehicle speed, the steering wheel torque and the steering wheel angle;

[0163] A road sense motor in the target vehicle is controlled according to the road sense simulation torque.

[0164] Optionally, the vehicle control device in this embodiment further includes:

[0165] A vehicle speed acquisition module, used to acquire the speed of the target vehicle;

[0166] The determination module 1003 is further used for:

[0167] A protection torque of the steering actuator motor is determined according to the vehicle speed and / or the rotation speed.

[0168] Optionally, the determination module 1003 is further configured to:

[0169] Determine the first protection torque according to the preset correlation between the vehicle speed and the protection torque; and / or determine the second protection torque according to the preset correlation between the rotation speed and the protection torque;

[0170] A protection torque corresponding to the steering actuator motor is determined according to the first protection torque and / or the second protection torque.

[0171] Optionally, the determination module 1003 is further configured to:

[0172] A road sensing motor in the target vehicle is controlled according to the protection torque to increase the output torque of the road sensing motor.

[0173] Optionally, the determination module 1003 is further configured to:

[0174] Determine a first current signal of the protection torque, and determine a second current signal of a road feel simulation torque determined based on the vehicle speed, the steering wheel torque, and the steering wheel angle;

[0175] A road sensing motor in the target vehicle is controlled according to the first current signal and the second current signal.

[0176] Optionally, the determination module 1003 is further configured to:

[0177] calculating a speed difference between the speed and the speed threshold;

[0178] If the speed difference is greater than a preset difference threshold, querying a torque weight mapping table according to the speed difference, and assigning corresponding weights to the first current signal and the second current signal;

[0179] The target torque is calculated according to the first current signal, the second current signal and the corresponding weight, and the road sensing motor is controlled according to the target torque.

[0180] Optionally, the vehicle control device in this embodiment further includes:

[0181] An acquisition module, used for acquiring a vehicle speed test signal of the target vehicle and a rotation speed test signal of the steering execution motor;

[0182] The judgment module is used to judge whether the vehicle speed test signal and the rotation speed test signal are in the corresponding preset test range; if both are in the preset test range, the rotation speed of the steering execution motor in the target vehicle is obtained.

[0183] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0184] Correspondingly, an embodiment of the present application also provides a vehicle, which may be a fuel vehicle, a plug-in hybrid vehicle, or a new energy vehicle, etc., and the present application does not make any specific limitations on this.

[0185] like Figure 7 As shown, Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle 1100 includes a processor 1101 having one or more processing cores, a memory 1102 having one or more computer-readable storage media, and a computer program stored in the memory 1102 and executable on the processor. The processor 1101 is electrically connected to the memory 1102. It will be understood by those skilled in the art that the vehicle structure shown in the figure does not constitute a limitation on the vehicle, and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0186] The processor 1101 is the control center of the vehicle 1100, and uses various interfaces and lines to connect various parts of the entire vehicle 1100. By running or loading software programs and / or units stored in the memory 1102, and calling data stored in the memory 1102, it executes various functions of the vehicle 1100 and processes data, thereby monitoring the vehicle 1100 as a whole. The processor 1101 can be a processor CPU, a graphics processor GPU, a network processor (Network Processor, NP), etc., and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0187] In the embodiment of the present application, the processor 1101 in the vehicle 1100 will load instructions corresponding to the processes of one or more application programs into the memory 1102 according to the following steps, and the processor 1101 will run the application programs stored in the memory 1102 to implement various functions, such as:

[0188] Obtaining the rotation speed of the steering actuator motor in the target vehicle;

[0189] Comparing the rotation speed with a preset rotation speed threshold to determine the working condition of the steering actuator motor;

[0190] If the operating condition is the target operating condition, the protection torque of the steering actuator motor is determined according to the rotation speed.

[0191] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0192] Optional, such as Figure 7 As shown, the vehicle 1100 further includes: a touch screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. The processor 1101 is electrically connected to the touch screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107, respectively. Those skilled in the art will appreciate that Figure 7 The vehicle structure shown in the figure does not constitute a limitation on the vehicle, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0193] The touch display screen 1103 can be used to display a graphical user interface and receive operation instructions generated by the user acting on the graphical user interface. The touch display screen 1103 may include a display panel and a touch panel. Among them, the display panel can be used to display information input by the user or information provided to the user and various graphical user interfaces of the vehicle, which can be composed of graphics, text, icons, videos and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD, Liquid Crystal Display), an organic light-emitting diode (OLED, Organic Light-Emitting Diode), etc. The touch panel can be used to collect user touch operations on or near it (such as operations performed by users using fingers, styluses, or any other suitable objects or accessories on or near the touch panel), and generate corresponding operation instructions, and the operation instructions execute corresponding programs. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into the touch point coordinates, and then sends it to the processor 1101, and can receive the command sent by the processor 1101 and execute it. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 1101 to determine the type of touch event, and then the processor 1101 provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present application, the touch panel and the display panel can be integrated into the touch display screen 1103 to realize the input and output functions. However, in some embodiments, the touch panel and the touch panel can be used as two independent components to realize the input and output functions. That is, the touch display screen 1103 can also be used as a part of the input unit 1106 to realize the input function.

[0194] The RF circuit 1104 may be used to send and receive RF signals to establish wireless communication with network devices or other vehicles through wireless communication, and to send and receive signals with network devices or other vehicles.

[0195] The audio circuit 1105 can be used to provide an audio interface between the user and the vehicle through a speaker and a microphone. The audio circuit 1105 can transmit the electrical signal converted from the received audio data to the speaker, which is converted into a sound signal for output; on the other hand, the microphone converts the collected sound signal into an electrical signal, which is received by the audio circuit 1105 and converted into audio data, and then the audio data is output to the processor 1101 for processing, and then sent to another vehicle through the radio frequency circuit 1104, or the audio data is output to the memory 1102 for further processing. The audio circuit 1105 may also include an earplug jack to provide communication between an external headset and the vehicle.

[0196] The input unit 1106 may be configured to receive input numbers, character information, or user feature information (such as fingerprint, iris, facial information, etc.), and generate keyboard, mouse, joystick, optical, or trackball signal inputs related to user settings and function control.

[0197] The power supply 1107 is used to supply power to various components of the vehicle 1100. Optionally, the power supply 1107 can be logically connected to the processor 1101 through a power management device, so that the power management device can manage charging, discharging, and power consumption. The power supply 1107 can also include one or more DC or AC power supplies, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0198] although Figure 7 Not shown, the vehicle 1100 may also include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0199] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0200] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0201] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a plurality of computer programs are stored. The computer program can be loaded by a processor to execute any vehicle control method provided in the embodiment of the present application. The computer program can execute the following steps of the vehicle control method:

[0202] Obtaining the rotation speed of the steering actuator motor in the target vehicle;

[0203] Comparing the rotation speed with a preset rotation speed threshold to determine the working condition of the steering actuator motor;

[0204] If the operating condition is the target operating condition, the protection torque of the steering actuator motor is determined according to the rotation speed.

[0205] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0206] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0207] Since the computer program stored in the computer-readable storage medium can execute any one of the vehicle control methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the vehicle control methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0208] In the above-mentioned vehicle control device, vehicle, computer-readable storage medium and computer program product, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process and beneficial effects of the above-mentioned vehicle control device, vehicle, computer-readable storage medium, computer program product and its corresponding units can refer to the description of the vehicle control method in the above embodiment, and will not be repeated here.

[0209] The above is a detailed introduction to a vehicle control method, device, vehicle, computer-readable storage medium and computer program product provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

[0210] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0211] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0212] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0213] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A vehicle control method, characterized in that: include: Obtaining the rotation speed of the steering actuator motor in the wire-controlled steering system of the target vehicle; Comparing the rotation speed with a preset rotation speed threshold to determine the working condition of the steering actuator motor; If the operating condition is a target operating condition, determining a protection torque of the steering actuator motor according to the rotational speed, wherein the target operating condition includes an operating condition where the steer-by-wire system requires performance protection; The comparing the rotation speed with a preset rotation speed threshold to determine the working condition of the steering actuator motor includes: Acquiring motor parameters of the steering actuator motor, wherein the motor parameters include a maximum allowable power and a maximum allowable torque; determining a speed threshold value according to the maximum allowable power and the maximum allowable torque; comparing the rotation speed with the rotation speed threshold; If the rotation speed is greater than the rotation speed threshold, it is determined that the operating condition of the steering actuator motor is the target operating condition.

2. The vehicle control method according to claim 1, characterized in that: After comparing the rotation speed with the rotation speed threshold, the method includes: If the rotation speed is less than the rotation speed threshold, determining that the operating condition of the steering actuator motor is not the target operating condition, and obtaining the steering wheel torque and steering wheel angle in the target vehicle; determining a road feel simulation torque according to the vehicle speed, the steering wheel torque and the steering wheel angle; A road sense motor in the target vehicle is controlled according to the road sense simulation torque.

3. The vehicle control method according to claim 1, characterized in that: The method further comprises: Obtaining the speed of the target vehicle; The step of determining the protection torque of the steering actuator motor according to the rotation speed includes: A protection torque of the steering actuator motor is determined according to the vehicle speed and / or the rotation speed.

4. The vehicle control method according to claim 3, characterized in that: The step of determining the protection torque of the steering actuator motor according to the vehicle speed and / or the rotation speed includes: Determine the first protection torque according to the preset correlation between the vehicle speed and the protection torque; and / or determine the second protection torque according to the preset correlation between the rotation speed and the protection torque; A protection torque corresponding to the steering actuator motor is determined according to the first protection torque and / or the second protection torque.

5. The vehicle control method according to claim 3, characterized in that: After determining the protection torque of the steering actuator motor according to the vehicle speed and / or the rotation speed, the method includes: A road sensing motor in the target vehicle is controlled according to the protection torque to increase the output torque of the road sensing motor.

6. The vehicle control method according to claim 5, characterized in that: The method of controlling the road sensing motor in the target vehicle according to the protection torque includes: Determine a first current signal of the protection torque, and determine a second current signal of a road feel simulation torque determined based on the vehicle speed, the steering wheel torque, and the steering wheel angle; A road sensing motor in the target vehicle is controlled according to the first current signal and the second current signal.

7. The vehicle control method according to claim 6, characterized in that: The method of controlling the road sensing motor in the target vehicle according to the first current signal and the second current signal includes: calculating a speed difference between the speed and the speed threshold; If the speed difference is greater than a preset difference threshold, querying a torque weight mapping table according to the speed difference, and assigning corresponding weights to the first current signal and the second current signal; The target torque is calculated according to the first current signal, the second current signal and the corresponding weight, and the road sensing motor is controlled according to the target torque.

8. The vehicle control method according to any one of claims 1 to 7, characterized in that: Before obtaining the rotation speed of the steering execution motor in the target vehicle, the method includes: Collecting a vehicle speed test signal of the target vehicle and a rotation speed test signal of the steering execution motor; Determining whether the vehicle speed test signal and the rotation speed test signal are within corresponding preset test ranges; If both are within the preset test range, the rotation speed of the steering execution motor in the target vehicle is obtained.

9. A vehicle control device, characterized in that: The vehicle control device comprises: An acquisition module, used to acquire the rotation speed of a steering actuator motor in a wire-controlled steering system of a target vehicle; A comparison module, used for comparing the rotation speed with a preset rotation speed threshold to determine the working condition of the steering execution motor; a determination module, configured to determine a protection torque of the steering actuator motor according to the rotational speed if the operating condition is a target operating condition, wherein the target operating condition includes an operating condition where the steer-by-wire system requires performance protection; The comparison module is also used for: Acquiring motor parameters of the steering actuator motor, wherein the motor parameters include a maximum allowable power and a maximum allowable torque; determining a speed threshold value according to the maximum allowable power and the maximum allowable torque; comparing the rotation speed with the rotation speed threshold; If the rotation speed is greater than the rotation speed threshold, it is determined that the operating condition of the steering actuator motor is the target operating condition.

10. A vehicle, characterized in that: It comprises a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of any one of the methods of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: It comprises a computer program, and when the computer program is run on a vehicle, the computer program is used to make the vehicle execute the steps of any one of the methods of claims 1 to 8.

12. A computer program product, characterized in that It includes a computer program, which is stored in a computer-readable storage medium; when a processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, so that the electronic device performs the steps of any method described in claims 1 to 8.

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