Vehicle control method, device, equipment and storage medium

Abstract

The present application relates to the field of vehicle control technology, and discloses a vehicle control method, device, equipment and storage medium, the method comprising: obtaining the current gear position of the vehicle when detecting that the vehicle is in a low-speed driving condition; determining the vehicle driving strategy according to the current gear position of the vehicle; driving the vehicle to a parking space by controlling the motor torque according to the vehicle driving strategy; and driving the vehicle to park by controlling the motor speed when detecting that the vehicle has arrived at the parking space. The present application can effectively improve the driving control efficiency and accuracy.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to vehicle control methods, devices, equipment and storage media. Background Art

[0002] At present, low-speed driving control, such as smart parking, is generally based on the intelligent driving controller to calculate the acceleration and deceleration targets according to the target vehicle speed, taking into account the road load compensation such as vehicle weight, road slope, and slip resistance, and estimating the target acceleration torque and target deceleration torque, and then passing it to the power domain vehicle controller; after a series of internal arbitration and energy management restrictions, the power domain vehicle controller sends it to the front and rear motor controllers, and finally controls the front and rear motors to respond to positive and negative torque requests to move forward or backward. The torque response of this link is relatively long, about 100ms to 400ms. Once the wheel encounters a parking space with a high road sill or slope, it can only pass through the closed loop of the vehicle speed by continuously trying to increase the torque. At this time, the vehicle is prone to torque over-adjustment, resulting in uneven driving. Wheel slip is also detected by the chassis ESP. After the lifting and lowering torque request is sent to the vehicle controller VCU for arbitration, the VCU outputs the motor torque request to the motor controller MCU, and the MCU controls the motor to perform torque processing. The parking control process still requires the chassis ESP to intervene in the control of slippage, and there is also the same link torque response delay problem, and the control efficiency is poor.

[0003] Therefore, how to effectively improve the efficiency and accuracy of driving control is a problem that needs to be solved urgently.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a vehicle control method, device, equipment and storage medium, aiming to solve the technical problem of how to effectively improve the efficiency and accuracy of driving control.

[0006] To achieve the above objectives, the present application proposes a vehicle control method, the method comprising:

[0007] When it is detected that the vehicle is in a low-speed driving condition, the current gear position of the vehicle is obtained;

[0008] Determining a vehicle driving strategy according to the current gear position of the vehicle;

[0009] driving the vehicle to a parking space by controlling the motor torque according to the vehicle driving strategy;

[0010] When it is detected that the vehicle has reached a parking space, the vehicle is driven to park by controlling the motor speed.

[0011] In one embodiment, determining the vehicle driving strategy according to the current gear position of the vehicle includes:

[0012] Adjust the vehicle's current driving type according to the vehicle's current gear position;

[0013] Scan the road surface in the direction of vehicle movement through the on-board camera to obtain the road surface type;

[0014] A vehicle driving strategy is determined according to the current driving type of the vehicle and the road type.

[0015] In one embodiment, the adjusting the vehicle driving type according to the current gear position of the vehicle to obtain the current driving type of the vehicle includes:

[0016] When the current gear position of the vehicle is the first preset gear position, adjusting the current drive type of the vehicle to front drive;

[0017] When the current gear position of the vehicle is the second preset gear position, the current drive type of the vehicle is adjusted to rear-wheel drive.

[0018] In one embodiment, determining the vehicle driving strategy according to the current driving type of the vehicle and the road type includes:

[0019] When the current driving type of the vehicle is front-wheel drive and the road surface type is a speed bump road surface, determining the vehicle driving strategy is to adjust the current driving type of the vehicle from front-wheel drive to rear-wheel drive when the front wheel contacts the speed bump, and to adjust the current driving type of the vehicle from rear-wheel drive to front-wheel drive when the front wheel passes through the speed bump;

[0020] When the current driving type of the vehicle is front-wheel drive and the road surface type is a bumpy road surface, determining the vehicle driving strategy is to adjust the current driving type of the vehicle from front-wheel drive to rear-wheel drive when the front wheels touch the bumpy road surface, and to adjust the current driving type of the vehicle from rear-wheel drive to all-wheel drive when the rear wheels touch the bumpy road surface;

[0021] When the current driving type of the vehicle is front-wheel drive and the road surface type is uphill, determining the vehicle driving strategy is to adjust the current driving type of the vehicle from front-wheel drive to rear-wheel drive when the front wheels touch the slope, and adjust the current driving type of the vehicle from rear-wheel drive to front-wheel drive when the front wheels reach the top of the slope;

[0022] When the current driving type of the vehicle is front-wheel drive and the road surface type is downhill or flat road, the vehicle driving strategy is determined to maintain the current driving type of the vehicle.

[0023] In one embodiment, when the vehicle is detected to have arrived at a parking space, the vehicle is driven to park by controlling the motor speed, including:

[0024] When it is detected that the vehicle has arrived at a parking space, the motor is adjusted from torque control to speed control, and the actual speed of the motor and the target speed for parking are obtained;

[0025] Adjust the motor speed of the vehicle according to the actual motor speed and the target speed to obtain a target torque;

[0026] The vehicle is controlled to park according to the target torque.

[0027] In one embodiment, adjusting the motor speed of the vehicle according to the actual motor speed and the target speed to obtain the target torque includes:

[0028] Adjust the motor speed of the vehicle according to the actual motor speed and the target speed to obtain an initial torque;

[0029] Compensating the initial torque to obtain a reference torque;

[0030] Obtain the torque range and torque change slope range corresponding to the target torque;

[0031] The reference torque is limited according to the torque range and the torque change slope range to obtain a target torque.

[0032] In one embodiment, compensating the initial torque to obtain a reference torque includes:

[0033] Obtain the vehicle slope, front and rear wheel suspension height, non-driving wheel speed, and current motor speed;

[0034] Determining a slope compensation value according to the whole vehicle slope and the front and rear wheel suspension heights;

[0035] Determining a driving wheel slip rate according to the non-driving wheel speed and the current speed of the motor;

[0036] The initial torque is subjected to slope compensation and slip correction compensation according to the slope compensation value and the driving wheel slip ratio to obtain a reference torque.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle control device, the vehicle control device comprising:

[0038] An acquisition module is used to acquire the current gear position of the vehicle when it is detected that the vehicle is in a low-speed driving condition;

[0039] A determination module, used to determine a vehicle driving strategy according to the current gear position of the vehicle;

[0040] A driving module, configured to drive the vehicle to a parking space by controlling the motor torque according to the vehicle driving strategy;

[0041] The driving module is also used to drive the vehicle to park by controlling the speed of the motor when it is detected that the vehicle has arrived at a parking space.

[0042] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle control method described above.

[0043] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle control method described above are implemented.

[0044] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the vehicle control method described above are implemented.

[0045] The present application provides a vehicle control method, which can effectively improve the driving control efficiency and accuracy by first acquiring the current gear position of the vehicle when it is detected that the vehicle is in a low-speed driving condition; determining a vehicle driving strategy according to the current gear position of the vehicle; driving the vehicle to a parking space by controlling the motor torque according to the vehicle driving strategy; and driving the vehicle to park by controlling the motor speed when it is detected that the vehicle has arrived at the parking space.

[0046] In summary, the present application overcomes the technical defect of low vehicle control efficiency by determining the vehicle driving strategy according to the current gear position of the vehicle and controlling the motor torque to drive the vehicle to a parking space when detecting that the vehicle is in a low-speed driving condition, and then controlling the motor speed to drive the vehicle to park, thereby effectively improving the driving control efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0049] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the vehicle control method of the present application;

[0050] Figure 2 A schematic diagram of the road surface in front of the vehicle provided in Example 1 of the vehicle control method of the present application;

[0051] Figure 3 A schematic diagram of information interaction during vehicle control provided in Embodiment 1 of the vehicle control method of the present application;

[0052] Figure 4 A flow chart of the second embodiment of the vehicle control method of the present application;

[0053] Figure 5 A schematic diagram of torque compensation and limitation provided in Embodiment 2 of the vehicle control method of the present application;

[0054] Figure 6 This is a schematic diagram of the module structure of the vehicle control device according to an embodiment of the present application;

[0055] Figure 7 This is a schematic diagram of the device structure of the hardware operating environment involved in the vehicle control method of the embodiment of the present application.

[0056] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0057] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0058] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0059] The main solution of the embodiment of the present application is: when it is detected that the vehicle is in a low-speed driving condition, the current gear position of the vehicle is obtained; the vehicle driving strategy is determined according to the current gear position of the vehicle; according to the vehicle driving strategy, the vehicle is driven to a parking space by controlling the motor torque; when it is detected that the vehicle has arrived at the parking space, the vehicle is driven to park by controlling the motor speed.

[0060] At present, low-speed driving control, such as smart parking, is generally based on the intelligent driving controller to calculate the acceleration and deceleration targets according to the target vehicle speed, taking into account the road load compensation such as vehicle weight, road slope, and slip resistance, and estimating the target acceleration torque and target deceleration torque, and then passing it to the power domain vehicle controller; after a series of internal arbitration and energy management restrictions, the power domain vehicle controller sends it to the front and rear motor controllers, and finally controls the front and rear motors to respond to positive and negative torque requests to move forward or backward. The torque response of this link is relatively long, about 100ms to 400ms. Once the wheel encounters a parking space with a high road sill or slope, it can only pass through the closed loop of the vehicle speed by continuously trying to increase the torque. At this time, the vehicle is prone to torque over-adjustment, resulting in uneven driving. Wheel slip is also detected by the chassis ESP. After the lifting and lowering torque request is sent to the vehicle controller VCU for arbitration, the VCU outputs the motor torque request to the motor controller MCU, and the MCU controls the motor to perform torque processing. The parking control process still requires the chassis ESP to intervene in the control of slippage, and there is also the same link torque response delay problem, and the control efficiency is poor. Therefore, how to effectively improve the efficiency and accuracy of driving control is a problem that needs to be solved urgently.

[0061] The present application overcomes the technical defect of low vehicle driving control efficiency by determining the vehicle driving strategy according to the vehicle's current gear position and controlling the motor torque to drive the vehicle to a parking space when it detects that the vehicle is in a low-speed driving condition, and then controlling the motor speed to drive the vehicle to park, thereby effectively improving the driving control efficiency and accuracy.

[0062] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a vehicle control device, etc. The following takes a vehicle control device as an example to illustrate this embodiment and the following embodiments.

[0063] Based on this, the embodiment of the present application provides a vehicle control method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle control method of the present application.

[0064] In this embodiment, the vehicle control method includes steps S10 to S40:

[0065] Step S10, when it is detected that the vehicle is in a low-speed driving condition, the current gear position of the vehicle is obtained.

[0066] It should be noted that when the vehicle controller recognizes that the current state of the vehicle meets the low-speed driving condition judgment conditions, it is determined that the vehicle is in a low-speed driving condition. The low-speed driving condition judgment conditions include activation of the parking function of intelligent driving, low-speed movement of the vehicle at the target location, and at least one of other low-speed scenarios, where the target location can be an underground garage or parking lot, and the location of the vehicle is determined by vehicle positioning; other low-speed scenarios, such as a factory park with a speed limit of 30kph, are not specifically limited in this embodiment.

[0067] It can be understood that the current gear of the vehicle refers to the driving mode gear that the vehicle is currently in, such as the forward gear (D gear), reverse gear (R gear), neutral gear (N gear) or parking gear (P gear), etc., among which the forward gear is used for normal driving of the vehicle, the reverse gear is used for reversing into a garage or parking, etc., and the neutral gear or parking gear is used when the vehicle stops but the engine remains running.

[0068] In the specific implementation, when obtaining the current gear position of the vehicle, the vehicle controller receives a signal from the gear position sensor to determine the current gear position state of the vehicle. The gear position sensor is usually installed near the gearbox and can detect and feedback the gear position information of the vehicle in real time.

[0069] Step S20, determining a vehicle driving strategy according to the current gear position of the vehicle.

[0070] It should be noted that the vehicle drive strategy refers to the strategy for adjusting the vehicle's current drive type, where the vehicle's current drive type includes all-wheel drive, front-wheel drive and rear-wheel drive. All-wheel drive, also known as four-wheel drive, means that all four wheels of the vehicle have driving force, and are usually used for off-road or driving in complex road conditions; front-wheel drive means that the front wheels of the vehicle have driving force, and the rear wheels are only responsible for following the rotation of the front wheels; rear-wheel drive means that the rear wheels of the vehicle have driving force, and the front wheels are only responsible for steering.

[0071] In a feasible implementation, step S20 may include: adjusting the current driving type of the vehicle according to the current gear position of the vehicle; scanning the road surface in the direction of movement of the vehicle by a vehicle-mounted camera to obtain the road surface type; and determining the vehicle driving strategy according to the current driving type of the vehicle and the road surface type.

[0072] It should be noted that the current drive type of the vehicle includes front-wheel drive and rear-wheel drive. When the vehicle is in a low-speed driving condition, the four-wheel drive is switched to two-wheel drive, that is, switched to front-wheel drive or rear-wheel drive, and the specific drive type is determined by the current gear position of the vehicle.

[0073] It is understandable that the on-board camera scans the road surface in the direction of the vehicle's movement in order to identify the road conditions on which the vehicle is about to travel, such as whether there are obstacles, whether it is a ramp, etc., so as to adjust the vehicle's current driving type in a timely manner.

[0074] In a feasible implementation manner, the adjusting the vehicle drive type according to the vehicle's current gear position to obtain the vehicle's current drive type includes: when the vehicle's current gear position is a first preset gear position, adjusting the vehicle's current drive type to front-wheel drive; when the vehicle's current gear position is a second preset gear position, adjusting the vehicle's current drive type to rear-wheel drive.

[0075] It should be noted that the first preset gear is D gear, i.e. forward gear, which is the gear usually used by the vehicle in normal driving and is suitable for most roads and driving scenarios. In this gear, the current drive type of the vehicle is adjusted to front-wheel drive, which means that the front wheels of the vehicle will bear the main driving force, while the rear wheels are responsible for following the rotation of the front wheels. This drive type has better stability and controllability in scenes such as urban roads and flat roads.

[0076] It can be understood that the second preset gear is R gear, that is, the reverse gear, which is the gear used when the vehicle is reversing into a garage, parking, etc. In this gear, the vehicle's current drive type is adjusted to rear-wheel drive, and the rear wheels of the vehicle will bear the main driving force, while the front wheels are mainly responsible for steering. This drive type has better power and controllability in reversing scenarios, especially in scenarios where a larger torque is required to overcome the friction between the rear wheels and the ground and for steering.

[0077] In the specific implementation, when the vehicle is in a low-speed driving condition, if the vehicle's current gear is the forward gear (D gear), the four-wheel drive is switched to the front-wheel drive, and the torque of the rear motor is reduced to 0; if the vehicle's current gear is the reverse gear (R gear), the four-wheel drive is switched to the rear-wheel drive, and the torque of the front motor is reduced to 0.

[0078] In a feasible implementation manner, the determining of the vehicle driving strategy according to the current driving type of the vehicle and the road surface type includes: when the current driving type of the vehicle is front-wheel drive and the road surface type is a speed bump road surface, determining the vehicle driving strategy to adjust the current driving type of the vehicle from front-wheel drive to rear-wheel drive when the front wheel contacts the speed bump, and adjusting the current driving type of the vehicle from rear-wheel drive to front-wheel drive when the front wheel passes through the speed bump; when the current driving type of the vehicle is front-wheel drive and the road surface type is a bumpy road surface, determining the vehicle driving strategy to adjust the current driving type of the vehicle from rear-wheel drive to front-wheel drive when the front wheel contacts the bumpy road surface , adjusting the current drive type of the vehicle from front-wheel drive to rear-wheel drive, and when the rear wheel contacts the bumpy road surface, adjusting the current drive type of the vehicle from rear-wheel drive to all-wheel drive; when the current drive type of the vehicle is front-wheel drive and the road surface type is uphill, determining the vehicle driving strategy to adjust the current drive type of the vehicle from front-wheel drive to rear-wheel drive when the front wheel contacts the slope, and adjusting the current drive type of the vehicle from rear-wheel drive to front-wheel drive when the front wheel reaches the top of the slope; when the current drive type of the vehicle is front-wheel drive and the road surface type is downhill or flat, determining the vehicle driving strategy to maintain the current drive type of the vehicle.

[0079] It should be noted that when the vehicle's current gear is D gear, it indicates that the vehicle's current drive type is front-wheel drive. Speed ​​bump road surface refers to a road surface with small speed bumps or road surface joints. Bumpy road surface refers to an uneven ground with many potholes, bumps or uneven sections, and the length of the section exceeds the vehicle's wheelbase. Uphill road surface refers to an uphill section with a large slope, and the vehicle needs to overcome gravity to climb. Downhill road surface refers to a downhill section with a large slope, and the vehicle needs to control the speed to go downhill. Flat road refers to a section with a flat road surface without obvious ups and downs or slope changes, such as Figure 2 As shown, Figure 2 This is a schematic diagram of the road surface in front of the vehicle. In the figure, there are speed bumps, bumpy roads and slopes in front of the vehicle.

[0080] In the specific implementation, when the current drive type of the vehicle is front-wheel drive, if there is a small speed bump or road connection seam ahead, the speed bump will have a greater impact on the front wheels, then the front-wheel drive will be changed to rear-wheel drive in advance, and the front wheels will be changed to front-wheel drive after passing the speed bump, which will allow the front and rear wheels to pass in sequence in a zero-torque state, and will not easily cause slippage and impact; if there is a bumpy road ahead and its length exceeds the vehicle wheelbase, then the front-wheel drive will be changed to rear-wheel drive in advance, and the rear wheels will be changed to front and rear 5:5 four-wheel drive when they are about to enter the bumpy road, which will allow the front wheels to enter first in a zero-torque state, reducing wheel slippage and impact in the initial section; if the road ahead is uphill, the front-wheel drive will be changed to rear-wheel drive in advance, and the front wheels will be changed to front-wheel drive after reaching the flat road at the top of the slope, and then gradually transition to front-wheel drive; if the road ahead is downhill or a normal flat road, the front-wheel drive will be maintained.

[0081] It is worth noting that when the vehicle's current gear is R gear, it indicates that the vehicle's current drive type is rear-wheel drive. When the vehicle's current drive type is rear-wheel drive, if there is a small speed bump or road joint ahead, the speed bump will have a greater impact on the rear wheels, so the rear-wheel drive will be changed to front-wheel drive in advance, and the rear wheels will pass through the speed bump before changing from front-wheel drive to rear-wheel drive. This will allow the front and rear wheels to pass in turn in a zero-torque state, and it is not easy to slip and impact; if there is a bumpy road ahead and the length exceeds the vehicle's wheelbase, the rear-wheel drive will be changed to front-wheel drive in advance, and the front wheels will be changed from front-wheel drive to front and rear 5:5 four-wheel drive when they are about to enter the bumpy road. This will allow the front wheels to enter in a zero-torque state first, reducing wheel slippage and impact in the initial section; if the road ahead is uphill, the rear-wheel drive will be changed to front-wheel drive in advance, and the rear wheels will reach the flat road at the top of the slope before gradually transitioning to rear-wheel drive; if the road ahead is downhill or a normal flat road, the rear-wheel drive will be maintained.

[0082] It is worth mentioning that the on-board 540° panoramic image can see through the road surface under the vehicle to determine whether the front or rear wheels have passed through the corresponding special section.

[0083] Step S30: driving the vehicle to a parking space by controlling the motor torque according to the vehicle driving strategy.

[0084] It should be noted that before the vehicle reaches the parking space, the motor is torque controlled, that is, the motor controller drives the vehicle by precisely controlling the torque output of the motor. The torque control method can ensure that the vehicle can travel with optimal power performance and handling stability under various road conditions, especially during parking processes that require precise control of the vehicle's position and speed.

[0085] Specifically, when the vehicle is about to reach a parking space, the required motor torque is calculated based on the current vehicle drive type, road type, and the relative position and speed between the vehicle and the target parking space. The motor controller then sends a command to the motor to output the specified torque value, thereby driving the vehicle to the parking space at an appropriate speed and acceleration.

[0086] Step S40, when it is detected that the vehicle has arrived at the parking space, the vehicle is driven to park by controlling the motor speed.

[0087] It should be noted that when the vehicle reaches the vicinity of a parking space, the motor is switched from torque control to speed control to achieve precise parking movement.

[0088] It can be understood that speed control allows the vehicle to enter the parking space in a more stable and precise manner. When the vehicle approaches the parking space, the optimal motor speed is calculated based on the actual size of the parking space, the relative position of the vehicle and the parking space, and the speed of the vehicle. The motor controller will send instructions to the motor to make the motor rotate at this speed to ensure that the vehicle can be parked smoothly and accurately in the parking space.

[0089] In the specific implementation, when arriving near the parking space, if the user turns on the smart parking function, the vehicle controller switches the motor control to the speed control mode, specifically including: the vehicle controller first requests to switch the current drive mode to rear-wheel drive, waits for the front motor torque to drop to 0, and then requests the motor controller to change from torque control to speed control, waits for the rear motor controller to feedback the speed control status, and then sends the parking target speed to the rear motor controller, thereby controlling the vehicle to park.

[0090] like Figure 3 As shown, Figure 3This is a schematic diagram of information interaction during vehicle control. The vehicle control process is achieved through information interaction between user operation, ADS intelligent driving control system, EPS chassis controller, VCU vehicle controller, FMCU front motor controller and RMCU rear motor controller. According to user operation, information such as gear position, throttle opening and brake pedal status can be transmitted to the VCU vehicle controller. The ADS intelligent driving control system can transmit the parking function activation status, parking speed target, road condition type ahead and vehicle-mounted 540° panoramic chassis wheel position information to the VCU vehicle controller. The EPS chassis controller can transmit the vehicle speed, four wheel speeds, stability control lifting torque request and chassis front and rear to the VCU vehicle controller. The FMCU front motor controller and the RMCU rear motor controller can respectively receive the front motor resolver speed sent by the front motor and the rear motor resolver speed sent by the rear motor, and then transmit the front / rear motor mode status, the actual front / rear motor speed, and the actual front / rear motor torque and external characteristic torque to the VCU vehicle controller. The VCU vehicle controller feeds back the front motor mode request, the front motor torque / speed request, the vehicle reference speed, the upper and lower limits of the front motor torque, and the front wheel slope to the FMCU front motor controller, and the VCU vehicle controller feeds back the rear motor mode request, the rear motor torque / speed request, the vehicle reference speed, the upper and lower limits of the rear motor torque, and the rear wheel slope to the RMCU rear motor controller.

[0091] The present embodiment provides a vehicle control method, which can effectively improve the driving control efficiency and accuracy by first acquiring the current gear position of the vehicle when it is detected that the vehicle is in a low-speed driving condition; determining the vehicle driving strategy according to the current gear position of the vehicle; driving the vehicle to a parking space by controlling the motor torque according to the vehicle driving strategy; and driving the vehicle to park by controlling the motor speed when it is detected that the vehicle has arrived at the parking space.

[0092] In summary, this embodiment overcomes the technical defect of low vehicle control efficiency by determining the vehicle driving strategy according to the current gear position of the vehicle and controlling the motor torque to drive the vehicle to a parking space when detecting that the vehicle is in a low-speed driving condition, and then controlling the motor speed to drive the vehicle to park, thereby effectively improving the driving control efficiency and accuracy.

[0093] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 4 , the step S40 further includes steps S401-S403:

[0094] Step 401, when it is detected that the vehicle has arrived at a parking space, the motor is adjusted from torque control to speed control, and the actual speed of the motor and the target speed for parking are obtained.

[0095] It should be noted that after the motor is switched from torque control to speed control, the motor controller begins to read and obtain the actual speed of the motor in real time. At the same time, the vehicle controller will calculate the target speed for parking based on the actual size of the parking space, the relative position of the vehicle and the parking space, and the speed of the vehicle. The target speed is a key parameter to ensure that the vehicle can be parked smoothly and accurately in the parking space.

[0096] In the specific implementation, when the vehicle arrives at the parking space, the vehicle controller first requests to switch to rear-wheel drive, waits for the front motor torque to drop to 0, and then requests the rear motor controller to change from torque control to speed control. After waiting for the rear motor controller to feedback the speed control status, it sends the parking target speed to the rear motor controller.

[0097] Step S402, adjusting the motor speed of the vehicle according to the actual motor speed and the target speed to obtain a target torque.

[0098] It should be noted that the rear motor controller will use an incremental PID algorithm to preliminarily calculate the initial target torque Tq_Base according to the difference between the target speed and the actual motor speed, and then adjust and correct the initial target torque Tq_Base to obtain the target torque.

[0099] In a feasible implementation, step S402 may include: adjusting the vehicle motor speed according to the actual motor speed and the target speed to obtain an initial torque; compensating the initial torque to obtain a reference torque; obtaining a torque range and a torque change slope range corresponding to the target torque; and limiting the reference torque according to the torque range and the torque change slope range to obtain a target torque.

[0100] It should be noted that the compensation for the initial torque includes slope compensation and slip correction compensation, so as to obtain a reference torque, limit the reference torque, obtain the target torque, and finally control the target torque through the rotation speed.

[0101] It can be understood that the torque range corresponding to the target torque is the upper and lower limits of the target torque Tqlim_vcu. The vehicle controller will obtain the upper and lower limits of the target torque Tqlim_vcu for the rear motor speed control according to the working condition arbitration and send it to the rear motor controller, including: a. Considering the acceleration should be within the range of ±0.3g according to the safety of low-speed driving, the speed target torque upper limit 1 and lower limit 1 are obtained by converting the vehicle weight, tire radius, and motor reduction ratio; b. Considering the battery allowable charging and discharging power and the maximum and minimum torque of the motor external characteristics, the speed target torque upper limit 2 and lower limit 2 are obtained; c. Considering the chassis ESP anti-skid control lifting and lowering torque request, the speed target torque upper limit 3 and lower limit 3 are obtained; d. Take the upper limit as Min and the lower limit as Max among the above three, and consider DR commutation to obtain Tqlim_vcu.

[0102] It is worth noting that the torque change slope range refers to the rising and falling slope limits TqRat of the speed target torque by the rear motor controller considering the following working conditions, specifically including: a. a slower slope when considering positive and negative zero crossings; b. a slope considering smooth driving performance; c. a fast slope when considering anti-skid control intervention; d. a slower slope when entering and exiting speed control.

[0103] In the specific implementation, the rear motor controller first calculates the speed difference that needs to be adjusted based on the difference between the actual motor speed and the target speed, and then iterates the calculation through the incremental PID algorithm to obtain an initial torque Tq_Base. The initial target torque is a preliminary estimate based on the current speed difference and the PID control algorithm. In order to further improve the accuracy and adaptability of the torque, the system will compensate the initial target torque Tq_Base. The compensation mainly includes two parts: slope compensation and slip correction compensation. Slope compensation is to deal with the impact of gravity on the motor torque demand when the vehicle is driving on different slopes; and slip correction compensation is to deal with the possible slippage of the vehicle tires on slippery roads or during emergency braking, and to maintain the stability and safety of the vehicle by adjusting the torque. After completing the compensation, a reference torque value is obtained. In order to ensure that the reference torque is within a reasonable range and the change process is smooth, it is also necessary to limit the reference torque. Considering driving safety, energy management, and chassis stability control, the upper and lower limits of the target torque are set; considering driving performance, positive and negative zero crossings, stability control intervention and other operating conditions, the target torque change slope is limited, thereby improving the speed responsiveness and driving smoothness in complex low-speed driving scenarios.

[0104] In a feasible implementation manner, compensating the initial torque to obtain a reference torque includes: obtaining the slope of the entire vehicle, the front and rear wheel suspension heights, the non-driven wheel speed, and the current speed of the motor; determining a slope compensation value based on the slope of the entire vehicle and the front and rear wheel suspension heights; determining a driving wheel slip rate based on the non-driven wheel speed and the current speed of the motor; performing slope compensation and slip correction compensation on the initial torque based on the slope compensation value and the driving wheel slip rate to obtain a reference torque.

[0105] It should be noted that the vehicle slope refers to the inclination angle formed by terrain changes or road design during the driving process of the vehicle. The size of the slope directly affects the driving performance and safety of the vehicle. The front and rear wheel suspension height refers to the vertical distance between the front and rear wheels of the vehicle and the ground. This distance will be affected by factors such as vehicle load and road unevenness. The non-driven wheel speed refers to the speed of the wheel that is not directly driven by the motor, and is usually used to determine the slip state of the vehicle. The current motor speed refers to the actual current speed of the vehicle motor.

[0106] It is understandable that the vehicle controller will estimate the slope of the vehicle and combine it with the measured values ​​of the front and rear wheel suspension height to convert the slope of the road on which the front and rear wheels are located, and then send it to the rear motor controller to make slope compensation Tq_Road for the initial torque. This is mainly to deal with parking spaces with smaller slopes and only a single wheel is on the slope. At this time, the slope of the vehicle calculated based on the gravity component of the acceleration sensor will be smaller, and needs to be corrected based on the measured values ​​of the front and rear wheel suspension height to get the slope of a single wheel.

[0107] It is worth mentioning that since the vehicle is in the rear-wheel drive state, the vehicle controller can use the front wheel speed as the reference speed of the vehicle, and then consider the reduction ratio and tire radius to obtain the reference speed of the vehicle and send it to the rear motor. The rear motor controller can then calculate the rear wheel slip rate based on the rotational speed collected by the motor itself, and then monitor the rear wheel slip or locking trend in real time. Based on the speed difference between the two, an incremental PID algorithm is used to perform slip correction compensation Tq_slip on the initial torque.

[0108] like Figure 5 As shown, Figure 5 It is a schematic diagram of torque compensation and limitation. The initial torque Tq_Base is compensated according to the slope compensation torque Tq_Road and the slip correction torque Tq_Sli to obtain the reference torque. After the reference torque is initially limited according to the upper and lower limits of the target torque Tqlim_vcu, it is further limited by the torque change slope range TqRat to obtain the final speed control target torque.

[0109] It is worth mentioning that if the rear motor fails during parking, the front motor can be switched for parking.

[0110] Step S403: Controlling the vehicle to park according to the target torque.

[0111] It should be noted that when controlling a vehicle for parking, in addition to considering the target torque, it is also necessary to comprehensively consider the vehicle's current state, environmental factors, and the driver's intentions, so as to effectively improve parking efficiency and accuracy.

[0112] In this embodiment, when the vehicle reaches a parking space, the motor is converted from torque control to speed control, thereby adjusting the vehicle motor speed according to the actual motor speed and the target speed to control the vehicle to park according to the target torque, which can improve the speed responsiveness and driving smoothness in complex low-speed driving scenarios.

[0113] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the vehicle control method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0114] This application also provides a vehicle control device, please refer to Figure 6 , the vehicle control device comprises:

[0115] The acquisition module 10 is used to acquire the current gear position of the vehicle when it is detected that the vehicle is in a low-speed driving condition.

[0116] The determination module 20 is used to determine a vehicle driving strategy according to the current gear position of the vehicle.

[0117] The driving module 30 is used to drive the vehicle to a parking space by controlling the motor torque according to the vehicle driving strategy.

[0118] The driving module 30 is also used to drive the vehicle to park by controlling the motor speed when it is detected that the vehicle has arrived at the parking space.

[0119] The present embodiment provides a vehicle control device, which can effectively improve the driving control efficiency and accuracy by first acquiring the current gear position of the vehicle when it is detected that the vehicle is in a low-speed driving condition; determining the vehicle driving strategy according to the current gear position of the vehicle; driving the vehicle to a parking space by controlling the motor torque according to the vehicle driving strategy; and driving the vehicle to park by controlling the motor speed when it is detected that the vehicle has arrived at the parking space.

[0120] In summary, this embodiment overcomes the technical defect of low vehicle control efficiency by determining the vehicle driving strategy according to the current gear position of the vehicle and controlling the motor torque to drive the vehicle to a parking space when detecting that the vehicle is in a low-speed driving condition, and then controlling the motor speed to drive the vehicle to park, thereby effectively improving the driving control efficiency and accuracy.

[0121] Optionally, the determination module 20 is also used to adjust the current driving type of the vehicle according to the current gear position of the vehicle; scan the road surface in the direction of vehicle movement by a vehicle-mounted camera to obtain the road surface type; and determine the vehicle driving strategy according to the current driving type of the vehicle and the road surface type.

[0122] Optionally, the determination module 20 is further used to adjust the current drive type of the vehicle to front drive when the current gear position of the vehicle is the first preset gear position; and to adjust the current drive type of the vehicle to rear drive when the current gear position of the vehicle is the second preset gear position.

[0123] Optionally, the determination module 20 is further configured to, when the current drive type of the vehicle is front-wheel drive and the road surface type is a speed bump road surface, determine that the vehicle driving strategy is to adjust the current drive type of the vehicle from front-wheel drive to rear-wheel drive when the front wheel contacts the speed bump, and to adjust the current drive type of the vehicle from rear-wheel drive to front-wheel drive when the front wheel passes through the speed bump; and when the current drive type of the vehicle is front-wheel drive and the road surface type is a bumpy road surface, determine that the vehicle driving strategy is to adjust the current drive type of the vehicle from front-wheel drive to rear-wheel drive when the front wheel contacts the bumpy road surface. The vehicle's current drive type is adjusted from rear-wheel drive to rear-wheel drive, and when the rear wheels touch the bumpy road surface, the vehicle's current drive type is adjusted from rear-wheel drive to all-wheel drive; when the vehicle's current drive type is front-wheel drive and the road surface type is uphill, the vehicle's drive strategy is determined to be adjusted from front-wheel drive to rear-wheel drive when the front wheels touch the slope, and when the front wheels reach the top of the slope, the vehicle's current drive type is adjusted from rear-wheel drive to front-wheel drive; when the vehicle's current drive type is front-wheel drive and the road surface type is downhill or flat, the vehicle's drive strategy is determined to maintain the vehicle's current drive type.

[0124] Optionally, the drive module 30 is further used to adjust the motor from torque control to speed control when it is detected that the vehicle has arrived at a parking space, and obtain the actual motor speed and the target speed for parking; adjust the vehicle motor speed according to the actual motor speed and the target speed to obtain a target torque; and control the vehicle to park according to the target torque.

[0125] Optionally, the driving module 30 is also used to adjust the vehicle motor speed according to the actual motor speed and the target speed to obtain an initial torque; compensate the initial torque to obtain a reference torque; obtain a torque range and a torque change slope range corresponding to the target torque; and limit the reference torque according to the torque range and the torque change slope range to obtain a target torque.

[0126] Optionally, the driving module 30 is also used to obtain the slope of the whole vehicle, the front and rear wheel suspension heights, the non-driven wheel speed and the current speed of the motor; determine the slope compensation value according to the slope of the whole vehicle and the front and rear wheel suspension heights; determine the driving wheel slip rate according to the non-driven wheel speed and the current speed of the motor; perform slope compensation and slip correction compensation on the initial torque according to the slope compensation value and the driving wheel slip rate to obtain a reference torque.

[0127] The vehicle control device provided by the present application adopts the vehicle control method in the above embodiment, which can solve the technical problem of how to effectively improve the driving control efficiency and accuracy. Compared with the prior art, the beneficial effects of the vehicle control device provided by the present application are the same as the beneficial effects of the vehicle control method provided by the above embodiment, and the other technical features in the vehicle control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0128] The present application provides a vehicle control device, which includes: at least one processor; and a memory that is communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle control method in the above-mentioned embodiment one.

[0129] Reference below Figure 7 , which shows a schematic diagram of the structure of a vehicle control device suitable for implementing an embodiment of the present application. The vehicle control device in the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The vehicle control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0130] like Figure 7As shown, the vehicle control device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the vehicle control device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the vehicle control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vehicle control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0131] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0132] The vehicle control device provided by the present application adopts the vehicle control method in the above embodiment, which can solve the technical problem of how to effectively improve the driving control efficiency and accuracy. Compared with the prior art, the beneficial effects of the vehicle control device provided by the present application are the same as the beneficial effects of the vehicle control method provided by the above embodiment, and the other technical features in the vehicle control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0133] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0134] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0135] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the vehicle control method in the above-mentioned embodiment.

[0136] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0137] The computer-readable storage medium may be included in the vehicle control device; or may exist independently without being assembled into the vehicle control device.

[0138] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the vehicle control device, the vehicle control device: obtains the current gear position of the vehicle when it detects that the vehicle is in a low-speed driving condition; determines the vehicle driving strategy according to the current gear position of the vehicle; drives the vehicle to a parking space by controlling the motor torque according to the vehicle driving strategy; and drives the vehicle to park by controlling the motor speed when it detects that the vehicle has arrived at the parking space.

[0139] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0140] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0141] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0142] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned vehicle control method, and can solve the technical problem of how to effectively improve the efficiency and accuracy of driving control. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the vehicle control method provided in the above-mentioned embodiment, and will not be repeated here.

[0143] The present application also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the vehicle control method as described above are implemented.

[0144] The computer program product provided by this application can solve the technical problem of how to effectively improve the efficiency and accuracy of driving control. Compared with the prior art, the beneficial effects of the computer program product provided by this application are the same as the beneficial effects of the vehicle control method provided by the above embodiment, which will not be repeated here.

[0145] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: When it is detected that the vehicle is in a low-speed driving condition, the current gear position of the vehicle is obtained; Determining a vehicle driving strategy according to the current gear position of the vehicle; driving the vehicle to a parking space by controlling the motor torque according to the vehicle driving strategy; When it is detected that the vehicle has reached the parking space, the vehicle is driven to park by controlling the motor speed; The determining of the vehicle driving strategy according to the current gear position of the vehicle comprises: Adjusting the current drive type of the vehicle according to the current gear position of the vehicle, wherein the current drive type of the vehicle includes front drive, rear drive and all drive; Scan the road surface in the direction of vehicle movement through the on-board camera to obtain the road surface type; Determining a vehicle driving strategy according to the current driving type of the vehicle and the road type; The step of adjusting the vehicle driving type according to the current gear position of the vehicle to obtain the current driving type of the vehicle includes: When the current gear of the vehicle is the forward gear, the current drive type of the vehicle is adjusted to the front drive; When the current gear of the vehicle is the reverse gear, the current drive type of the vehicle is adjusted to rear-wheel drive.

2. The method according to claim 1, characterized in that The determining of the vehicle driving strategy according to the current driving type of the vehicle and the road type comprises: When the current driving type of the vehicle is front-wheel drive and the road surface type is a speed bump road surface, determining the vehicle driving strategy is to adjust the current driving type of the vehicle from front-wheel drive to rear-wheel drive when the front wheel contacts the speed bump, and to adjust the current driving type of the vehicle from rear-wheel drive to front-wheel drive when the front wheel passes through the speed bump; When the current driving type of the vehicle is front-wheel drive and the road surface type is a bumpy road surface, determining the vehicle driving strategy is to adjust the current driving type of the vehicle from front-wheel drive to rear-wheel drive when the front wheels touch the bumpy road surface, and to adjust the current driving type of the vehicle from rear-wheel drive to all-wheel drive when the rear wheels touch the bumpy road surface; When the current driving type of the vehicle is front-wheel drive and the road surface type is uphill, determining the vehicle driving strategy is to adjust the current driving type of the vehicle from front-wheel drive to rear-wheel drive when the front wheels touch the slope, and adjust the current driving type of the vehicle from rear-wheel drive to front-wheel drive when the front wheels reach the top of the slope; When the current driving type of the vehicle is front-wheel drive and the road surface type is downhill or flat road, the vehicle driving strategy is determined to maintain the current driving type of the vehicle.

3. The method according to claim 1, characterized in that When the vehicle is detected to have arrived at the parking space, the vehicle is driven to park by controlling the motor speed, including: When it is detected that the vehicle has arrived at a parking space, the motor is adjusted from torque control to speed control, and the actual speed of the motor and the target speed for parking are obtained; Adjust the motor speed of the vehicle according to the actual motor speed and the target speed to obtain a target torque; The vehicle is controlled to park according to the target torque.

4. The method according to claim 3, characterized in that The step of adjusting the motor speed of the vehicle according to the actual motor speed and the target speed to obtain the target torque includes: Adjust the motor speed of the vehicle according to the actual motor speed and the target speed to obtain an initial torque; Compensating the initial torque to obtain a reference torque; Obtain the torque range and torque change slope range corresponding to the target torque; The reference torque is limited according to the torque range and the torque change slope range to obtain a target torque.

5. The method according to claim 4, characterized in that The compensating the initial torque to obtain a reference torque includes: Obtain the vehicle slope, front and rear wheel suspension height, non-driving wheel speed, and current motor speed; Determining a slope compensation value according to the whole vehicle slope and the front and rear wheel suspension heights; Determining a driving wheel slip rate according to the non-driving wheel speed and the current speed of the motor; The initial torque is subjected to slope compensation and slip correction compensation according to the slope compensation value and the driving wheel slip ratio to obtain a reference torque.

6. A vehicle control device, characterized in that: The vehicle control device comprises: An acquisition module is used to acquire the current gear position of the vehicle when it is detected that the vehicle is in a low-speed driving condition; A determination module, used to determine a vehicle driving strategy according to the current gear position of the vehicle; A driving module, configured to drive the vehicle to a parking space by controlling the motor torque according to the vehicle driving strategy; The driving module is further used to drive the vehicle to park by controlling the motor speed when detecting that the vehicle has arrived at the parking space; The determination module is further used to adjust the current driving type of the vehicle according to the current gear position of the vehicle, wherein the vehicle driving strategy includes front drive, rear drive and all-wheel drive; scan the road surface in the direction of vehicle movement by an on-board camera to obtain the road surface type; determine the vehicle driving strategy according to the current driving type of the vehicle and the road surface type; The determination module is further used to adjust the current driving type of the vehicle to front drive when the current gear position of the vehicle is the forward gear; and to adjust the current driving type of the vehicle to rear drive when the current gear position of the vehicle is the reverse gear.

7. A vehicle control device, characterized in that: The vehicle control device includes: a memory, a processor, and a vehicle control program stored in the memory and executable on the processor, wherein the vehicle control program is configured to implement the vehicle control method according to any one of claims 1 to 5.

8. A storage medium, characterized in that: The storage medium stores a vehicle control program, and when the vehicle control program is executed by the processor, the vehicle control method according to any one of claims 1 to 5 is implemented.

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