Vehicle control method, control system and computer readable storage medium

Abstract

The invention discloses a vehicle control method and system and a computer readable storage medium. The vehicle control method comprises the steps that vertical force of all wheels is obtained through force sensors installed on all suspensions; obtaining a road adhesion coefficient; obtaining the road adhesion force limit of each wheel according to the vertical force of each wheel and the road adhesion coefficient; acquiring control force for controlling the current motion state of the vehicle; and if the difference value between the control force and the road surface adhesion force limit of a certain wheel is smaller than a set difference threshold value, the vehicle is controlled. The vertical force of each wheel is obtained through the force sensors installed on the suspensions, accurate vertical force data of the multiple wheels can be obtained, and the road adhesion limit is obtained by obtaining the road adhesion coefficient. And if the difference value between the control force and the road adhesion limit of a certain wheel is smaller than the set difference threshold value, the vehicle is controlled, so that the vehicle can be prevented from slipping, and the vertical force can be fully utilized to control the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle control method, a control system, and a computer-readable storage medium. Background Art

[0002] The vertical force of the wheel is an important factor in vehicle dynamic control, which directly affects the stability, handling and comfort of the vehicle. In the related art, the vertical force of each wheel is obtained by combining multiple sensors representing the overall running state of the vehicle with the dynamic model of the vehicle, which will cause a large deviation between the calculated vertical force and the actual vertical force and there will be a delay, and the vertical force cannot be used well to control the vehicle. Summary of the invention

[0003] The present application provides a vehicle control method, a control system and a computer-readable storage medium to solve at least some of the problems in the related art.

[0004] On one hand, the present application provides a vehicle control method, wherein the vehicle includes a plurality of wheels and a plurality of suspensions, each suspension being connected to a corresponding wheel, and the vehicle control method includes: Obtaining the vertical force of each wheel through a force sensor installed on each suspension; Obtain road adhesion coefficient; Obtaining the road adhesion limit of each wheel according to the vertical force of each wheel and the road adhesion coefficient; Acquiring a control force for controlling a current motion state of the vehicle; If the difference between the control force and the road adhesion limit of a certain wheel is smaller than a set difference threshold, the vehicle is controlled.

[0005] Optionally, the controlling the vehicle includes: If the vehicle is in a turning process and has an excessive turning tendency, at least one of the following control means is used to enable the vehicle to turn normally: Controlled front anti-roll bar increases rigidity; Controlling the rear anti-roll bar reduces rigidity; Controlled front suspension to increase stiffness; Control the rear suspension to reduce stiffness.

[0006] Optionally, the controlling the vehicle includes: If the vehicle is in a turning process and has an understeering tendency, at least one of the following control measures is used to enable the vehicle to turn normally: Controlling the front anti-roll bar reduces rigidity; Controlled rear anti-roll bar increases rigidity; Control the front suspension to reduce stiffness; Controlled rear suspension increases stiffness.

[0007] Optionally, the controlling the vehicle includes: If the vehicle is in an accelerating state, controlling the driving system of the vehicle to reduce the driving force; If the vehicle is in a braking state, the braking system of the vehicle is controlled to no longer increase the braking force.

[0008] Optionally, the vehicle control method further includes: Obtaining a vertical force change rate of each wheel according to the vertical force of each wheel; If the vertical force change rate of a certain wheel is between a set first change rate limit value and a set second change rate limit value, controlling the front anti-roll bar and the rear anti-roll bar to increase stiffness, wherein the second change rate limit value is greater than the first change rate limit value; If the vertical force change rate of a certain wheel is greater than the second change rate limit value, the front anti-roll bar and the rear anti-roll bar are controlled to reduce stiffness.

[0009] Optionally, the vehicle control method further includes: When the vertical forces of the front wheels of the vehicle are all smaller than the vertical forces of the rear wheels of the vehicle, the rear suspension is controlled to increase the travel.

[0010] Optionally, if the vehicle is in a parked state, the vehicle control method further includes: Acquiring the levelness of the vehicle relative to a horizontal plane by means of an inertial sensor; The travel of the suspension is controlled according to the vertical forces of the plurality of wheels and the levelness.

[0011] Optionally, controlling the travel of the suspension according to the vertical forces and the horizontality of the plurality of wheels comprises: Obtaining a vertical force difference between a wheel on one side and a wheel on the other side opposite to the front-rear direction of the vehicle through the vertical forces of the plurality of wheels; Obtaining a vertical force difference between a wheel on one side and a wheel on the other side opposite to the vehicle in the left-right direction; If the horizontality is greater than a preset horizontality limit, and the vertical force difference is greater than a preset vertical force difference limit, the suspension on the side with smaller vertical force is controlled to increase its stroke and / or the suspension on the side with larger vertical force is controlled to reduce its stroke.

[0012] Optionally, the vehicle control method further includes: Obtaining, according to the vertical force of each wheel, a frequency at which the vertical force of each wheel exceeds a preset vertical force limit value; If the frequency that the vertical force of a certain wheel exceeds the preset vertical force limit is greater than the preset frequency limit, a prompt message is issued.

[0013] On the other hand, the present application provides a vehicle control system, including a memory, a processor, and a program stored in the memory and executable on the processor, and the vehicle control method is implemented when the processor executes the program.

[0014] On another aspect, the present application provides a computer-readable storage medium, on which a program is stored, and a vehicle control method is implemented when the program is executed.

[0015] Compared with the related art, the vehicle control method provided by the present application obtains the vertical force of each wheel through the force sensor installed on each suspension, and can obtain accurate vertical force data of multiple wheels, avoiding the situation that the vertical force of each wheel is inaccurate and delayed by calculating the vertical force by combining the sensor data reflecting the overall operating parameters of the vehicle with the dynamic model of the vehicle, so that the accuracy and immediacy of the vertical force data can be improved. By obtaining the road adhesion coefficient, the road adhesion limit of each wheel is obtained according to the vertical force and road adhesion coefficient of each wheel. If the difference between the control force and the road adhesion limit of a wheel is less than the set difference threshold, the wheel has a tendency to slip when the control force is about to break through the road adhesion limit of a wheel, and the vehicle is controlled in advance before the wheel slips. Not only can the vehicle slip be avoided, but the tire force can also be fully utilized for vehicle control, and the tire limit can be used as much as possible, so as to better improve the stability and safety of vehicle control. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 The figure is a flow chart of a vehicle control method shown in an embodiment.

[0018] Figure 2 for Figure 1 A flow chart of an implementation of step 60 in the vehicle control method is shown.

[0019] Figure 3 for Figure 2 FIG. 2 is a flow chart of another implementation of step 60 in the vehicle control method.

[0020] Figure 4 for Figure 2 FIG. 4 is a flow chart of another embodiment of step 60 in the vehicle control method.

[0021] Figure 5The flowchart of the vehicle control method shown in another embodiment is shown.

[0022] Figure 6 The figure is a flow chart of a vehicle control method shown in yet another embodiment.

[0023] Figure 7 for Figure 6 A flow chart of an implementation of step 82 in the vehicle control method is shown.

[0024] Figure 8 The figure is a structural block diagram of a brake control system shown in an embodiment. DETAILED DESCRIPTION

[0025] The present application provides a vehicle control method, a control system, and a computer-readable storage medium. The vehicle control method, the control system, and the computer-readable storage medium of the present application are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0026] The embodiment of the present application provides a vehicle control method, wherein the vehicle includes a plurality of wheels and a plurality of suspensions, each suspension being connected to a corresponding wheel, and the vehicle control method includes: The vertical force of each wheel is obtained through the force sensors installed on each suspension. The road adhesion coefficient is obtained. The road adhesion limit of each wheel is obtained based on the vertical force of each wheel and the road adhesion coefficient. The control force for controlling the current motion state of the vehicle is obtained. If the difference between the control force and the road adhesion limit of a wheel is less than the set difference threshold, the vehicle is controlled.

[0027] Compared with the related art, the vehicle control method provided by the present application obtains the vertical force of each wheel through the force sensor installed on each suspension, and can obtain accurate vertical force data of multiple wheels, avoiding the situation that the vertical force of each wheel is inaccurate and delayed by calculating the vertical force by combining the sensor data reflecting the overall operating parameters of the vehicle with the dynamic model of the vehicle, thereby improving the accuracy and immediacy of the vertical force data. By obtaining the road adhesion coefficient, the road adhesion limit of each wheel is obtained according to the vertical force and road adhesion coefficient of each wheel. The control force for controlling the current motion state of the vehicle is obtained. If the difference between the control force and the road adhesion limit of a certain wheel is less than the set difference threshold, the control force is about to break through the road adhesion limit of a certain wheel and the wheel has a tendency to slip, and the vehicle is controlled in advance before the vehicle slips. Not only can the vehicle slip be avoided, but the tire force can also be fully utilized for vehicle control, and the tire limit can be used as much as possible, so as to better improve the stability and safety of vehicle control.

[0028] Please refer to Figure 1 , Figure 1FIG. 1 is a flow chart of a vehicle control method according to an embodiment. Figure 1 In the illustrated embodiment, the vehicle control method 10 includes steps 20 to 60 .

[0029] Step 20, obtaining the vertical force of each wheel through the force sensor installed on each suspension.

[0030] The vehicle includes multiple wheels and multiple suspensions, each suspension is connected to a corresponding wheel, and each suspension is an independent suspension. The suspension corresponding to the front wheel is the front suspension, and the suspension corresponding to the rear wheel is the rear suspension. The vehicle also includes a front anti-roll bar and a rear anti-roll bar, wherein the front anti-roll bar is connected between the front suspensions, and the rear anti-roll bar is connected between the rear suspensions. Both the front suspension and the rear suspension can adjust the stiffness and travel, and both the front anti-roll bar and the rear anti-roll bar can adjust the stiffness.

[0031] A force sensor is installed on each suspension. The force sensor on each suspension is used to indicate the force applied to the suspension. The force applied to the suspension must be applied to the ground through the corresponding wheel. Therefore, the force sensor installed on the suspension can indicate the vertical force of the wheel corresponding to the suspension, wherein the vertical force of the wheel is the force between the wheel and the ground parallel to the ground.

[0032] The vertical force of each wheel is obtained by the force sensor installed on the suspension, which is intuitive, accurate and has no time delay. It can reflect the actual vertical force of each wheel. Compared with the related art, which calculates the vertical force by combining the sensor data reflecting the overall operating parameters of the vehicle with the vehicle's dynamic model, the accuracy and timeliness of the vertical force data can be improved. When the vertical force is accurate and immediate, the vehicle can be controlled according to the vertical force, which can improve the stability and safety of vehicle control.

[0033] In this embodiment, the number of wheels is four, the number of suspensions is also four, the four suspensions are connected to the corresponding wheels, and the four suspensions are all independent suspensions. The suspension corresponding to the front two wheels is the front suspension, and the suspension corresponding to the rear two wheels is the rear suspension. The vehicle also includes a front anti-roll bar and a rear anti-roll bar, wherein the front anti-roll bar is connected between the two front suspensions, and the rear anti-roll bar is connected between the two rear suspensions. The front suspension and the rear suspension can both adjust the stiffness and travel, and the front anti-roll bar and the rear anti-roll bar can both adjust the stiffness. In some other embodiments, the number of wheels can be six or eight, and the corresponding number of suspensions can also be six or eight, which is not limited in this application.

[0034] Step 30, obtaining the road adhesion coefficient. In this embodiment, the road surface video and vehicle parameters during driving are collected by sensors and cameras installed on the vehicle, and the road adhesion coefficient is analyzed. The sensor installed on the vehicle can be an acceleration sensor, a steering angle sensor, and a tire pressure monitoring sensor, which can collect dynamic data of the vehicle in real time. The camera is used to capture visual information of the road surface, including road surface texture, water accumulation, ice and snow coverage, etc., in order to analyze the friction characteristics of the road surface. The road surface pictures taken by the camera are analyzed by image processing technology to identify the road surface type and condition, such as dry, slippery, ice and snow, etc. A road state estimation model is established, and the sensor data and image analysis results are combined to evaluate the friction conditions of the current road surface and obtain the road surface adhesion coefficient. In some other embodiments, the road surface adhesion coefficient can also be obtained by other means, which is not limited by the present application.

[0035] Step 40, obtaining the road adhesion limit of each wheel according to the vertical force and road adhesion coefficient of each wheel. When the force parallel to the road surface direction applied to the wheel is not greater than the road adhesion limit, the wheel will not slide during the rotation process. At this time, the vehicle is in a stable and safe state and will not slip. When the force parallel to the road surface direction applied to the wheel is greater than the road adhesion limit, the wheel will slide, and the static friction between the wheel and the ground will become sliding friction. The wheel will slide during the rotation process, affecting the direction control of the vehicle. Obtaining the road adhesion limit of each wheel according to the vertical force and road adhesion coefficient of each wheel is an important prerequisite for determining whether a wheel of the vehicle will slide.

[0036] Step 50, obtaining the control force for controlling the current motion state of the vehicle. Specifically, it can be obtained through the driving system or braking system of the vehicle. When the vehicle is in the acceleration state, the control force for controlling the current motion state of the vehicle is the driving force of the driving system, and when the vehicle is in the braking state, the control force for controlling the current motion state of the vehicle is the braking force of the braking system.

[0037] Step 60, if the difference between the control force and the road adhesion limit of a wheel is less than the set difference threshold, the vehicle is controlled. If the difference between the control force and the road adhesion limit of a wheel is less than the set difference threshold, the control force is close to the road adhesion limit of a wheel, and there is a trend of breaking through the road adhesion limit of a wheel. When the control force breaks through the road adhesion limit of a wheel, the corresponding wheel begins to slip. If the difference between the control force and the road adhesion limit of a wheel is less than the set difference threshold, the set difference threshold is not zero, and the road adhesion limit of a wheel is not broken, the vehicle is controlled in advance. Not only can the vehicle be prevented from slipping, but the tire force can also be fully utilized to control the vehicle, and the tire limit can be used as much as possible, which can better improve the stability and safety of vehicle control.

[0038] Please refer to Figure 2 , Figure 2 for Figure 1 FIG. 1 is a flow chart of an implementation of step 60 in the vehicle control method shown in FIG. Figure 2 In the illustrated embodiment, controlling the vehicle includes steps 61 to 63 .

[0039] Step 61, obtaining the running state of the vehicle. The speed of the vehicle can be obtained from the vehicle speed sensor, the acceleration of the vehicle can be obtained from the acceleration sensor, and the running state of the vehicle can be obtained based on the speed and acceleration of the vehicle, whether it is an acceleration state or a braking state.

[0040] Step 62, if the vehicle is in an accelerating state, control the vehicle's driving system to reduce the driving force. When the driving force is reduced, the control force can be prevented from exceeding the road adhesion limit of the wheels, thereby preventing the vehicle from slipping.

[0041] Step 63, if the vehicle is in a braking state, the braking system of the vehicle is controlled to no longer increase the braking force. When the vehicle is in a braking state, and the difference between the braking force and the road adhesion limit of a certain wheel is less than the set difference threshold. At this time, if the braking force continues to increase, it will break through the road adhesion limit of a certain wheel. However, based on the functional safety requirements of the vehicle, when the vehicle is controlled, the braking system cannot reduce the braking force that has been applied. For anti-skid control, when the braking force of the vehicle is about to break through the road adhesion limit, the braking system of the vehicle is controlled to no longer increase the braking force, so as to achieve the purpose of preventing the vehicle from slipping.

[0042] The above control means of reducing driving force and not increasing braking force can be used when the vehicle is in a straight-moving state or a turning state. When the vehicle is in a turning state, it can also be combined with the front suspension, rear suspension, front anti-roll bar, rear anti-roll bar and rear wheel steering for comprehensive control. When the vehicle is turning, if the difference between the control force and the road adhesion limit of a certain wheel is less than the set difference threshold, the vehicle is turned according to the desired turning path while avoiding vehicle slippage.

[0043] When the vehicle speed is low, it is difficult to break the road adhesion limit when the vehicle is driving at a constant speed, and generally no slip will occur. The travel of the front and rear suspensions can be reduced to lower the center of gravity of the vehicle, reduce the center of gravity transfer, and suppress the occurrence of roll. In this way, if the vehicle does not roll, the driver will not roll either, which improves driving comfort and confidence.

[0044] Please refer to Figure 3 , Figure 3 for Figure 2 FIG. 1 is a flow chart of another embodiment of step 60 in the vehicle control method shown in FIG. Figure 3 In the illustrated embodiment, the vehicle is controlled in step 60 , and further includes steps 64 and 65 .

[0045] Step 64, obtaining the turning state of the vehicle.

[0046] Step 65, if the vehicle is in the process of turning and has an excessive steering tendency, at least one of the following control means is used to make the vehicle turn normally: control the front anti-roll bar to increase stiffness, control the rear anti-roll bar to reduce stiffness, control the front suspension to increase stiffness, and control the rear suspension to reduce stiffness.

[0047] Step 64 obtains the turning state of the vehicle. Specifically, it is determined whether the turning trend of the vehicle in the turning process is normal turning, oversteering or understeering. Normal turning, oversteering and understeering are all relative to the driver's expected turning. Oversteering trend means that the actual steering angle is larger than the expected angle, for example, the expected turning is 30 degrees, but the actual vehicle turns 60 degrees. Understeering means that the actual steering angle does not keep up with the expected angle, for example, the expected turning is 60 degrees, but the actual vehicle turns 30 degrees.

[0048] When the vehicle is oversteering, the actual turning angle of the vehicle in the curve is larger than the angle of the front wheels, and the rear wheels slide outward. This causes the vehicle to drift, making it difficult for the driver to control the vehicle, which can easily lead to major traffic accidents. When the vehicle is understeering, the actual turning angle of the vehicle in the curve is smaller than the turning angle of the front wheels, and the front wheels slide outward. The vehicle loses its steering ability and is prone to hitting obstacles. Both the oversteering tendency and the understeering tendency will affect the normal control of the vehicle and cause safety hazards. Both the understeering tendency and the oversteering tendency need to be controlled to restore the vehicle to normal steering.

[0049] If the difference between the vehicle's control force and the road adhesion limit of a certain wheel is less than the set difference threshold, the vehicle needs to be controlled, and the vehicle is in the process of turning and if the wheel slips, the vehicle has an over-steering tendency. The stiffness of the rear anti-roll bar can be reduced to make the rear wheels contact the ground, make the vertical force of the rear wheels more balanced, increase the available lateral force, and reduce the vehicle's over-steering tendency. The stiffness of the front anti-roll bar can also be increased to increase a part of the under-steering tendency to suppress the over-steering tendency. The front suspension can also be controlled to increase stiffness and the rear suspension can be controlled to reduce stiffness. Increasing the stiffness of the front suspension and reducing the stiffness of the rear suspension will result in a large amount of weight transfer on the front axle, resulting in an increase in the front slip angle, driving the vehicle closer to under-steering.

[0050] Regarding the adjustment of the front anti-roll bar, rear anti-roll bar, front suspension and rear suspension, one of the above adjustment means can be used according to the actual situation, or a combination of multiple of the above adjustment means can be used to achieve vehicle anti-skid and normal vehicle steering. During the adjustment process, if the vehicle still has a tendency to over-steer, other controllers will be used for adjustment, such as the rear-wheel steering system, which changes the steering angle of the vehicle by adjusting the direction of the rear wheels. It can also be combined with the vehicle's drive system or brake system for control. If the vehicle is in an accelerating state, the vehicle's drive system is controlled to reduce the driving force. If the vehicle is in a braking state, the vehicle's brake system is controlled to no longer increase the braking force.

[0051] Please refer to Figure 4 , Figure 4 for Figure 2 FIG. 1 is a flow chart of another embodiment of step 60 in the vehicle control method shown in FIG. Figure 4 In the illustrated embodiment, the vehicle is controlled in step 60 , which also includes steps 64 and 66 .

[0052] Step 64, obtaining the turning state of the vehicle.

[0053] Step 66, if the vehicle is in the process of turning and has an understeering tendency, at least one of the following control means is used to make the vehicle turn normally: control the front anti-roll bar to reduce stiffness, control the rear anti-roll bar to increase stiffness, control the front suspension to reduce stiffness, and control the rear suspension to increase stiffness.

[0054] If the difference between the vehicle's control force and the road adhesion limit of a certain wheel is less than the set difference threshold, the vehicle needs to be controlled, and the vehicle is in the process of turning and if the wheel slips, the vehicle has a tendency to understeer. The stiffness of the front anti-roll bar can be reduced to make the front wheels contact the ground, so that the vertical force of the wheels on both sides is more balanced, and the available lateral force is increased, so that the vehicle has a tendency to understeer. The stiffness of the rear anti-roll bar can also be increased to make the vehicle tend to oversteer. The front suspension can also be controlled to reduce stiffness and the rear suspension can be controlled to increase stiffness to make the vehicle tend to oversteer.

[0055] Regarding the adjustment of the front anti-roll bar, rear anti-roll bar, front suspension and rear suspension, one of the above adjustment means or a combination of the above adjustment means can be used according to the actual situation to achieve vehicle anti-skid and normal steering of the vehicle. During the adjustment process, the utilization of the tires can be judged by collecting the vertical force. If the vehicle still has a tendency to understeer, other controllers will be used for adjustment, such as the rear-wheel steering system. Or it can be controlled in combination with the vehicle's drive system or braking system. If the vehicle is in an accelerating state, the vehicle's drive system is controlled to reduce the driving force. If the vehicle is in a braking state, the vehicle's braking system is controlled to no longer increase the braking force.

[0056] Please refer to Figure 5 , Figure 5 FIG. 1 is a flow chart of a vehicle control method shown in another embodiment. Figure 5 In the illustrated embodiment, the vehicle control method 10 further includes steps 71 to 73 .

[0057] Step 71, obtaining the vertical force change rate of each wheel according to the vertical force of each wheel.

[0058] Step 72, if the vertical force change rate of a certain wheel is between a set first change rate limit and a set second change rate limit, control the front anti-roll bar and the rear anti-roll bar to increase stiffness, wherein the second change rate limit is greater than the first change rate limit.

[0059] Step 73: If the vertical force change rate of a certain wheel is greater than the second change rate limit, control the front anti-roll bar and the rear anti-roll bar to reduce stiffness.

[0060] In some embodiments, by collecting the vertical forces of multiple wheels, if the vertical force of the wheel on one side of the left or right direction of the vehicle continues to increase, the vertical force of the wheel on the other side of the opposite direction of the vehicle continues to decrease, and the vertical force change rates of the multiple wheels are large, the vehicle tilts toward the side where the vertical force continues to increase, and the vehicle needs to be controlled.

[0061] When the vehicle is driving, if the rate of change of the vertical force of the wheel is large, it means that the load distribution between the multiple wheels of the vehicle changes rapidly, the vehicle is in an unstable state, and there may be a risk of rolling or rollover. The vehicle needs to be controlled to prevent rolling or rollover.

[0062] If the vertical force change rate of a wheel is between the set first change rate limit and the set second change rate limit, at this time, the vertical force change rate of the wheel is large, there is a risk of rollover, but no risk of rollover. By controlling the front anti-roll bar and the rear anti-roll bar to increase the stiffness, the wheel on the side that is about to be lifted can be suppressed from continuing to lift, thereby suppressing the roll of the vehicle.

[0063] If the vertical force change rate of a wheel is greater than the second change rate limit, at this time, the vertical force change rate of the wheel is very large and there may be a risk of rollover. By controlling the front anti-roll bar and the rear anti-roll bar to reduce the stiffness, the wheels on both sides are in contact with the ground, making the vertical forces of the wheels on both sides more balanced, thereby increasing the available lateral force and preventing the vehicle from rolling over.

[0064] In some embodiments, the vehicle control method further includes: when the vertical forces of the front wheels of the vehicle are all smaller than the vertical forces of the rear wheels of the vehicle, controlling the rear suspension to increase the travel. When the vertical forces of the front wheels of the vehicle are all smaller than the vertical forces of the rear wheels of the vehicle, the vehicle may be in a climbing state. At this time, by controlling the rear suspension to increase the travel, the driver on the uphill can obtain a better field of view. The travel of the rear suspension is minimized to prevent the vehicle from bottoming out due to a small approach angle.

[0065] When the vertical force of the front wheels of the vehicle is smaller than the vertical force of the rear wheels of the vehicle, the center of gravity of the vehicle may be biased to the rear. For example, when the trunk of the vehicle is loaded with a lot of cargo, the rear suspension will be compressed and the body will tilt backward. According to the vehicle configuration, there will be a horizontal static standard value. When driving, the vehicle load will change due to the addition of passengers and luggage. The rear suspension can calculate the change in stroke after force compression by comparing the standard value, and then reversely increase the stroke by this amount, so that the vehicle remains horizontal and the driver maintains a good field of vision.

[0066] Please refer to Figure 6 , Figure 6 FIG. 1 is a flow chart of a vehicle control method shown in yet another embodiment. Figure 6 In the illustrated embodiment, if the vehicle is in a parked state, the vehicle control method 10 further includes steps 81 to 82 .

[0067] Step 81, obtaining the levelness of the vehicle relative to the horizontal plane through an inertial sensor.

[0068] Step 82, controlling the travel of the suspension according to the vertical force and levelness of the multiple wheels.

[0069] When the vehicle is parked on a slope or camping, the body of the vehicle will tilt due to the slope of the road. At this time, the forces on multiple suspensions are inconsistent, and the vertical forces on multiple wheels are also inconsistent, which affects the riding experience of the people in the car. At this time, the levelness of the vehicle relative to the horizontal plane can be obtained through the inertial sensor, and the travel of the suspension can be controlled in combination with the uneven distribution of the vertical forces of multiple wheels of the vehicle. When parking, the load of the wheel will change due to parking on the slope. The travel of the suspension compressed due to the force is calculated, and the travel is actively adjusted through the suspension to restore the vehicle to a horizontal state. For example, if the vehicle is parked on a slope tilted to the left, the suspension on the left increases the travel, and the suspension on the right compresses the travel. If the vehicle is parked on a climbing slope, the front suspension compresses the travel, and the rear suspension increases the travel. By controlling the suspension to change the travel, the vehicle can be adjusted to a horizontal state, the levelness of the vehicle can be improved, and the riding experience of the people can be further improved.

[0070] Please refer to Figure 7 , Figure 7 for Figure 6FIG. 8 is a flow chart of an implementation of step 82 in the vehicle control method shown in FIG. Figure 7 In the illustrated embodiment, step 82 controls the travel of the suspension according to the vertical force and levelness of the plurality of wheels, and includes steps 821 to 823 .

[0071] Step 821, obtaining the vertical force difference between the wheels on one side and the other side in the front-rear direction of the vehicle through the vertical forces of the multiple wheels; Step 822, obtaining a vertical force difference between a wheel on one side and a wheel on the other side opposite to the left and right directions of the vehicle; Step 823, if the horizontality is greater than the preset horizontality limit, and the vertical force difference is greater than the preset vertical force difference limit, control the suspension on the side with smaller vertical force to increase the stroke and / or control the suspension on the side with larger vertical force to reduce the stroke.

[0072] For example, the vertical force difference between the front wheels of the vehicle and the rear wheels of the vehicle and the vertical force difference between the left wheel of the vehicle and the right wheel of the vehicle can be calculated. If the vertical force of the front wheels of the vehicle is less than the vertical force of the rear wheels of the vehicle, and the difference between the vertical force of the front wheels and the vertical force of the rear wheels is greater than the preset vertical force difference limit, it means that the vehicle is tilted backward. At this time, the front suspension can be controlled to lower the stroke or the rear suspension can be controlled to increase the stroke, or the front suspension can be controlled to lower the stroke and the rear suspension can be controlled to increase the stroke at the same time.

[0073] In some embodiments, the vehicle control method further includes: obtaining the frequency of the vertical force of each wheel exceeding the preset vertical force limit value according to the vertical force of each wheel, and issuing a prompt message if the frequency of the vertical force of a wheel exceeding the preset vertical force limit value is greater than the preset frequency limit value.

[0074] By detecting the maximum value of the vertical force, the impact of the road on the suspension and the health of the suspension can be detected. If you pass a speed bump at high speed, the wheel will have a large upward impact force, and this force changes very quickly. The maximum value of the force applied to the suspension is recorded by detecting it. A vertical force limit can be set, and the frequency of the vertical force of each wheel exceeding the preset vertical force limit can be obtained based on the vertical force of each wheel. If the frequency of the vertical force of a wheel exceeding the preset vertical force limit is greater than the preset frequency limit, a prompt message is issued. At the same time, when the owner performs maintenance, the maintenance personnel can be directly prompted to focus on checking the suspension part, realizing the intelligent detection and maintenance function of vehicles in the aftermarket.

[0075] Another aspect of the present application provides a brake control system, Figure 8 FIG. 1 is a block diagram of a brake control system according to an embodiment. Figure 8 As shown, the control system includes a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, a vehicle control method is implemented.

[0076] In some embodiments, the control system may include a computer-readable storage medium 2, which may store a program that can be called by the processor 1 and may include a non-volatile storage medium. In some embodiments, the control device may include a memory 3 and an interface 4. In some embodiments, the control device may also include other hardware according to actual applications.

[0077] On the other hand, the present application provides a computer-readable storage medium, on which a program is stored, and when the program is executed, a control method of a vehicle is implemented. In some embodiments, the form of a computer program product implemented on one or more computer-readable storage media 2 (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code can be adopted. The computer-readable storage medium 2 includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information can be a computer-readable instruction, a data structure, a module of a program, or other data. Examples of computer-readable storage media 2 include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassette, tape disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0078] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the application disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0079] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that: The vehicle comprises a plurality of wheels and a plurality of suspensions, each suspension being connected to a corresponding wheel, and the vehicle control method comprises: Obtaining the vertical force of each wheel through a force sensor installed on each suspension; Obtain road adhesion coefficient; Obtaining the road adhesion limit of each wheel according to the vertical force of each wheel and the road adhesion coefficient; Acquiring a control force for controlling a current motion state of the vehicle; If the difference between the control force and the road adhesion limit of a certain wheel is smaller than a set difference threshold, the vehicle is controlled.

2. The vehicle control method according to claim 1, characterized in that: The controlling of the vehicle comprises: If the vehicle is in a turning process and has an excessive turning tendency, at least one of the following control means is used to enable the vehicle to turn normally: Controlled front anti-roll bar increases rigidity; Controlling the rear anti-roll bar reduces rigidity; Controlled front suspension to increase stiffness; Control the rear suspension to reduce stiffness.

3. The vehicle control method according to claim 1, characterized in that: The controlling of the vehicle comprises: If the vehicle is in a turning process and has an understeering tendency, at least one of the following control measures is used to enable the vehicle to turn normally: Controlling the front anti-roll bar reduces rigidity; Controlled rear anti-roll bar increases rigidity; Control the front suspension to reduce stiffness; Controlled rear suspension increases stiffness.

4. The vehicle control method according to claim 1, characterized in that: The controlling of the vehicle comprises: If the vehicle is in an accelerating state, controlling the driving system of the vehicle to reduce the driving force; If the vehicle is in a braking state, the braking system of the vehicle is controlled to no longer increase the braking force.

5. The vehicle control method according to claim 1, characterized in that: The vehicle control method further includes: Obtaining a vertical force change rate of each wheel according to the vertical force of each wheel; If the vertical force change rate of a certain wheel is between a set first change rate limit value and a set second change rate limit value, controlling the front anti-roll bar and the rear anti-roll bar to increase stiffness, wherein the second change rate limit value is greater than the first change rate limit value; If the vertical force change rate of a certain wheel is greater than the second change rate limit value, the front anti-roll bar and the rear anti-roll bar are controlled to reduce stiffness.

6. The vehicle control method according to claim 1, characterized in that: The vehicle control method further includes: When the vertical forces of the front wheels of the vehicle are all smaller than the vertical forces of the rear wheels of the vehicle, the rear suspension is controlled to increase the travel.

7. The vehicle control method according to claim 1, characterized in that: If the vehicle is in a parked state, the vehicle control method further includes: Acquiring the levelness of the vehicle relative to a horizontal plane by means of an inertial sensor; The travel of the suspension is controlled according to the vertical forces of the plurality of wheels and the levelness.

8. The vehicle control method according to claim 7, characterized in that: The controlling the travel of the suspension according to the vertical forces and the horizontality of the plurality of wheels comprises: Obtaining a vertical force difference between a wheel on one side and a wheel on the other side opposite to the front-rear direction of the vehicle through the vertical forces of the plurality of wheels; Obtaining a vertical force difference between a wheel on one side and a wheel on the other side opposite to the vehicle in the left-right direction; If the horizontality is greater than a preset horizontality limit, and the vertical force difference is greater than a preset vertical force difference limit, the suspension on the side with smaller vertical force is controlled to increase its stroke and / or the suspension on the side with larger vertical force is controlled to reduce its stroke.

9. The vehicle control method according to claim 1, characterized in that: The vehicle control method further includes: Obtaining, according to the vertical force of each wheel, a frequency at which the vertical force of each wheel exceeds a preset vertical force limit value; If the frequency that the vertical force of a certain wheel exceeds the preset vertical force limit is greater than the preset frequency limit, a prompt message is issued.

10. A vehicle control system, characterized in that: The control system includes a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the vehicle control method according to any one of claims 1 to 9 is implemented.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program, and when the program is executed, the vehicle control method according to any one of claims 1 to 9 is implemented.

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