Vehicle rotation control method and device, controller, vehicle and storage medium

Abstract

The invention provides a vehicle rotation control method and device, a controller, a vehicle and a storage medium. Relates to the technical field of vehicle control. The method comprises the steps that when an automatic driving assistance function of a vehicle is started and it is determined that the vehicle needs to rotate, the current road surface type is determined according to collected road surface information of a road surface where the vehicle is located currently, the target rotating speed is determined according to the current road surface type, and the vehicle is controlled to rotate according to the target rotating speed. According to the method, the accuracy of rotation speed determination can be improved according to the type of the current road surface where the vehicle is located, so that the accuracy of vehicle rotation is further improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device, controller, vehicle and storage medium for controlling vehicle rotation. Background Art

[0002] With the continuous advancement and popularization of autonomous driving technology, more and more vehicles are equipped with autonomous driving assistance functions. These functions can not only reduce the operating burden of drivers, but also improve driving safety and driving comfort to a certain extent. However, in practical applications, the safety and stability of autonomous driving assistance functions when the vehicle rotates (such as turning and U-turns) still face many challenges.

[0003] In the prior art, users usually set the rotation speed based on historical experience. When it is determined that the vehicle needs to rotate, the automatic driving assistance function relies on the rotation speed pre-set by the user for control. However, in the above method, if the rotation speed is set too high, the vehicle may skid due to insufficient friction; if the rotation speed is set too low, it may cause the vehicle to understeer, affecting driving efficiency and driving experience.

[0004] It can be seen from the above that the accuracy of determining the rotation speed in the prior art is poor, which in turn leads to poor accuracy in controlling the vehicle to rotate. Summary of the invention

[0005] The present application provides a vehicle rotation control method, device, controller, vehicle and storage medium, which are used to solve the problem of poor accuracy in determining the rotation speed in the prior art, which in turn causes poor accuracy in controlling the vehicle to rotate.

[0006] In a first aspect, the present application provides a method for controlling vehicle rotation, the method comprising:

[0007] When the vehicle turns on the automatic driving assistance function and determines that the vehicle needs to rotate, determining the current road type according to the collected road surface information of the road surface on which the vehicle is currently located;

[0008] determining a target rotation speed according to the current road surface type;

[0009] The vehicle rotation is controlled according to the target rotation speed.

[0010] In a possible implementation manner, the road surface information includes a road surface image;

[0011] Determining the road type according to the collected road surface information of the road surface on which the vehicle is currently located includes:

[0012] Perform image recognition processing on the road surface image to obtain the current road surface type.

[0013] In a possible implementation manner, determining the target rotation speed according to the current road surface type includes:

[0014] According to a preset first mapping relationship, a rotation speed corresponding to the current road surface type is determined as the target rotation speed; wherein the first mapping relationship includes a plurality of road surface types and a rotation speed corresponding to each road surface type.

[0015] In a possible implementation manner, the first mapping relationship is obtained in advance by performing a rotation speed test experiment on the vehicle on each road type.

[0016] In a possible implementation manner, the road surface type includes any one of the following: asphalt road surface, cement road surface, gravel road surface, dirt road surface, ice surface, snow surface and flooded road surface.

[0017] In a possible implementation manner, controlling the vehicle rotation according to the target rotation speed includes:

[0018] generating a torque control command according to the target rotation speed and the current road type;

[0019] According to the torque control instruction, the torque of the vehicle is controlled to make the vehicle rotate and travel.

[0020] In one possible implementation, the method further includes:

[0021] Determining target suspension parameters according to the current road surface type and a preset second mapping relationship;

[0022] According to the target suspension parameters, controlling and adjusting the parameters of the suspension of the vehicle to the target suspension parameters, wherein the target suspension parameters include a target suspension height and / or a target suspension stiffness;

[0023] The second mapping relationship includes suspension parameters corresponding to different road surface types obtained in advance according to suspension test experiments, and the suspension parameters include suspension height and / or suspension stiffness.

[0024] In a second aspect, the present application provides a vehicle rotation control device, the device comprising:

[0025] A first processing module is used to determine the current road type according to the collected road surface information of the road surface on which the vehicle is currently located when the vehicle turns on the automatic driving assistance function and determines that the vehicle needs to rotate;

[0026] A second processing module, configured to determine a target rotation speed according to the current road surface type;

[0027] A control module is used to control the rotation of the vehicle according to the target rotation speed.

[0028] In a third aspect, the present application provides a controller, comprising: a processor, a memory, and a communication interface;

[0029] The memory stores computer-executable instructions;

[0030] The processor executes the computer-executable instructions stored in the memory to implement the vehicle rotation control method as described in any one of the first aspects.

[0031] In a fourth aspect, the present application provides a vehicle, comprising: a vehicle body, and a controller as described in the third aspect.

[0032] In a fifth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer execution instructions, and when the computer execution instructions are executed by a processor, they are used to implement the vehicle rotation control method described in any one of the first aspects.

[0033] In a sixth aspect, the present application provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it is used to implement the vehicle rotation control method described in any one of the first aspects.

[0034] The present application provides a method, device, controller, vehicle and storage medium for controlling vehicle rotation. When the vehicle turns on the automatic driving assistance function and determines that the vehicle needs to rotate, the controller can determine the current road type based on the collected road information of the road the vehicle is currently on, determine the target rotation speed based on the current road type, and control the vehicle rotation based on the target rotation speed. Compared with the prior art, the user sets the rotation speed based on historical experience to control the vehicle rotation, which improves the accuracy of determining the rotation speed, thereby improving the accuracy of controlling the vehicle rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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.

[0036] Figure 1 A schematic diagram of an application scenario is provided for the embodiment of the present application;

[0037] Figure 2 A schematic diagram of a flow chart of a first embodiment of a method for controlling vehicle rotation provided in the present application;

[0038] Figure 3 A schematic flow chart of a second embodiment of a method for controlling vehicle rotation provided in the present application;

[0039] Figure 4 It is a schematic diagram of an exemplary front dual-motor driven vehicle rotating to the right;

[0040] Figure 5 is a schematic diagram of an exemplary rear dual-motor driven vehicle rotating to the right;

[0041] Figure 6 is a schematic diagram of an exemplary four-motor driven vehicle rotating to the right;

[0042] Figure 7 A schematic flow chart of a third embodiment of a method for controlling vehicle rotation provided in the present application;

[0043] Figure 8 A schematic diagram of the structure of a vehicle rotation control device provided in an embodiment of the present application;

[0044] Fig. 9 A schematic diagram of the structure of a controller provided in an embodiment of the present application;

[0045] Fig.10 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application.

[0046] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0047] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0048] In the context of autonomous driving technology, the vehicle's autonomous driving assistance function has become one of the important development directions of the modern automobile industry. These functions include but are not limited to adaptive cruise control, lane keeping assistance, automatic emergency braking, and automatic parking systems. These functions can not only reduce the driver's operating burden, but also improve driving safety and driving comfort to a certain extent. However, in actual applications, the autonomous driving assistance function still faces many safety and stability challenges when the vehicle performs rotation operations, such as turning or turning.

[0049] In the prior art, users can set the rotation speed of the vehicle based on their own historical driving experience. When it is determined that the vehicle needs to perform a rotation operation, the automatic driving assistance function relies on the rotation speed pre-set by the user for control. However, in the above method, if the rotation speed is set too high, the vehicle may skid due to insufficient friction, which may cause the vehicle to lose control and increase the risk of traffic accidents; on the contrary, if the rotation speed is set too low, it may cause the vehicle to understeer, thereby affecting driving efficiency, prolonging driving time, and may reduce the overall driving experience, making the driving process less comfortable.

[0050] In summary, in the prior art, the accuracy of determining the rotation speed is poor, which in turn leads to poor accuracy in controlling the vehicle to perform a rotation operation.

[0051] In response to the above problems, the inventors considered that the rotation speed of the vehicle can be determined according to the type of road surface the vehicle is currently on, so as to improve the accuracy of controlling the vehicle's rotation. Specifically, after many experiments, the inventors found that when the vehicle turns on the automatic driving assistance function and determines that the vehicle needs to rotate, the current road surface type can be determined, and the rotation speed can be determined according to the current road surface type to control the vehicle's rotation. This method can determine the rotation speed suitable for the vehicle's rotation according to the current road surface type on which the vehicle is located, thereby significantly improving the accuracy of the vehicle's rotation and reducing the risk of skidding or understeering during the rotation of the vehicle. Based on this, the present application proposes a method for controlling vehicle rotation, which aims to further improve the accuracy of vehicle rotation by improving the accuracy of determining the rotation speed.

[0052] Figure 1 A schematic diagram of an application scenario is provided for the embodiment of this application. Figure 1 The vehicle controller can obtain the road surface type of the vehicle and determine the vehicle's rotation speed according to the road surface type, thereby controlling the vehicle to rotate on the road surface at a corresponding rotation speed.

[0053] For example, the controller of the vehicle may obtain that the type of the current road surface is road surface type A, and determine the rotation speed V1 of the vehicle according to road surface type A, thereby controlling the vehicle to rotate on the road surface at the corresponding rotation speed V1.

[0054] In the embodiment of the present application, the controller can be any one of the vehicle control unit (VCU), chassis domain controller, driving domain controller, etc., and technicians in this field can set it according to actual needs.

[0055] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0056] Figure 2 This is a flow chart of the first embodiment of the vehicle rotation control method provided by the present application. Figure 2 , the method may include:

[0057] S201. When the vehicle turns on the automatic driving assistance function and determines that the vehicle needs to rotate, determine the current road type based on the collected road surface information of the road on which the vehicle is currently located.

[0058] The execution subject of the embodiment of the present application may be a controller of the vehicle, or a control device for the rotation of the vehicle provided in the controller. The control device for the rotation of the vehicle may be implemented by software, or by a combination of software and hardware. The control device for the rotation of the vehicle may be a processor in the controller. For ease of understanding, the following description will be made by taking the execution subject as the controller as an example.

[0059] In this step, when the vehicle turns on the automatic driving assistance function and determines that the vehicle needs to perform a rotation operation, the controller can determine the current road type based on the road surface information of the vehicle currently located collected by the sensor.

[0060] For the current road type, it can be used to indicate the paving material or surface condition of the road the vehicle is currently on.

[0061] Optionally, the controller may determine whether the vehicle has activated the automatic driving assistance function by any of the following methods.

[0062] Method 1: The activation of the automatic driving assistance function can be identified by detecting the user's input signal. For example, the controller can detect that the user presses the automatic driving assistance function button, or the user selects the automatic driving mode through the in-vehicle infotainment system to determine that the automatic driving assistance function is activated.

[0063] Method 2: The status signal of the automatic driving assistance system can be obtained by reading the data frame on the controller area network (CAN) bus to determine whether the automatic driving assistance function is turned on. For example, when the automatic driving assistance function is turned on, the automatic driving assistance system sends a specific status signal (such as "AD_ON") to the controller, and the controller can determine that the automatic driving assistance function has been started by reading the status signal.

[0064] Method 3: You can confirm whether the automatic driving assistance function is turned on by monitoring the status signal on the dashboard. For example, when the user enables the automatic driving assistance function, the indicator light on the dashboard will light up. The controller can determine that the automatic driving assistance function is turned on by monitoring the automatic driving assistance function indicator light on the dashboard.

[0065] Optionally, the controller determines that the vehicle needs to be rotated by the user stopping the vehicle on the road, activating the automatic driving assistance function, and activating the corresponding rotation function. The controller can determine that the vehicle needs to be rotated by detecting that the corresponding rotation function is turned on.

[0066] The way in which the controller determines that the vehicle turns on the rotation function can be found in Determining whether the vehicle turns on the automatic driving assistance function, which will not be repeated here.

[0067] In an optional embodiment, the controller can also obtain the driving route and path planning information through the vehicle's navigation system. When the navigation system indicates that a turn or U-turn is about to be reached, the controller can determine that the vehicle needs to perform a rotation operation.

[0068] In another optional embodiment, the controller can also use various sensors on the vehicle (such as cameras, radars, and lidars) to monitor the current position and surrounding environment of the vehicle in real time. When the sensor data indicates that the vehicle is about to enter an area where a turn or U-turn is required, the controller can determine that the vehicle needs to perform a rotation operation.

[0069] Optionally, the road surface information collected by the sensor may include a road surface image, and the current road surface type may be acquired by identifying and processing the road surface image.

[0070] The road surface type may include any of the following: asphalt road surface, cement road surface, gravel road surface, dirt road surface, flooded road surface, snowy road surface, and icy road surface.

[0071] Furthermore, the asphalt road surface, cement road surface, gravel road surface and dirt road surface in the road surface types are used to indicate that the paving materials of the road surface the vehicle is currently on are asphalt, cement, gravel and dirt respectively; the flooded road surface in the road surface type is used to indicate that the surface condition of the road surface the vehicle is currently on is a flooded state; the snowy road surface in the road surface type is used to indicate that the surface condition of the road surface the vehicle is currently on is a snowy state; the icy road surface in the road surface type is used to indicate that the surface condition of the road surface the vehicle is currently on is an icy state.

[0072] For example, when the vehicle is on an asphalt road, the controller can determine that the current road type is asphalt road based on the road surface information of the vehicle currently on which the vehicle is located collected by the sensor when the vehicle turns on the automatic driving assistance function and determines that the vehicle needs to rotate.

[0073] S202: Determine a target rotation speed according to the current road surface type.

[0074] In this step, the controller can further determine the target rotation speed according to the determined current road surface type. In a specific implementation, the rotation speed corresponding to the current road surface type can be determined as the target rotation speed according to a preset first mapping relationship, wherein the first mapping relationship includes multiple road surface types and the rotation speed corresponding to each road surface type.

[0075] The target rotation speed may refer to the rotation speed that the vehicle is expected to achieve when performing a rotation operation, and is usually described by linear speed, with the unit being meter per second (m / s).

[0076] Optionally, the first mapping relationship is obtained in advance by conducting a rotation speed test experiment on the vehicle on each road type.

[0077] For example, the controller may determine the rotation speed corresponding to the asphalt road surface according to the preset first mapping relationship based on the determination that the current road surface type is an asphalt road surface, and use the rotation speed as the target rotation speed.

[0078] S203: Control the vehicle to rotate according to the target rotation speed.

[0079] In this step, the controller can control the vehicle to rotate on the current road surface according to the determined target rotation speed. In a specific implementation, a torque control instruction can be generated according to the target rotation speed and the current road surface type, and the torque of the vehicle can be controlled according to the torque control instruction to make the vehicle rotate and drive.

[0080] The torque control command refers to the command signal used to control the output torque of the motor in the vehicle. After the controller generates the torque control command, it can be transmitted to the motor driving the wheels to achieve precise control of the motor output torque.

[0081] For example, a torque control instruction may be generated based on the target rotational speed and the current road type being an asphalt road. Based on the torque control instruction, the torque of the vehicle is controlled so that the vehicle rotates at the target rotational speed on the current asphalt road.

[0082] In an embodiment of the present application, when the vehicle turns on the automatic driving assistance function and determines that the vehicle needs to rotate, the controller can determine the current road type based on the collected road surface information of the road surface on which the vehicle is currently located, determine the target rotation speed based on the current road surface type, and control the vehicle to rotate and drive at the target rotation speed. In the above process, the controller can determine the rotation speed that matches the different road surface types on which the vehicle is located, thereby improving the accuracy of determining the rotation speed, and then improving the accuracy of controlling the vehicle to rotate.

[0083] exist Figure 2 Based on the embodiment shown below, combined with Figure 3 , the control method of the above-mentioned vehicle rotation is further described in detail.

[0084] Figure 3 This is a flow chart of the second embodiment of the vehicle rotation control method provided by this application. Figure 3 , the road surface information includes a road surface image, and the method may include:

[0085] S301. When the vehicle turns on the automatic driving assistance function and determines that the vehicle needs to rotate, perform image recognition processing on the road surface image to obtain the current road surface type.

[0086] In this step, when the vehicle turns on the automatic driving assistance function and determines that the vehicle needs to perform a rotation operation, the controller can perform image recognition processing on the road surface image in the road surface information of the vehicle's current road surface collected by the sensor to obtain the current road surface type.

[0087] Optionally, the road surface image may include a video image captured by a camera and / or a point cloud image captured by a lidar.

[0088] For example, when the sensor is a camera in a vehicle, the camera can collect video images of the road surface on which the vehicle is currently located, and perform image recognition processing on the video images to obtain the current road surface type.

[0089] For another example, when the sensor is a laser radar in a vehicle, the laser radar can collect a point cloud image of the road the vehicle is currently on, perform image recognition processing on the point cloud image, and obtain the current road type.

[0090] Optionally, in video image recognition processing, a pre-trained convolutional neural network can be used to extract features and classify them to identify the road surface type; in point cloud image recognition processing, a point cloud processing algorithm (such as Point Net) can be used to process the point cloud data to identify the road surface type.

[0091] For example, when the vehicle is on a cement road, the controller can perform image recognition processing on the road surface image in the road surface information of the vehicle's current road surface collected by the camera when the vehicle turns on the automatic driving assistance function and determines that the vehicle needs to rotate, and obtain the current road surface type as a cement road surface.

[0092] S302: Determine a rotation speed corresponding to the current road surface type according to a preset first mapping relationship as a target rotation speed.

[0093] In this step, the controller can determine the rotation speed corresponding to the current road surface type as the target rotation speed according to a preset first mapping relationship; the first mapping relationship is obtained in advance by performing a rotation speed test experiment on the vehicle on each road surface type. The first mapping relationship includes multiple road surface types and the rotation speed corresponding to each road surface type.

[0094] For example, in the first mapping relationship, the following seven road types are included: asphalt road, cement road, gravel road, dirt road, flooded road, snowy road and icy road. The rotation speed corresponding to each road type can be shown in Table 1.

[0095] Table 1

[0096] Road surface type Rotation speed (m / s) Asphalt road V1＝0.3 Cement pavement V2＝0.5 Gravel road V3＝0.4 Dirt road V4＝0.2 Flooded road V5＝0.6 Snowy road V6＝0.65 Icy roads V7＝0.8

[0097] For example, the controller can determine, based on a preset first mapping relationship, that the current road surface type is a cement road surface and the corresponding rotation speed is V2 as the target rotation speed.

[0098] In an optional embodiment, after determining the target rotation speed corresponding to the current road type, the controller may also send the target rotation speed to the user for adjustment to meet the user's personalized needs. For example, the user may increase the target rotation speed to produce a drift effect during the rotation of the vehicle to enhance the user experience when the vehicle is rotating.

[0099] S303: Generate a torque control instruction according to the target rotation speed and the current road type.

[0100] In this step, the controller may generate a torque control instruction according to the target rotation speed determined by the preset first mapping relationship and the current road type.

[0101] Optionally, the torque control command may include the output torque of each motor in the vehicle.

[0102] For example, for a vehicle equipped with dual front motors, the left front wheel and the right front wheel are driven by one motor respectively, and the torque control command may include the output torque of the left front wheel motor and the output torque of the right front wheel motor.

[0103] For another example, for a vehicle equipped with rear dual motors, the left rear wheel and the right rear wheel are driven by a motor respectively, and the torque control instruction may include the output torque of the left rear wheel motor and the output torque of the right rear wheel motor.

[0104] For another example, for a four-wheel drive vehicle, the left front wheel, right front wheel, left rear wheel and right rear wheel of the vehicle are each driven by a motor, then the torque control instruction may include the output torque of the left rear wheel motor, the output torque of the right front wheel motor, the output torque of the left rear wheel motor and the output torque of the right rear wheel motor.

[0105] Optionally, since the wheel grip of the vehicle is relatively high and evenly distributed on asphalt or cement roads, and relatively low and unevenly distributed on gravel roads, dirt roads, flooded roads, snowy roads, and icy roads, when determining the target rotation speed, the motor output torque needs to be adjusted according to the current road type.

[0106] Grip refers to the friction generated when the tire contacts the road surface. Good grip can ensure that the vehicle maintains good handling and safety under various road conditions and reduce the risk of skidding and loss of control.

[0107] In an optional embodiment, the vehicle is a four-wheel drive, and when the target rotation speed V2 is determined, since the road type currently on which the vehicle is located is a cement road, the wheel grip is relatively high and evenly distributed, so the left rear wheel motor output torque, the right front wheel motor output torque, the left rear wheel motor output torque, and the right rear wheel motor output torque included in the torque control instruction can be evenly distributed. The left front wheel motor output torque T1 is the same as the left rear wheel motor output torque T3, and the right front wheel motor output torque T2 is the same as the right rear wheel motor output torque T4, wherein the output torque T1 and the output torque T3 can be positive torques, and the output torque T2 and the output torque T4 can be negative torques.

[0108] It should be noted that the uniform distribution of motor output torque means that some motors are controlled to output positive torque, while the remaining motors output negative torque, and the numerical parts of the positive torque and the negative torque are equal. For example, T1 is 250 Newton meters (N·m), T2 is -250N·m, T3 is 250N·m, and T4 is -250N·m.

[0109] In another optional embodiment, the vehicle is four-wheel drive. When the target rotational speed V2 is determined, since the vehicle is currently on an icy road, the grip of the wheels is relatively low and unevenly distributed. Therefore, when distributing torque, the output torque of the motor can be dynamically adjusted according to the grip of each wheel.

[0110] In one possible implementation, the controller can determine the grip of the wheel by measuring the vertical load of the wheel and the deformation of the tire. Specifically, the vertical load of each wheel (i.e., the weight borne by the wheel) can be measured by a load sensor installed in the suspension system. At the same time, the deformation of the tire can be measured by a strain gauge or other type of deformation sensor on the sidewall of the tire, and the grip of each wheel can be calculated based on the deformation of the tire and the known tire characteristic curve (i.e., the grip characteristics of the tire under different loads and deformations). Among them, the tire characteristic curve is a mathematical model that describes the grip that the tire can provide under different working conditions (such as different vertical loads and different deformations). By combining the vertical load and tire deformation, the grip of the wheel can be estimated more accurately.

[0111] For example, if the controller determines that the left front wheel and the right front wheel have higher grip, while the left rear wheel and the right rear wheel have lower grip, the left front wheel motor torque output T1 and the right front wheel motor torque output T2 can be increased to improve the traction of the front wheels, and the left rear wheel motor output torque T3 and the right rear wheel motor output torque T4 can be reduced to prevent the rear wheels from slipping.

[0112] For example, if the controller determines that the grip of the left front wheel and the right front wheel is 400N, and the grip of the left rear wheel and the right rear wheel is 100N, the average torque (250N·m) with the same grip can be adjusted according to the grip of each wheel. The adjustment method can be: increase the torque output T1 of the left front wheel motor and the torque output T2 of the right front wheel motor, and reduce the output torque T3 of the left rear wheel motor and the output torque T4 of the right rear wheel motor. Among them, T1 can be 400N·m, T2 can be -400N·m, T3 can be 100N·m, and T4 can be -100N·m.

[0113] In one possible design, during the rotation of the vehicle, the output torque of the motor can be dynamically adjusted according to the real-time changes in the grip of the wheels.

[0114] Optionally, the slip rate of the wheel can be calculated by comparing the actual rotation speed of the wheel with the overall speed of the vehicle, and the real-time changing grip of the wheel can be obtained through the slip rate. In a specific implementation, the actual rotation speed of each wheel can be obtained through a wheel speed sensor, and the overall speed of the vehicle can be determined based on a vehicle speed sensor (such as a speedometer). Then, the slip rate is calculated based on the actual rotation speed of each wheel and the overall speed of the vehicle, and the grip value of the wheel is obtained based on the slip rate and a known friction coefficient model. Among them, the friction coefficient model is a mathematical model used to describe and calculate the friction between two contact surfaces. In vehicle dynamics, the friction coefficient model is usually used to estimate the friction between the tire and the road surface, thereby determining the grip of the wheel.

[0115] For example, when the vehicle starts to rotate, the grip of the four wheels is 200N, and the output torques of the motors are: T1 is 250N·m, T2 is -250N·m, T3 is 250N·m, and T4 is -250N·m. During the rotation of the vehicle, the grip of the wheels changes, the grip of the left front wheel and the right front wheel increases by 100N, and the grip of the left rear wheel and the right rear wheel decreases by 100N. At this time, the output torque of the motor can be adjusted. For example, T1 can be adjusted to 400N·m, T2 to -400N·m, T3 to 100N·m, and T4 to -100N·m.

[0116] S304: Control the torque of the vehicle according to the torque control instruction to make the vehicle rotate and drive.

[0117] In this step, the controller can control the output torque of each motor according to the generated torque control instruction to achieve the vehicle rotating at the target rotation speed.

[0118] Figure 4 This is a schematic diagram of an exemplary front dual-motor driven vehicle turning right. Figure 4 According to the target rotation speed V2 and the current road type being a cement road, a torque control instruction 1 can be generated. The torque control instruction 1 includes the left front wheel motor output torque T1 and the right front wheel motor output torque T2. The left front wheel motor output torque T1 is applied to the left front wheel, and the right front wheel motor output torque T2 is applied to the right front wheel, so that the vehicle can rotate rightward at the target rotation speed V2. For example, T1 can be 500N·m, and T2 can be -500N·m.

[0119] Figure 5 Schematic diagram of an exemplary rear dual motor driven vehicle turning right. Figure 5 According to the target rotation speed V2 and the current road type being a cement road, a torque control instruction 2 can be generated, which includes the output torque T3 of the left rear wheel motor and the output torque T4 of the right rear wheel motor. The output torque T3 of the left rear wheel motor is applied to the left rear wheel, and the output torque T4 of the right rear wheel motor is applied to the right rear wheel, so that the vehicle can rotate rightward at the target rotation speed V2. For example, T3 can be 500N·m, and T4 can be -500N·m.

[0120] Figure 6 This is a schematic diagram of an exemplary four-motor driven vehicle turning right. Figure 6According to the target rotation speed V2 and the current road type being a cement road, a torque control instruction 3 can be generated. The torque control instruction 3 includes the left front wheel motor output torque T1, the left rear wheel motor output torque T3, the right front wheel motor output torque T2 and the rear wheel motor output torque T4. The left front wheel motor output torque T1 and the left rear wheel motor output torque T3 are applied to the left front wheel and the left rear wheel of the vehicle respectively, and the right front wheel motor output torque T2 and the right rear wheel motor output torque T4 are applied to the right front wheel and the right rear wheel of the vehicle respectively, so that the vehicle can rotate rightward at the target rotation speed V2. For example, T1 can be 250N·m, T2 can be -250N·m, T3 can be 250N·m, and T4 can be -250N·m.

[0121] Optionally, if the controller determines, after identifying and processing the road surface image, that the current road surface type includes a docking road surface composed of road surfaces corresponding to at least two different road surface types, the controller can make corresponding torque adjustments to the motor output torque in combination with the target rotation speeds corresponding to the different road surface types during the rotation of the vehicle.

[0122] For example, if the current road type includes a joint road consisting of an asphalt road and a cement road, when the vehicle rotates from the asphalt road to the cement road, the controller can reduce the motor torque output to prevent the vehicle from slipping. Conversely, when the vehicle rotates from the cement road to the asphalt road, the controller can increase the motor torque output to ensure that the vehicle can smoothly pass through the joint area.

[0123] In an optional embodiment, after the controller recognizes and processes the road surface image, it can further determine whether there is an obstacle on the road surface where the vehicle is currently located. If an obstacle is recognized and the obstacle may affect the rotation operation of the vehicle, the controller will immediately stop the rotation operation of the vehicle and send a notification to the user terminal to inform the user that there is an obstacle on the road surface where the vehicle is currently located and the rotation of the vehicle has been stopped.

[0124] For example, after the controller identifies and processes the road surface images collected by the camera and the lidar sensor, it determines that there is a guardrail on the road surface where the vehicle is currently located. Since the guardrail is located on the vehicle's rotation path, it will affect the vehicle's rotation operation. Therefore, the controller will immediately stop the vehicle's rotation operation and send a warning message through the user terminal (such as the vehicle display or the driver's mobile phone application), which may include: "Warning: There is an obstacle on the road ahead, the vehicle rotation has stopped, please check the road conditions."

[0125] In another optional embodiment, after identifying and processing the road surface image, the controller determines that there is no obstacle on the road surface where the vehicle is currently located; or, if there is an obstacle but it does not affect the vehicle's rotation operation, that is, the obstacle is at a certain safe distance from the vehicle's rotation, then the vehicle can continue to perform the rotation operation.

[0126] In the embodiment of the present application, the road surface information includes a road surface image. When the vehicle turns on the automatic driving assistance function and determines that the vehicle needs to rotate, the controller can perform image recognition processing on the road surface image to obtain the current road surface type, determine the target rotation speed according to the preset first mapping relationship, and generate a torque control instruction according to the target rotation speed and the current road surface type to control the torque of the vehicle so that the vehicle rotates and drives. In the above process, the controller can obtain the current road surface type of the vehicle, and then determine the rotation speed that matches the road surface type, thereby improving the accuracy of the rotation speed determination and improving the control accuracy and precision of the vehicle when rotating.

[0127] In a possible implementation, in order to improve the stability of the vehicle when rotating, the suspension parameters of the vehicle may also be adjusted.

[0128] Figure 7 This is a flow chart of the third embodiment of the vehicle rotation control method provided by this application. Figure 7 Based on the above embodiment, before controlling the vehicle to rotate, the method may include:

[0129] S701: Determine target suspension parameters according to the current road surface type and a preset second mapping relationship.

[0130] In this step, the control can obtain the suspension parameters corresponding to the current road surface type as the target suspension parameters through the preset second mapping relationship according to the determined current road surface type. The second mapping relationship includes the suspension parameters corresponding to different road surface types obtained in advance according to the suspension test experiment, and the suspension parameters include suspension height and / or suspension stiffness.

[0131] Suspension height refers to the distance between the vehicle body and the ground in the vehicle's suspension system, unit: meter (m); suspension stiffness refers to the ability of the suspension to resist deformation when subjected to external force, unit: N·m.

[0132] For example, according to the current road type being a cement road, the suspension parameters corresponding to the cement road can be obtained through a preset second mapping relationship as target suspension parameters, which include a target suspension height H0 and a target suspension stiffness K0.

[0133] S702 . According to the target suspension parameters, control and adjust the current suspension parameters of the vehicle to the target suspension parameters, where the target suspension parameters include a target suspension height and / or a target suspension stiffness.

[0134] In this step, the parameters of the current suspension of the vehicle can be obtained, and the parameters of the current suspension of the vehicle can be adjusted according to the target suspension parameters. In a specific implementation, the current suspension height of the vehicle can be adjusted to the target suspension height, and / or the current suspension stiffness of the vehicle can be adjusted to the target suspension stiffness.

[0135] Optionally, the controller may receive the current suspension height of the vehicle measured in real time by the suspension height sensor, obtain the current suspension height, and adjust the current suspension height to the target suspension height.

[0136] For example, for vehicles equipped with air suspension, the suspension height can be changed by adjusting the pressure of the air spring. If the current suspension height H1 is less than the target suspension height H0, the pressure of the air spring can be increased. By filling more air into the air spring, the internal pressure is increased, so that the air spring expands and the suspension height of the vehicle is raised until the current suspension height H1 rises to the target suspension height H0; if the current suspension height H1 is greater than the target suspension height H0, the pressure of the air spring can be reduced by releasing part of the air in the air spring, reducing the internal pressure, and causing the air spring to contract, thereby reducing the suspension height of the vehicle until the current suspension height H1 is reduced to the target suspension height H0.

[0137] Optionally, the controller can obtain the current suspension stiffness by receiving the suspension stiffness signal sent by the suspension controller, and adjust the hardness of the air spring by controlling the number of air chambers in the air spring and the channels between them, thereby adjusting the suspension stiffness. The suspension stiffness signal may include the number of air chambers opened in the air spring.

[0138] For example, for vehicles equipped with air suspension, the suspension stiffness can be changed by adjusting the number of air chambers in the air spring. If the current suspension stiffness K1 is less than the target suspension stiffness K0, the solenoid valve can be controlled to close the passages between some of the air chambers to reduce the effective volume of the air spring until the current suspension stiffness K1 rises to the target suspension stiffness K0; if the current suspension stiffness K1 is greater than the target suspension stiffness K0, the solenoid valve can be controlled to open the passages between some of the air chambers to increase the effective volume of the air spring until the current suspension stiffness K1 drops to the target suspension stiffness K0.

[0139] In the embodiment of the present application, the controller can determine the target suspension parameters according to the current road surface type and the preset second mapping relationship, and adjust the current suspension parameters of the vehicle to the target suspension parameters according to the target suspension parameters. When the vehicle is rotating, the suspension parameters can be adjusted according to different road surface types, thereby optimizing the performance of the vehicle during rotation and improving the accuracy and comfort of controlling the vehicle to rotate.

[0140] Figure 8 This is a schematic diagram of the structure of the vehicle rotation control device provided in the embodiment of the present application. Figure 8 The vehicle rotation control device 10 is applied to a vehicle controller, comprising:

[0141] The first processing module 11 is used to determine the current road type according to the collected road surface information of the road on which the vehicle is currently located when the vehicle turns on the automatic driving assistance function and determines that the vehicle needs to rotate;

[0142] The second processing module 12 is used to determine the target rotation speed according to the current road surface type;

[0143] The control module 13 is used to control the rotation of the vehicle according to the target rotation speed.

[0144] The vehicle rotation control device provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0145] In a possible implementation, the road surface information includes a road surface image;

[0146] The first processing module 11 is specifically used for:

[0147] Perform image recognition processing on the road surface image to obtain the current road surface type.

[0148] In a possible implementation manner, the second processing module 12 is specifically configured to:

[0149] According to a preset first mapping relationship, a rotation speed corresponding to the current road surface type is determined as a target rotation speed; wherein the first mapping relationship includes a plurality of road surface types and a rotation speed corresponding to each road surface type.

[0150] In a possible implementation manner, the first mapping relationship is obtained in advance by performing a rotation speed test experiment on a vehicle on each road type.

[0151] In a possible implementation manner, the road surface type includes any one of the following: asphalt road surface, cement road surface, gravel road surface, dirt road surface, flooded road surface, snowy road surface and icy road surface.

[0152] In a possible implementation manner, the control module 13 is specifically configured to:

[0153] Generate torque control command according to target rotation speed and current road surface type;

[0154] According to the torque control command, the torque of the vehicle is controlled to make the vehicle rotate and move.

[0155] In a possible implementation manner, the second processing module 12 is further used for:

[0156] Determining target suspension parameters according to the current road surface type and a preset second mapping relationship;

[0157] According to the target suspension parameters, the parameter control of the suspension of the vehicle is adjusted to the target suspension parameters, where the target suspension parameters include a target suspension height and / or a target suspension stiffness;

[0158] The second mapping relationship includes suspension parameters corresponding to different road surface types obtained in advance according to suspension test experiments, and the suspension parameters include suspension height and / or suspension stiffness.

[0159] The vehicle rotation control device provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0160] Fig. 9 This is a schematic diagram of the structure of the controller provided in the embodiment of the present application. Fig. 9 The controller 20 may include a processor 21, a memory 22 and a communication interface 24. Exemplarily, the processor 21, the memory 22 and the communication interface 24 are interconnected via a bus 23.

[0161] The memory 22 stores computer executable instructions;

[0162] The processor 21 executes the computer-executable instructions stored in the memory 22, so that the processor 21 executes the vehicle rotation control method provided by the above method embodiment.

[0163] Fig.10 This is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. Fig.10 The vehicle 30 includes a vehicle body 31 and a controller 32, which are used to implement the vehicle rotation control method provided by the above method embodiment.

[0164] The embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the vehicle rotation control method provided in the above method embodiment.

[0165] The computer-readable storage medium mentioned above can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0166] Optionally, a readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0167] An embodiment of the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, the vehicle rotation control method provided in the above method embodiment can be implemented.

[0168] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes 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.

[0169] 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 method for controlling vehicle rotation, characterized in that: The method comprises: When the vehicle turns on the automatic driving assistance function and determines that the vehicle needs to rotate, determining the current road type according to the collected road surface information of the road surface on which the vehicle is currently located; determining a target rotation speed according to the current road surface type; The vehicle rotation is controlled according to the target rotation speed.

2. The method according to claim 1, characterized in that The road surface information includes a road surface image; Determining the road type according to the collected road surface information of the road surface on which the vehicle is currently located includes: Perform image recognition processing on the road surface image to obtain the current road surface type.

3. The method according to claim 1, characterized in that The step of determining the target rotation speed according to the current road surface type includes: According to a preset first mapping relationship, a rotation speed corresponding to the current road surface type is determined as the target rotation speed; wherein the first mapping relationship includes a plurality of road surface types and a rotation speed corresponding to each road surface type.

4. The method according to claim 3, characterized in that The first mapping relationship is obtained in advance by performing a rotation speed test experiment on the vehicle on each road type.

5. The method according to any one of claims 1 to 4, characterized in that: The road surface type includes any one of the following: asphalt road surface, cement road surface, gravel road surface, dirt road surface, flooded road surface, snowy road surface and icy road surface.

6. The method according to any one of claims 1 to 4, characterized in that: The step of controlling the vehicle to rotate according to the target rotation speed includes: generating a torque control command according to the target rotation speed and the current road type; According to the torque control instruction, the torque of the vehicle is controlled to make the vehicle rotate and travel.

7. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: Determining target suspension parameters according to the current road surface type and a preset second mapping relationship; According to the target suspension parameters, controlling and adjusting the parameters of the suspension of the vehicle to the target suspension parameters, wherein the target suspension parameters include a target suspension height and / or a target suspension stiffness; The second mapping relationship includes suspension parameters corresponding to different road surface types obtained in advance according to suspension test experiments, and the suspension parameters include suspension height and / or suspension stiffness.

8. A vehicle rotation control device, characterized in that: The device comprises: A first processing module is used to determine the current road type according to the collected road surface information of the road surface on which the vehicle is currently located when the vehicle turns on the automatic driving assistance function and determines that the vehicle needs to rotate; A second processing module, configured to determine a target rotation speed according to the current road surface type; A control module is used to control the rotation of the vehicle according to the target rotation speed.

9. A controller, characterized in that: include: Processor, memory and communication interface; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the vehicle rotation control method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: The vehicle comprises a vehicle body and a controller as claimed in claim 9.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the vehicle rotation control method according to any one of claims 1 to 7.

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