Distributed driving vehicle control method and system and computer readable storage medium

Abstract

The invention discloses a distributed driving vehicle control method and system and a computer readable storage medium. The distributed driving vehicle control method comprises the steps that steering information of a vehicle is obtained, and whether a correction function is enabled or not is judged; and after determining that the correction function is enabled, acquiring a correction mode, and correcting vehicle steering based on the steering information of the vehicle and the correction mode. By means of the mode, auxiliary steering correction can be carried out when the vehicle steers, and the steering safety of the distributed driving vehicle is improved.

Description

Technical Field

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

[0002] With the rapid development of new energy vehicle technology, the market share of electric vehicles is increasing. Due to more controllable freedom and layout flexibility, distributed electric drive has great advantages in improving vehicle handling performance and has become the focus of current electric drive system research. Distributed drive electric vehicles refer to the integration of the vehicle's drive motor into the four wheels of the vehicle, and the four wheel hub motors drive the wheels to rotate and drive the vehicle. Distributed drive vehicles are very different from traditional vehicles in terms of drive form, and traditional vehicle controllers cannot meet the use requirements of distributed drive vehicles. Therefore, it is necessary to propose a control method based on distributed drive vehicles to achieve drive, braking, steering and active safety control of distributed drive vehicles. Summary of the invention

[0003] The main technical problem solved by the present application is to provide a distributed drive vehicle control method, system and computer-readable storage medium, which can achieve safe control of the distributed drive vehicle.

[0004] In order to solve the above technical problems, a technical solution adopted by the present application is to provide a distributed drive vehicle control method, comprising:

[0005] Obtain vehicle steering information;

[0006] Determine whether the correction function is enabled;

[0007] If so, a correction mode is obtained, and the steering of the vehicle is corrected based on the steering information of the vehicle and the correction mode.

[0008] To solve the above technical problems, another technical solution adopted in the present application is: to provide a distributed drive vehicle system, including a processor and a memory; a computer program is stored in the memory, and the processor is used to execute the computer program to implement the steps of the distributed drive vehicle control method provided in the present application.

[0009] In order to solve the above technical problems, another technical solution adopted by the present application is: providing a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed, the steps of the distributed drive vehicle control method provided by the present application are implemented.

[0010] The beneficial effect of the present application is that, different from the prior art, the distributed drive vehicle control method of the present application includes: obtaining the steering information of the vehicle and determining whether the correction function is enabled. After determining that the correction function is enabled, obtaining the correction mode, and correcting the vehicle steering based on the vehicle's steering information and the correction mode. In the above manner, the present application can assist in correcting the steering when the vehicle is turning, thereby improving the safety of the steering of the distributed drive vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a flow chart of an embodiment of a distributed drive vehicle control method of the present application;

[0012] Figure 2 It is a flow chart of another embodiment of the distributed drive vehicle control method of the present application;

[0013] Figure 3 It is a flow chart of another embodiment of the distributed drive vehicle control method of the present application;

[0014] Figure 4 It is a flow chart of another embodiment of the distributed drive vehicle control method of the present application;

[0015] Figure 5 It is a structural schematic diagram of an embodiment of a distributed drive vehicle system of the present application;

[0016] Figure 6 It is a structural diagram of an embodiment of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0018] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0019] The present application provides a distributed drive vehicle control method, system and computer readable storage medium embodiment, wherein the distributed drive vehicle control method can be integrated into a main control chip of a vehicle controller, chassis domain controller or motor controller, or a vehicle driving force correction controller can be separately set. The following embodiments are described by taking a separate vehicle driving force correction controller as an example.

[0020] See also Figure 1 , Figure 1 1 is a flow chart of an embodiment of a distributed drive vehicle control method of the present application. In this embodiment, the method includes:

[0021] S11: Obtaining vehicle steering information.

[0022] The vehicle driving force correction controller obtains the vehicle's steering information when it is detected that the vehicle needs to turn. The vehicle's steering information may include one or more of steering wheel angle information, each wheel speed information, vehicle speed information, yaw rate information, and center of mass sideslip angle information.

[0023] The steering wheel angle information includes the rotation angle of the vehicle steering wheel, the wheel speed information of each wheel includes the rotation speed of each wheel, the vehicle speed information includes the vehicle speed, the yaw rate information includes the yaw rate of the vehicle, and the yaw rate information includes the center of mass deflection angle of the vehicle. The steering information of each vehicle can be obtained by a vehicle controller or a corresponding sensor.

[0024] S12: Determine whether the correction function is enabled.

[0025] The vehicle driving force correction controller determines whether the correction function is enabled, and if so, starts the correction function; if not, does not start the correction function, and the vehicle turns without correction by the correction controller.

[0026] In this embodiment, the vehicle driving force correction controller can determine whether the correction function is enabled based on whether a correction function activation signal is received. After the vehicle driving force correction controller receives the correction function activation signal, the correction function is activated and enabled.

[0027] Optionally, a signal for starting the correction function can be sent by the cloud server to the vehicle driving force correction controller. The vehicle driving force correction controller establishes a wireless connection with the cloud server. The vehicle driving force correction controller can upload the steering information of the vehicle obtained above to the server, and the server determines whether to start based on the steering information of the vehicle.

[0028] In an exemplary embodiment, the vehicle driving force correction controller sends the steering information of the vehicle to the cloud server. If the cloud server determines that the current speed information of the vehicle exceeds a preset first speed threshold, it is determined that the vehicle is overspeeding and needs to start the correction function. The cloud server sends a correction function enable signal to the vehicle driving force correction controller, and the correction function of the vehicle driving force correction controller is enabled. If the cloud server determines that the current speed information of the vehicle is lower than a preset second speed threshold, it is determined that the vehicle is underspeed, and the cloud server sends a correction function enable signal to the vehicle driving force correction controller, and the correction function of the vehicle driving force correction controller is enabled.

[0029] In another exemplary embodiment, the vehicle driving force correction controller sends the vehicle's steering information to a cloud server. The cloud server determines whether the current vehicle steering wheel angle is greater than a preset angle threshold. If the vehicle steering wheel angle is greater than the preset angle threshold, it indicates that the vehicle has a tendency to turn sharply. The cloud server then sends a correction function enable signal to the vehicle driving force correction controller, and the correction function of the vehicle driving force correction controller is enabled to correct and reduce the turning radius of the vehicle.

[0030] Optionally, the vehicle may also be provided with a correction function starter, which is electrically connected to the vehicle driving force correction controller. The correction function starter may send a correction function start signal to the vehicle driving force correction controller, and the vehicle driving force correction controller enables the correction function after receiving the correction function start signal.

[0031] Optionally, the correction function starter may be a button provided on the vehicle, and the driver may subjectively judge whether the correction function of the vehicle driving force correction controller needs to be enabled during driving. When the correction function needs to be enabled, the correction function starter is pressed, and the correction function starter may send a correction function start signal to the vehicle driving force correction controller.

[0032] S13: If yes, obtain a correction mode, and correct the vehicle steering based on the correction mode and the vehicle steering information.

[0033] After the vehicle driving force correction controller receives the correction function start signal, the correction function of the vehicle driving force correction controller is enabled. The vehicle driving force correction controller corrects the steering of the vehicle.

[0034] Specifically, the vehicle driving force correction controller may first obtain a correction mode, calculate a correction mode based on the correction mode, and correct the vehicle steering based on the correction mode and the steering information of the vehicle.

[0035] Optionally, the correction mode may include an oversteer mode and an understeer mode.

[0036] Optionally, the correction mode may be sent by the cloud server to the vehicle driving force correction controller.

[0037] For example, if the cloud server determines that the current speed information of the vehicle exceeds a preset first speed threshold, the vehicle is judged to be overspeeding, the vehicle tends to understeer when turning, and the actual steering angle of the vehicle is appropriately lower than the driver's steering wheel angle corresponding to the expectation. The cloud server sends the correction mode to the vehicle driving force correction controller. After the vehicle driving force correction controller obtains the correction mode, it corrects the vehicle steering based on the correction mode and the vehicle's steering information to make the vehicle's steering approach understeer.

[0038] Alternatively, if the cloud server determines that the current speed information of the vehicle is lower than a preset second speed threshold, the vehicle is judged to be at a low speed, the vehicle tends to oversteer when turning, and the actual steering angle of the vehicle is appropriately higher than the driver's steering wheel angle corresponding to the expectation. The cloud server sends the correction mode to the vehicle driving force correction controller. After the vehicle driving force correction controller obtains the correction mode, it corrects the vehicle steering based on the correction mode and the vehicle's steering information so that the vehicle's steering tends to oversteer.

[0039] Alternatively, the cloud server determines that the current steering wheel angle of the vehicle is greater than a preset angle threshold, indicating that the vehicle has a tendency to turn sharply. The cloud server sends the correction mode to the vehicle driving force correction controller. After obtaining the correction mode, the vehicle driving force correction controller corrects the vehicle steering based on the correction mode and the vehicle's steering information, so that the vehicle's steering approaches understeering, so as to correct and reduce the vehicle's turning radius.

[0040] Optionally, when the vehicle is provided with a correction function starter, the vehicle driving force correction controller may also obtain the correction mode from the correction function starter, and the vehicle driver may actively modify the correction mode through the correction function starter.

[0041] In one embodiment, the correction function starter is provided with different gears, including a novice mode, a normal mode, and a skilled mode. The correction mode of the novice mode is an understeering mode, which is suitable for novice drivers. Through the correction function of the vehicle driving force correction controller, the vehicle will not be too hasty when turning, thereby protecting the driving safety of novice drivers. The correction function starter in the normal mode is not enabled, and the correction function starter does not send a correction function start signal to the vehicle driving force correction controller. The correction mode in the skilled mode is an oversteering mode, which is suitable for experienced drivers with skilled driving skills. Through the correction function of the vehicle driving force correction controller, the vehicle has a higher speed when exiting a curve.

[0042] Optionally, the vehicle driving force correction controller can communicate with the vehicle body stability system ESP to set different priorities. For example, when the correction function of the vehicle driving force correction controller is enabled, the vehicle body stability system ESP is turned off to avoid ESP activation during normal driving, thereby ensuring the driving smoothness and safety of the vehicle.

[0043] Therefore, through the above-mentioned method, the distributed drive vehicle control method embodiment of the present application can correct the steering of the vehicle based on different correction modes, which can avoid driving safety problems caused by the vehicle turning too sharply at high speed, prevent the vehicle's steering ability from being too low at low speed, and meet the auxiliary correction needs of drivers with different driving proficiency for vehicle steering.

[0044] See also Figure 2 , Figure 2 : is a flow chart of another embodiment of the distributed drive vehicle control method of the present application. The method of this embodiment may include:

[0045] S11: Obtaining vehicle steering information.

[0046] S12: Determine whether the correction function is enabled.

[0047] S131: If yes, obtain a correction mode, and calculate the target yaw moment of the vehicle based on the steering information of the vehicle and the correction mode.

[0048] After the vehicle driving force correction controller obtains the correction function start signal and the correction mode, the vehicle target yaw moment is calculated based on the vehicle steering information and the correction mode, and the vehicle steering is corrected by modifying the vehicle target yaw moment.

[0049] In one embodiment, the target yaw moment may be obtained by calculating the corrected target yaw rate based on the target yaw rate and the steering information of the vehicle.

[0050] First, based on the current steering information of the vehicle, the initial value of the target yaw rate of the vehicle is calculated. Then, the initial value of the target yaw rate is corrected based on the correction mode to obtain the target yaw rate. Finally, the target yaw moment of the vehicle is estimated by the target yaw rate. The steering information of the vehicle may include steering wheel angle information, wheel speed information of each wheel, vehicle speed information, yaw rate information and center of mass sideslip angle information.

[0051] The target initial yaw rate is the estimated yaw rate of the vehicle when turning. The method for estimating the target vehicle initial yaw rate can be through a linear two-degree-of-freedom model and other methods. For example, the unscented Kalman filter algorithm, the vehicle driving force correction controller establishes a multi-degree-of-freedom vehicle dynamics model, determines the state equation and observation equation of the unscented Kalman filter based on the vehicle's steering information, and determines the input quantity, state quantity and observation quantity of the unscented Kalman filter. The state quantity includes at least the longitudinal speed and the lateral speed, and combines the state quantity, state equation and observation equation at the current moment to estimate the initial longitudinal speed, the initial lateral speed and the target initial yaw rate at the target moment.

[0052] The target yaw rate is the ideal corrected vehicle yaw rate, and the target yaw moment is the corrected vehicle wheel driving force yaw moment.

[0053] Among them, the yaw angular velocity correction value can be calculated by table lookup, model and other methods.

[0054] Taking the table lookup as an example, the vehicle driving force correction controller obtains the steering information of the vehicle, obtains the steering wheel angle information, the steering information of the vehicle and the correction mode in the steering information of the vehicle, and obtains the target yaw rate correction value by looking up in the preset yaw rate correction value table. For example, when the vehicle speed is within the range of 0-N1, the absolute value of the steering wheel angle is θ1-θ2, and the correction mode is the oversteering mode, the target yaw rate correction value is 1.1% as can be seen from the table lookup.

[0055]

[0056] After obtaining the target yaw rate correction value, the vehicle driving force correction controller sums the target yaw rate correction value with the yaw rate initial value to obtain a corrected yaw rate, namely, the target yaw rate.

[0057] After calculating the target yaw rate, the vehicle driving force correction controller calculates the target yaw moment to be applied based on the steering information of the vehicle driving force correction controller and the structural parameters of the vehicle itself, taking the yaw rate as the control target. Optionally, the method for calculating the target yaw moment may include PI regulation, model predictive control, and optimization theory.

[0058] In another embodiment, the target yaw moment can be obtained by calculating the yaw moment correction value and the target yaw moment initial value. The target yaw moment initial value and the yaw moment correction value are calculated. The target yaw moment initial value is corrected by the yaw moment correction value to obtain the target yaw moment.

[0059] Among them, the initial value of the target yaw moment can be obtained by the current measured yaw velocity and the initial value of the target yaw velocity. The current measured yaw velocity is obtained from the steering information of the vehicle, and the initial value of the target yaw velocity is the estimated yaw velocity of the vehicle when turning. The method for estimating the initial value of the target vehicle yaw velocity can be through a linear two-degree-of-freedom model and other methods. For example, the unscented Kalman filter algorithm, the vehicle driving force correction controller establishes a multi-degree-of-freedom vehicle dynamics model, determines the state equation and observation equation of the unscented Kalman filter based on the steering information of the vehicle, and determines the input quantity, state quantity and observation quantity of the unscented Kalman filter, the state quantity includes at least the longitudinal speed and the lateral speed, and combines the state quantity, state equation and observation equation at the current moment to estimate the initial value of the longitudinal speed, the initial value of the lateral speed and the initial value of the target yaw velocity at the target moment.

[0060] After calculating the initial value of the target yaw rate, the vehicle driving force correction controller calculates the initial value of the target yaw moment based on the steering information of the vehicle driving force correction controller, the initial value of the target yaw rate and the measured yaw rate value, combined with the structural parameters of the vehicle itself, with the yaw rate as the control target. Optionally, the calculation method may include PI adjustment, model predictive control, and optimization theory method.

[0061] After obtaining the target yaw moment initial value, the vehicle driving force correction controller calculates the target yaw moment by looking up a table. For example, the vehicle driving force correction controller looks up the target yaw moment initial value, the correction mode, and the steering information of the vehicle in a preset yaw moment initial value correction table to obtain a yaw rate correction value, and sums the yaw rate correction value and the target yaw moment initial value to calculate the target yaw moment.

[0062] In the step of calculating the target yaw moment by using the yaw moment correction value and the target yaw moment initial value, only the requirement of satisfying the vehicle lateral control is taken into account, but the longitudinal characteristics of the vehicle are not taken into account. Therefore, after calculating the target yaw moment, the vehicle driving force correction controller can further determine whether the target yaw moment is within the safe range. If the target yaw moment exceeds the safe range, the yaw angular velocity correction value needs to be limited to correct the final target yaw moment within the safe range.

[0063] S132: Distribute wheel driving force based on the target yaw moment.

[0064] After the vehicle driving force correction controller calculates the target yaw moment, it distributes the target yaw moment to the lower controller, and the lower controller distributes the wheel torque based on the target yaw moment.

[0065] Due to the limitation of motor driving capacity, the torque allocated to a single wheel should be guaranteed to be within the motor output torque range, and the longitudinal force and lateral force on the tire should be constrained within the tire adhesion ellipse. At the same time, there will be vertical load transfer when the vehicle accelerates or decelerates, so the longitudinal torque may affect the yaw moment. Therefore, when allocating the wheel driving force as mentioned above, the tire utilization rate and the equal vertical load transfer constraints can also be considered.

[0066] See also Figure 3 , Figure 3 : is a flow chart of another embodiment of the distributed drive vehicle control method of the present application. The method of this embodiment may include:

[0067] S11: Obtaining vehicle steering information.

[0068] S12: Determine whether the correction function is enabled.

[0069] S133: If yes, obtain a correction mode, and calculate the vehicle's steering wheel superimposed angle based on the vehicle steering information and the correction mode.

[0070] After the vehicle driving force correction controller receives the correction function start signal, the correction function of the vehicle driving force correction controller is enabled. The vehicle driving force correction controller corrects the steering angle of the vehicle steering wheel, thereby correcting the steering of the vehicle.

[0071] For example, when the vehicle driving force correction controller obtains the correction mode as the oversteering mode, the vehicle driving force corrects the steering angle of the vehicle steering wheel so that the output steering angle of the vehicle steering wheel is greater than the actual steering wheel angle. When the vehicle driving force correction controller obtains the correction mode as the understeering mode, the vehicle driving force corrects the steering angle of the vehicle steering wheel so that the output steering angle of the vehicle steering wheel is less than the actual steering wheel angle.

[0072] The vehicle driving force correction controller obtains vehicle steering information, which may include steering wheel angle information, wheel speed information of each wheel, vehicle speed information, yaw rate information and center of mass sideslip angle information.

[0073] The vehicle driving force correction controller calculates a steering wheel superimposed angle of the vehicle based on the vehicle steering information and the correction mode.

[0074] S134: Applying a steering wheel superimposed angle to the vehicle steering wheel.

[0075] The vehicle driving force correction controller applies a steering wheel superimposed angle to the vehicle steering wheel, and the vehicle driving force correction controller sums the steering wheel superimposed angle with the actual steering wheel angle to obtain a final steering wheel output angle.

[0076] In this embodiment, the steering angle of the vehicle steering wheel is corrected to achieve the steering correction of the vehicle. Therefore, in addition to being applied to the vehicle driving force correction controller, the method of this embodiment can also be applied to the whole vehicle controller.

[0077] See also Figure 4 , Figure 4 : is a flow chart of another embodiment of the distributed drive vehicle control method of the present application. The method of this embodiment may include:

[0078] S11: Obtaining vehicle steering information.

[0079] S12: Determine whether the correction function is enabled.

[0080] S135: If yes, obtain the correction mode, and calculate the wheel driving force correction value based on the vehicle steering information and the correction mode.

[0081] After the vehicle driving force correction controller receives the correction function start signal, the correction function of the vehicle driving force correction controller is enabled. The vehicle driving force correction controller corrects the wheel driving force, thereby correcting the steering of the vehicle.

[0082] The vehicle driving force correction controller calculates the wheel driving force correction value based on the vehicle steering information and the correction mode. For example, when the vehicle driving force correction controller obtains the correction mode as the oversteering mode, the vehicle driving force corrects the wheel driving force so that the actual turning angle of the wheel is greater than the actual original turning angle. When the vehicle driving force correction controller obtains the correction mode as the understeering mode, the vehicle driving force corrects the wheel driving force so that the actual turning angle of the wheel is less than the actual original turning angle.

[0083] S136: Correct the wheel driving force based on the wheel driving force correction value.

[0084] The vehicle driving force correction controller corrects the wheel driving force based on the wheel driving force correction value. The vehicle driving force correction controller sums the wheel driving force correction value with the actual wheel driving force to obtain the target wheel driving force. The vehicle driving force correction controller sends the target wheel driving force to the motor controller, and the target wheel driving force controls the driving force applied by the motor to the wheel based on the target wheel driving force.

[0085] In this embodiment, the steering of the vehicle is corrected by correcting the vehicle driving force. Therefore, in addition to being applied to a vehicle driving force correction controller, the method of this embodiment can also be applied to a motor controller.

[0086] In summary, the above embodiments provide a distributed drive vehicle control method. Through the above method, the steering of the vehicle can be corrected based on different correction modes, and the correction methods are diverse, including steering wheel angle correction, yaw rate target correction, yaw moment correction, driving force correction, etc. Based on different correction methods, it can be applied to different devices, such as the main control chip of the vehicle controller, chassis domain controller or motor controller, etc., and can also be applied alone to the vehicle driving force correction controller.

[0087] The distributed drive vehicle control method of the present application can correct the vehicle's steering based on different correction modes, thereby improving the driving safety caused by the vehicle turning too sharply at high speed, and can also assist the vehicle in steering at low speed, while also meeting the auxiliary correction needs of drivers with different driving proficiency for vehicle steering.

[0088] like Figure 5 As shown, the present application also provides a distributed drive vehicle system 100, which includes a memory 110 and a processor 120. The memory 110 stores a computer program file that can implement all the above methods, wherein the computer program file can be stored in the above storage device in the form of a software product, including a number of instructions for enabling the processor 120 to execute all or part of the steps of the methods described in each embodiment of the present application.

[0089] The present application further proposes a computer-readable storage medium, such as Figure 6 As shown, the computer readable storage medium 200 of this embodiment is used to store the program instructions 210 of the above embodiment, and the program instructions 210 can be executed to implement the method of the above embodiment. The program instructions 210 have been described in detail in the above method embodiment, and will not be repeated here.

[0090] The computer-readable storage medium 200 of this embodiment may be, but is not limited to, a USB flash drive, an SD card, a PD optical drive, a mobile hard disk, a large-capacity floppy drive, a flash memory, a multimedia memory card, a server, and the like.

[0091] In addition, if the above functions are implemented in the form of software functions and sold or used as independent products, they can be stored in a storage medium readable by a mobile terminal, that is, the present application also provides a storage device storing program data, the program data can be executed to implement the method of the above embodiment, and the storage device can be, for example, a USB flash drive, an optical disk, a server, etc. In other words, the present application can be embodied in the form of a software product, which includes a number of instructions for enabling a smart terminal to execute all or part of the steps of the method described in each embodiment.

[0092] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, mechanisms, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0093] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0094] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0095] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (which can be a personal computer, server, network device or other system that can fetch instructions from the instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0096] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent mechanism or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A distributed drive vehicle control method, characterized in that: include: Obtain vehicle steering information; Determine whether the correction function is enabled; If yes, obtaining a correction mode, and correcting the steering of the vehicle based on the steering information of the vehicle and the correction mode; The correction mode includes an oversteering mode and an understeering mode.

2. The control method according to claim 1, characterized in that: The obtaining of the vehicle's steering information includes at least one or more of the following: Obtain steering wheel angle information, wheel speed information of each wheel, vehicle speed information, yaw rate information and sideslip angle information of center of mass.

3. The control method according to claim 1, characterized in that: The step of determining whether the correction function is enabled comprises: Detect whether a correction function start signal is received; If so, it is determined that the correction function is enabled.

4. The control method according to claim 1, characterized in that: The step of correcting the vehicle steering amplitude based on the vehicle steering information and the correction mode includes: calculating a target yaw moment of the vehicle based on the steering information of the vehicle and the correction mode; The wheel driving force is distributed based on the target yaw moment.

5. The control method according to claim 4, characterized in that: The step of calculating the target yaw moment of the vehicle based on the steering information and the correction mode of the vehicle comprises: Calculating a target yaw rate initial value based on the steering information of the vehicle; Correcting the target yaw angular velocity initial value based on the correction mode to obtain a target yaw angular velocity; The target yaw moment is calculated based on the target yaw angular velocity.

6. The control method according to claim 4, characterized in that: The step of calculating the target yaw moment of the vehicle based on the steering information and the correction mode of the vehicle comprises: Calculating a target yaw rate initial value based on the steering information of the vehicle; Obtaining a measured yaw angular velocity value, and calculating a target yaw moment initial value based on the measured yaw angular velocity value and a target yaw angular velocity initial value; The target yaw moment initial value is corrected based on the correction mode to obtain the target yaw moment by calculation.

7. The control method according to claim 1, characterized in that: The step of correcting the vehicle steering amplitude based on the vehicle steering information and the correction mode includes: Calculating a steering wheel superposition angle of the vehicle based on the steering information of the vehicle and the correction mode; The superimposed steering wheel angle is applied to the vehicle steering wheel.

8. The control method according to claim 1, characterized in that: The step of correcting the vehicle steering amplitude based on the vehicle steering information and the correction mode includes: calculating a wheel driving force correction value based on the steering information of the vehicle and the correction mode; The wheel driving force is corrected based on the wheel driving force correction value.

9. A distributed drive vehicle system, characterized in that: The distributed drive vehicle system includes a processor and a memory; a computer program is stored in the memory, and the processor is used to execute the computer program to implement the steps of the control method as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the steps of the control method according to any one of claims 1 to 8 are implemented.

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