Vehicle control method and device, vehicle controller, vehicle, medium and product

Abstract

The embodiment of the invention provides a vehicle control method and device, a vehicle controller, a vehicle, a medium and a product. The method comprises the steps that in response to an in-situ drifting instruction, one end of a vehicle is braked and locked; and the motion state of a first wheel on the drifting direction side and the motion state of a second wheel on the non-drifting direction side in the other end of the vehicle are adjusted, so that the other end of the vehicle is controlled to conduct in-situ drifting in the drifting direction. The method is used for achieving the effect of improving in-situ drifting of the vehicle.

Description

Technical Field

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

[0002] Vehicle drifting refers to the behavior of the driver controlling the vehicle's acceleration, braking, steering and other operations to make the vehicle slide sideways in a curve when turning or changing direction.

[0003] At present, when existing vehicles drift in place, the driver needs to finely control the vehicle's speed, steering angle, ground friction coefficient and other data based on the current situation information provided by the vehicle in order to control the vehicle to drift.

[0004] However, the existing methods have the problem of high requirements on the driver and poor drifting effect when performing on-site drifting operations on the vehicle. Summary of the invention

[0005] The embodiments of the present application provide a vehicle control method, a device, a vehicle controller, a vehicle, a medium and a product to achieve the effect of improving the vehicle's on-the-spot drift.

[0006] In a first aspect, an embodiment of the present application provides a vehicle control method, including:

[0007] In response to the in-situ drift command, one end of the vehicle is braked and locked;

[0008] The motion state of the first wheel on the drifting direction side and the motion state of the second wheel on the non-drifting direction side at the other end of the vehicle are adjusted to control the other end of the vehicle to drift in situ in the drifting direction.

[0009] In a possible implementation, in response to an in-situ drift instruction, braking and locking one end of the vehicle includes:

[0010] After the vehicle enters the in-situ drift mode, a drift demand signal is obtained;

[0011] According to the drift demand signal, an in-situ drift instruction is obtained;

[0012] According to the in-situ drift instruction, the target wheel on the drift direction side at one end of the vehicle is braked and locked.

[0013] In a possible implementation, obtaining an in-situ drift instruction according to a drift demand signal includes:

[0014] Determining the drift condition of the vehicle according to the drift direction and the drift radius in the drift demand signal;

[0015] If the drift condition of the vehicle meets the first preset drift condition, an on-site drift instruction is generated according to the drift demand signal, wherein the preset drift condition is determined according to the first scene environment in which the vehicle is located and the vehicle information of the vehicle.

[0016] In a possible implementation manner, after determining the drift condition of the vehicle according to the drift direction and the drift radius in the drift demand signal, the method further includes:

[0017] If the drift condition of the vehicle does not meet the first preset drift condition, determining a second preset drift condition, the second preset drift condition being determined according to a second scene environment and vehicle information of the vehicle, the second scene environment being determined according to the first scene environment;

[0018] If the drift condition of the vehicle meets the second preset drift condition, the vehicle is controlled to move to an area corresponding to the second scene environment, and an on-site drift instruction is generated according to the drift demand signal.

[0019] In a possible implementation manner, if the drift condition of the vehicle does not satisfy the first preset drift condition, after determining the second preset drift condition, the method further includes:

[0020] If the drift condition of the vehicle does not meet the second preset drift condition, the rotation direction of the wheels in the vehicle is adjusted, and the vehicle is controlled to rotate on the spot.

[0021] In a possible implementation, obtaining an in-situ drift instruction according to a drift demand signal includes:

[0022] Determine the rotation speed of the wheels in the vehicle according to the road environment information where the vehicle is located;

[0023] determining a rotation direction of wheels in the vehicle according to a drift direction in the drift demand signal;

[0024] Determining a motion state of a wheel in the vehicle based on a rotation direction of the wheel in the vehicle and a rotation speed of the wheel in the vehicle;

[0025] According to the motion state of the wheels in the vehicle, an in-situ drift instruction is obtained.

[0026] In a possible implementation, adjusting the motion state of a first wheel on the drifting direction side and the motion state of a second wheel on the non-drifting direction side at the other end of the vehicle to control the other end of the vehicle to drift in situ in the drifting direction includes:

[0027] Determine, according to the drift demand signal, a wheel motor torque of the first wheel and a wheel motor torque of the second wheel, wherein the wheel motor torque of the first wheel is a negative torque, and the wheel motor torque of the second wheel is a positive torque;

[0028] According to the wheel motor torque of the first wheel and the wheel motor torque of the second wheel, the first wheel and the second wheel are driven accordingly to control the other end of the vehicle to drift in situ in the drifting direction.

[0029] In a possible implementation, according to the wheel motor torque of the first wheel and the wheel motor torque of the second wheel, the first wheel and the second wheel are driven correspondingly to control the other end of the vehicle to drift in place in the drift direction, including:

[0030] Get throttle control signal;

[0031] According to the throttle control signal, the wheel motor torque of the first wheel and the wheel motor torque of the second wheel, the first wheel and the second wheel are driven to rotate accordingly to control the other end of the vehicle to drift in situ in the drifting direction.

[0032] In a possible implementation, the method further includes:

[0033] In the process of controlling the other end of the vehicle to drift in place in the drift direction, the wheel motor torque of the first wheel and the wheel motor torque of the second wheel are adjusted in response to the throttle change signal to control the other end of the vehicle to drift in place in the drift direction.

[0034] In a possible implementation manner, when the drift requirement signal includes drift radius limitation information,

[0035] After driving the first wheel and the second wheel accordingly according to the wheel motor torque of the first wheel and the wheel motor torque of the second wheel to control the other end of the vehicle to drift in situ in the drifting direction, the method further includes:

[0036] According to the drift radius limitation information, determining the yaw angular velocity of the other end of the vehicle to drift in situ in the drift direction;

[0037] The wheel motor torque of the first wheel and the wheel motor torque of the second wheel are adjusted respectively according to the current speed at which the other end of the vehicle drifts in place in the drift direction and the yaw angular velocity at which the other end of the vehicle drifts in place in the drift direction.

[0038] In a possible implementation manner, the rotation speed of the first wheel is less than a first rotation speed threshold, and the first rotation speed threshold is determined according to an actual wheel motor torque of the first wheel, a throttle change signal of the vehicle, and road environment information of the vehicle;

[0039] The rotation speed of the second wheel is less than a second rotation speed threshold, and the second rotation speed threshold is determined according to an actual wheel motor torque of the second wheel, a throttle change signal of the vehicle, and road environment information of the vehicle.

[0040] In a second aspect, an embodiment of the present application provides a vehicle control device, including:

[0041] A response module, for braking and locking one end of the vehicle in response to an on-site drift instruction after the vehicle enters an on-site drift mode;

[0042] A control module is used to adjust the motion state of the first wheel on the drift direction side and the motion state of the second wheel on the non-drift direction side at the other end of the vehicle to control the other end of the vehicle to drift in place in the drift direction.

[0043] In a third aspect, the present application provides a vehicle controller, comprising: a memory, a processor;

[0044] Memory stores computer-executable instructions;

[0045] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0046] According to a fourth aspect, a vehicle comprises the vehicle controller according to the third aspect.

[0047] In a fifth aspect, an embodiment of the present application 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 first aspect above and / or various possible implementations of the first aspect.

[0048] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0049] The vehicle control method, device, vehicle controller, vehicle, medium and product provided in the embodiments of the present application automatically brake and lock one end of the vehicle in response to an in-situ drift command, and then adjust the motion state of the first wheel on the drift direction side and the motion state of the second wheel on the non-drift direction side at the other end of the vehicle, so that when the vehicle drifts in place, one end of the vehicle can be used as the center of the circle, and the other end can be rotated relative to one end of the vehicle through the motion states of the wheels on different directions, thereby controlling the vehicle to drift in place in the drift direction, thereby enabling the vehicle to automatically drift in place according to the command, thereby achieving the effect of improving the vehicle's in-situ drift. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] 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.

[0051] Figure 1A schematic diagram of a scenario of a vehicle control method provided in an embodiment of the present application;

[0052] Figure 2 A schematic diagram of a vehicle control method according to an embodiment of the present application;

[0053] Figure 3 A flow chart of a method for controlling a vehicle according to a drift demand signal provided in an embodiment of the present application;

[0054] Figure 4a A flow chart of another vehicle control method provided in an embodiment of the present application;

[0055] Figure 4b A schematic diagram illustrating another vehicle control method provided in an embodiment of the present application;

[0056] Figure 5 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0057] Figure 6 A schematic diagram of the structure of a vehicle controller provided in an embodiment of the present application.

[0058] 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

[0059] 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.

[0060] First, the terms involved in this application are explained:

[0061] Torque can be referred to as the rotational force generated by the electric motors mounted on the wheels of a vehicle. This torque can drive the wheels to rotate and propel the entire vehicle forward or backward.

[0062] Intelligent Driving Unit (IDU) can refer to a device or module in the vehicle system that supports functions such as autonomous driving, driver assistance, and intelligent traffic management. This unit usually combines sensors, processors, software, and communication technologies to achieve intelligent and autonomous driving of the vehicle.

[0063] Yaw rate refers to the speed at which a vehicle rotates in the horizontal direction (lateral direction), usually in degrees per second (° / s) or radians per second (rad / s). Yaw rate is used to describe how fast a vehicle rotates around a vertical axis and is one of the most important parameters in vehicle dynamics and handling characteristics.

[0064] In the prior art, when a vehicle drifts, the torque of each wheel is generally adjusted to achieve drifting. However, when a vehicle drifts in the prior art, on the one hand, the driver is required to perform auxiliary operations so that the vehicle can drift stably. On the other hand, a larger scene space is required for drifting, and it is impossible to drift in place in a place with a smaller scene space.

[0065] The vehicle control method, device, vehicle controller, vehicle, medium and program provided in the present application can automatically brake and lock one end of the vehicle through action control instructions, and then adjust the motion state of the first wheel on the drift direction side and the motion state of the second wheel on the non-drift direction side at the other end of the vehicle, so that the driver can automatically drift the vehicle without controlling the vehicle. At the same time, since the front wheels of the vehicle are braked, the two vehicles can also drift in place in a smaller scene space in a stopped state, with one end of the vehicle as the center of the circle, driving the other end to rotate.

[0066] 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.

[0067] Figure 1 A schematic diagram of a scenario of a vehicle control method provided in an embodiment of the present application, such as Figure 1 As shown, the specific application scenario of the present application can be a vehicle controller. Among them, the vehicle controller can be a terminal device for short-range communication, such as a terminal device based on the Internet of Things and Bluetooth for communication; it can also be a remote server, such as a mobile phone, computer and other terminal devices installed with an APP for controlling the vehicle, and it can also be a controller inside the vehicle itself, such as a terminal device such as an on-board computer. The vehicle control method in the embodiment of the present application does not impose any special restrictions on the implementation method of the execution subject, as long as the execution subject can respond to the in-situ drift instruction and brake and lock one end of the vehicle; adjust the motion state of the first wheel on the drift direction side of the other end of the vehicle and the motion state of the second wheel on the non-drift direction side to control the other end of the vehicle to drift in place in the drift direction.

[0068] Figure 2The flowchart of the vehicle control method provided in the embodiment of the present application is shown in FIG. 1 . The execution subject of the method may be a vehicle controller, such as Figure 2 As shown, the method may include:

[0069] S201. In response to an in-situ drift instruction, one end of the vehicle is braked and locked.

[0070] The in-situ drift instruction may refer to a control instruction for driving the vehicle to drift in-situ toward a target direction. In an embodiment of the present application, the in-situ drift instruction may be determined according to the direction in which the vehicle is to drift, that is, after the vehicle controller obtains a signal representing the direction, it may generate an in-situ drift instruction according to the signal.

[0071] One end and the other end of the vehicle may refer to the front and rear ends of the vehicle body, wherein, when one end of the vehicle is the front end of the body, the other end of the vehicle may be the rear end of the body, and when one end of the vehicle is the rear end of the body, the other end of the vehicle may be the front end of the body.

[0072] Braking and locking one end of a vehicle may refer to locking the wheels at one end of the vehicle so that the other end of the vehicle can remain relatively stable when rotating around the one end of the vehicle.

[0073] In some embodiments, the method of braking and locking one end of the vehicle may include braking and locking at least one wheel at one end of the vehicle, and may also include lifting one end of the vehicle through a steering actuator to perform braking and locking.

[0074] Responding to an in-place drift instruction may refer to the process of a vehicle controller receiving an in-place drift instruction. In an embodiment of the present application, the in-place drift instruction may be an instruction input by a user through an on-board terminal, or may be an instruction generated by an intelligent driving unit on the vehicle according to a drift demand signal.

[0075] In the embodiment of the present application, in response to the in-situ drift instruction, one end of the vehicle is braked and locked, including:

[0076] After the vehicle enters the in-situ drift mode, a drift demand signal is obtained;

[0077] According to the drift demand signal, an in-situ drift instruction is obtained;

[0078] According to the in-situ drift instruction, the target wheel on the drift direction side at one end of the vehicle is braked and locked.

[0079] Among them, the in-place drift mode can be a mode set for the vehicle to meet the functions of parking, U-turn, steering, etc. In some embodiments, the in-place drift mode can be a way for the user to interact with the vehicle controller to make the vehicle enter the in-place drift mode. For example, the user can enter the in-place drift mode through buttons on the vehicle or virtual buttons on the vehicle's large screen, or through voice control and other methods.

[0080] The drift demand signal can be generated based on the drift direction, and the drift direction can refer to the direction in which the vehicle will drift in place, wherein the direction can be determined by the user according to needs, that is, the user allows the vehicle controller to determine the vehicle's in-place drift direction by inputting and other operations on the vehicle controller.

[0081] In an embodiment of the present application, after the vehicle enters the in-place drift mode, the vehicle controller of the vehicle can generate a target direction signal in response to the user's input operation, thereby determining the direction of the vehicle drifting in place, wherein the input operation can be the user clicking the "move left" touch key or the "move right" touch key in the in-place drift operation interface to determine the direction of the in-place drift, or the user clicking the "custom" touch key in the in-place drift mode operation interface and entering content related to the direction in the "custom" touch key to determine the direction of the in-place drift.

[0082] The target wheel may refer to the wheel on the drift direction side at one end of the vehicle, and the drift direction side may refer to the same side as the drift direction. For example, when the drift direction is left, the drift direction side is the left side, and the target wheel is the left side wheel at one end of the vehicle.

[0083] In the embodiment of the present application, obtaining the in-situ drift instruction according to the drift demand signal includes:

[0084] Determine the rotation speed of the wheels in the vehicle according to the road environment information where the vehicle is located;

[0085] determining a rotation direction of wheels in the vehicle according to a drift direction in the drift demand signal;

[0086] Determining a motion state of a wheel in the vehicle based on a rotation direction of the wheel in the vehicle and a rotation speed of the wheel in the vehicle;

[0087] According to the motion state of the wheels in the vehicle, an in-situ drift instruction is obtained.

[0088] The road surface environment information may refer to the type of road surface, wherein the road surface type may include asphalt road surface, cement concrete road surface, gravel road surface, masonry road surface and ground dirt road.

[0089] Since different types of road surfaces will affect the friction of the tires, the torque of the wheel motor can be adjusted according to the type of road surface. For example, when the road friction is high (such as asphalt roads or cement concrete roads), the torque can be appropriately increased to provide better propulsion and make it easier for the vehicle to maintain stable driving; for roads with lower friction (such as gravel roads or dirt roads), the torque can be adjusted to prevent the tires from slipping and prevent the vehicle from losing control when it offsets.

[0090] After determining the rotation speed and the rotation direction, the motion state corresponding to each wheel can be determined according to the relevant parameters of the rotation speed and the rotation direction, and an in-situ drift instruction can be generated according to the motion state corresponding to each wheel.

[0091] S202, adjusting the motion state of the first wheel on the drifting direction side and the motion state of the second wheel on the non-drifting direction side at the other end of the vehicle to control the other end of the vehicle to drift in situ in the drifting direction.

[0092] Among them, the first wheel and the second wheel may refer to the wheels on both sides at the other end of the vehicle. For example, when the drifting direction in situ is to the left, the first wheel may be the left wheel and the second wheel may be the right wheel.

[0093] Controlling the other end of the vehicle to drift in the drift direction by means of the first wheel and the second wheel may mean that after one end of the vehicle is braked and locked, the two wheels are adjusted to different directions so that the two wheels of the vehicle generate a side slip force in the drift direction under the action of the ground, thereby enabling the vehicle to drift in place. For example, when the drift direction in place is to the left, the left front wheel at the front end of the vehicle is braked, the left rear wheel at the rear end of the vehicle is adjusted to rotate counterclockwise, and the right rear wheel is rotated clockwise, thereby causing the vehicle to drift to the left. When the drift direction in place is to the right, the right front wheel at the front end of the vehicle is braked, the right rear wheel at the rear end of the vehicle is adjusted to rotate counterclockwise, and the left rear wheel is rotated clockwise, thereby causing the vehicle to drift to the right.

[0094] In the embodiment of the present application, adjusting the motion state of the first wheel on the drifting direction side and the motion state of the second wheel on the non-drifting direction side at the other end of the vehicle to control the other end of the vehicle to drift in situ in the drifting direction includes:

[0095] Determine, according to the drift demand signal, a wheel motor torque of the first wheel and a wheel motor torque of the second wheel, wherein the wheel motor torque of the first wheel is a negative torque, and the wheel motor torque of the second wheel is a positive torque;

[0096] According to the wheel motor torque of the first wheel and the wheel motor torque of the second wheel, the first wheel and the second wheel are driven accordingly to control the other end of the vehicle to drift in situ in the drifting direction.

[0097] The motion state of the wheel can be adjusted by adjusting the wheel motor torque.

[0098] In the embodiment of the present application, the wheel motor torque of the first wheel may be requested to be negative torque and the wheel motor torque of the second wheel may be requested to be positive torque according to the drift demand signal, so that the wheel motor of the first wheel and the wheel motor of the second wheel output corresponding torques. The negative torque and the positive torque may be torques of opposite positive and negative but with the same torque value, or torques of different torque values.

[0099] After requesting the wheel motor torque of the first wheel to be a negative torque and requesting the wheel motor torque of the second wheel to be a positive torque, the vehicle may drift on the spot, wherein the vehicle may drift on the spot by itself or receive user instructions to drift on the spot.

[0100] In the embodiment of the present application, the angle of the vehicle drifting in place can be determined according to the pre-set angle. For example, when the angle of the in-place drift is required to be 120°, the vehicle controller can control the vehicle to drift 120° directly, or control the vehicle to drift two 60°, that is, execute two in-place drift instructions. The vehicle can also determine the in-place drift angle of the vehicle according to the user's control operation.

[0101] In the embodiment of the present application, according to the wheel motor torque of the first wheel and the wheel motor torque of the second wheel, the first wheel and the second wheel are driven correspondingly to control the other end of the vehicle to drift in place in the drift direction, including:

[0102] Obtain a throttle control signal; and drive the first wheel and the second wheel to rotate accordingly according to the throttle control signal, the wheel motor torque of the first wheel, and the wheel motor torque of the second wheel, so as to control the other end of the vehicle to drift in place in the drift direction.

[0103] The throttle control signal may be a signal indicating whether the accelerator pedal is stepped on. In the embodiment of the present application, after requesting the torque of each wheel motor, the vehicle controller may perform in-situ drift by detecting whether the vehicle accelerator pedal is stepped on and started.

[0104] In order to better control the process of drifting in situ, in the embodiment of the present application, the method further includes:

[0105] In the process of controlling the other end of the vehicle to drift in place in the drift direction, the wheel motor torque of the first wheel and the wheel motor torque of the second wheel are adjusted in response to the throttle change signal to control the other end of the vehicle to drift in place in the drift direction.

[0106] Among them, the throttle change signal can represent the signal of the throttle size. Among them, when the throttle change signal is larger, the torque of the wheel motor torque can be larger, and when the throttle change signal is smaller, the torque of the wheel motor torque can be smaller. Therefore, it is convenient for users to adjust the process of drifting in place during use.

[0107] Wherein, when the drift demand signal includes drift radius limitation information, in the embodiment of the present application, after correspondingly driving the first wheel and the second wheel according to the wheel motor torque of the first wheel and the wheel motor torque of the second wheel to control the other end of the vehicle to drift in situ in the drift direction, the method further includes:

[0108] According to the drift radius limitation information, determining the yaw angular velocity of the other end of the vehicle to drift in situ in the drift direction;

[0109] The wheel motor torque of the first wheel and the wheel motor torque of the second wheel are adjusted respectively according to the current speed at which the other end of the vehicle drifts in place in the drift direction and the yaw angular velocity at which the other end of the vehicle drifts in place in the drift direction.

[0110] Among them, the drift radius limitation information may refer to the drift radius set by the user. In an embodiment of the present application, the drift radius limitation information may be input by the user in the in-situ drift operation interface.

[0111] The vehicle controller can automatically convert the drift radius into the yaw rate according to the drift radius limitation information, wherein the larger the drift radius represented by the drift radius limitation information, the larger the yaw rate, and the smaller the drift radius represented by the drift radius limitation information, the smaller the yaw rate. After determining the yaw rate, the wheel motor torque of the first wheel and the wheel motor torque of the second wheel can be adjusted according to the yaw rate, wherein the larger the yaw rate, the larger the wheel motor torque, and the smaller the yaw rate, the smaller the wheel motor torque.

[0112] In order to prevent excessive friction of the tires of the vehicle wheels, in the embodiment of the present application, the rotation speed of the first wheel is less than a first rotation speed threshold, and the first rotation speed threshold is determined according to the actual wheel motor torque of the first wheel, the throttle change signal of the vehicle, and the road environment information of the vehicle;

[0113] The rotation speed of the second wheel is less than a second rotation speed threshold, and the second rotation speed threshold is determined according to an actual wheel motor torque of the second wheel, a throttle change signal of the vehicle, and road environment information of the vehicle.

[0114] Among them, the process of determining the maximum rotation speed on different road surfaces can be: 1. Pre-collect the data of the actual torque size and the corresponding throttle size when the vehicle starts under different road conditions through vehicle sensors or test instruments. 2. According to the collected data, analyze the torque size, throttle size and final rotation speed under different road conditions. Consider factors such as the roughness, adhesion and humidity of the road surface. 3. Based on the data analysis results, establish a corresponding mathematical model to describe the relationship between torque, throttle and rotation speed. 4. Determine the maximum rotation speed limit under different road surfaces based on the established mathematical model to avoid excessive tire wear. In this way, the vehicle controller can determine the rotation speed threshold based on the actual wheel motor torque, the vehicle's throttle change signal and the road environment information in which the vehicle is located.

[0115] The vehicle control method provided in the embodiment of the present application responds to the in-situ drift command by automatically braking and locking one end of the vehicle, and then adjusts the motion state of the first wheel on the drift direction side and the motion state of the second wheel on the non-drift direction side at the other end of the vehicle, so that when the vehicle drifts in place, one end of the vehicle can be used as the center of a circle, and the other end can be rotated relative to one end of the vehicle through the motion states of the wheels on different directions, thereby controlling the vehicle to drift in place in the drift direction, thereby enabling the vehicle to automatically drift in place according to the command, and can stop or drift at any time according to the drift demand, thereby ensuring the safety of the vehicle, and allowing drifting in a narrower scene, thereby achieving the effect of improving the in-situ drift of the vehicle.

[0116] Figure 3 The flowchart of the method for controlling a vehicle according to a drift demand signal provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the method may include:

[0117] S301, after the vehicle enters the in-situ drift mode, obtaining a drift demand signal;

[0118] S302: Determine the drift condition of the vehicle according to the drift direction and drift radius in the drift demand signal.

[0119] The drift condition may refer to the scene requirement when the vehicle is drifting in place. For example, when the drift radius is 4 meters and the direction is to the left, the drift condition may be the requirement for the circular field space occupied by the drift. In some embodiments, in order to more accurately determine the drift condition, the drift angle may be supplemented. For example, when the drift radius is 4 meters, the direction is to the left, and the drift angle is 60°, the drift condition may be the requirement for the sector-shaped field space occupied by the drift.

[0120] S303. If the drift condition of the vehicle satisfies a first preset drift condition, an on-site drift instruction is generated according to a drift demand signal, wherein the preset drift condition is determined according to a first scene environment in which the vehicle is located and vehicle information of the vehicle.

[0121] The first preset drift condition may refer to the actual site condition determined in the vehicle controller according to the first scene environment of the vehicle and the vehicle information of the vehicle. The first scene environment may refer to obstacles, road conditions and other conditions within the range of the vehicle's position, the range of the vehicle's position may be determined according to the drift condition of the vehicle, and the first scene environment may be determined according to the vehicle-mounted radar, camera and visual sensor. The vehicle information of the vehicle may refer to the vehicle's parameter information such as the length, width, wheels and tires of the vehicle.

[0122] The drift condition of the vehicle satisfying the first preset drift condition may refer to the vehicle drifting in place in a field corresponding to the first scene environment.

[0123] S304. If the drift condition of the vehicle does not meet the first preset drift condition, determine a second preset drift condition, the second preset drift condition is determined according to a second scene environment and vehicle information of the vehicle, and the second scene environment is determined according to the first scene environment.

[0124] Among them, the second preset drift condition may refer to the actual site condition determined in the vehicle controller according to the second scene environment in which the vehicle is located and the vehicle information of the vehicle, wherein the second scene environment may refer to the scene environment surrounding the first scene environment, for example, when the first scene environment may be a circular area with a radius of five meters at the location of the vehicle, the second scene environment may be a ring area with a radius of five to fifteen meters at the location of the vehicle, wherein the site range corresponding to the second scene environment may be a range set in advance.

[0125] S305: If the drift condition of the vehicle satisfies the second preset drift condition, the vehicle is controlled to move to an area corresponding to the second scene environment, and an in-situ drift instruction is generated according to the drift demand signal;

[0126] S306: If the drift condition of the vehicle does not meet the second preset drift condition, adjust the rotation direction of the wheels in the vehicle, and control the vehicle to rotate on the spot.

[0127] The drift condition of the vehicle meeting the second preset drift condition may mean that the vehicle drifts in place in the field corresponding to the second scene environment, so that the vehicle controller may prompt the user to drive the vehicle into the field corresponding to the second scene environment, or automatically drive the vehicle into the field corresponding to the second scene environment to drift in place. If the drift condition of the vehicle does not meet the second preset drift condition, the vehicle may adjust all four wheels to a preset angle to control the vehicle to rotate in place.

[0128] The method for controlling a vehicle based on a drift demand signal provided in an embodiment of the present application determines whether the vehicle can drift on the spot in the current scenario, and adopts different methods for different scenarios to enable the vehicle to turn around, thereby achieving the effect of improving the vehicle's drift on the spot.

[0129] Figure 4a A flow chart of another vehicle control method provided in an embodiment of the present application. The execution subject of the method may be a vehicle controller, such as Figure 4a As shown, the method includes:

[0130] S401. After receiving a signal from a user for drifting counterclockwise to the left, the vehicle controller determines whether the vehicle can drift in place.

[0131] Among them, the conditions for the vehicle to enter in-situ drift may include whether the vehicle is speeding, whether the wheels meet the turning conditions, the state conditions of the vehicle system and the environmental conditions, etc.

[0132] S402, when it is determined that the vehicle meets the conditions for drifting in place, generating an action control instruction according to a signal for drifting counterclockwise to the left;

[0133] S403, according to instruction 1 in the action control instruction, request the left front wheel to brake and lock; according to instruction 2 in the action control instruction, request the left rear motor to have a negative torque; according to instruction 3 in the action control instruction, request the right rear motor to have a positive torque.

[0134] Among them, the specific value of the negative torque of the left rear motor and the specific value of the positive torque of the right rear motor can be used as a control target to maintain the control target wheel speed (for example, 5m / s) and the corresponding slip rate, and the value varies depending on the road surface.

[0135] S404: According to the rotation angle set by the vehicle controller, after the actual rotation angle of the vehicle is reached, the action control instruction and the vehicle drifting action in place are completed.

[0136] Among them, after completing the motion control instructions and the vehicle drifting in place, the vehicle can realize operations such as turning around and entering the warehouse.

[0137] When the vehicle is drifting in place, it can stop drifting when it receives an end command, obstacle avoidance information from the radar, or detects a brake signal.

[0138] Figure 4b A schematic diagram illustrating another vehicle control method provided in an embodiment of the present application. Figure 4bAs shown, when the vehicle drifts to the left, the left front wheel brake is locked, the left rear wheel rotates backward, the right rear wheel rotates forward, the front of the vehicle remains stationary, and the rear of the vehicle turns to the left, and the vehicle drifts in place.

[0139] Another vehicle control method provided in an embodiment of the present application achieves the effect of vehicle drifting in place by means of controlling the torque of each wheel in the vehicle respectively by means of instructions 1, 2 and 3 in the action control instructions.

[0140] Figure 5 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application, such as Figure 5 As shown, the vehicle control device 50 provided in this embodiment includes:

[0141] A response module 501 is used to brake and lock one end of the vehicle in response to an in-situ drift instruction after the vehicle enters the in-situ drift mode;

[0142] The control module 502 is used to adjust the motion state of the first wheel on the drifting direction side and the motion state of the second wheel on the non-drifting direction side at the other end of the vehicle to control the other end of the vehicle to drift in place in the drifting direction.

[0143] In a possible implementation, the response module 501 may also be used to:

[0144] After the vehicle enters the in-situ drift mode, a drift demand signal is obtained;

[0145] According to the drift demand signal, an in-situ drift instruction is obtained;

[0146] According to the in-situ drift instruction, the target wheel on the drift direction side at one end of the vehicle is braked and locked.

[0147] In a possible implementation, the response module 501 may also be used to:

[0148] Determining the drift condition of the vehicle according to the drift direction and the drift radius in the drift demand signal;

[0149] If the drift condition of the vehicle meets the first preset drift condition, an on-site drift instruction is generated according to the drift demand signal, wherein the preset drift condition is determined according to the first scene environment in which the vehicle is located and the vehicle information of the vehicle.

[0150] In a possible implementation, the response module 501 may also be used to:

[0151] If the drift condition of the vehicle does not meet the first preset drift condition, determining a second preset drift condition, the second preset drift condition being determined according to a second scene environment and vehicle information of the vehicle, the second scene environment being determined according to the first scene environment;

[0152] If the drift condition of the vehicle meets the second preset drift condition, the vehicle is controlled to move to an area corresponding to the second scene environment, and an on-site drift instruction is generated according to the drift demand signal.

[0153] In a possible implementation, the response module 501 may also be used to:

[0154] If the drift condition of the vehicle does not meet the second preset drift condition, the rotation direction of the wheels in the vehicle is adjusted, and the vehicle is controlled to rotate on the spot.

[0155] In a possible implementation, the response module 501 may also be used to:

[0156] Determine the rotation speed of the wheels in the vehicle according to the road environment information where the vehicle is located;

[0157] determining a rotation direction of wheels in the vehicle according to a drift direction in the drift demand signal;

[0158] Determining a motion state of a wheel in the vehicle based on a rotation direction of the wheel in the vehicle and a rotation speed of the wheel in the vehicle;

[0159] According to the motion state of the wheels in the vehicle, an in-situ drift instruction is obtained.

[0160] In a possible implementation, the control module 502 may also be used to:

[0161] Determine, according to the drift demand signal, a wheel motor torque of the first wheel and a wheel motor torque of the second wheel, wherein the wheel motor torque of the first wheel is a negative torque, and the wheel motor torque of the second wheel is a positive torque;

[0162] According to the wheel motor torque of the first wheel and the wheel motor torque of the second wheel, the first wheel and the second wheel are driven accordingly to control the other end of the vehicle to drift in situ in the drifting direction.

[0163] In a possible implementation, the control module 502 may also be used to:

[0164] Get throttle control signal;

[0165] According to the throttle control signal, the wheel motor torque of the first wheel and the wheel motor torque of the second wheel, the first wheel and the second wheel are driven to rotate accordingly to control the other end of the vehicle to drift in situ in the drifting direction.

[0166] In a possible implementation, the control module 502 may also be used to:

[0167] In the process of controlling the other end of the vehicle to drift in place in the drift direction, the wheel motor torque of the first wheel and the wheel motor torque of the second wheel are adjusted in response to the throttle change signal to control the other end of the vehicle to drift in place in the drift direction.

[0168] In a possible implementation, when the drift requirement signal includes drift radius limitation information, the control module 502 may also be configured to:

[0169] According to the drift radius limitation information, determining the yaw angular velocity of the other end of the vehicle to drift in situ in the drift direction;

[0170] The wheel motor torque of the first wheel and the wheel motor torque of the second wheel are adjusted respectively according to the current speed at which the other end of the vehicle drifts in place in the drift direction and the yaw angular velocity at which the other end of the vehicle drifts in place in the drift direction.

[0171] In a possible implementation, the control module 502 may also be used to:

[0172] The rotation speed of the first wheel is less than a first rotation speed threshold, and the first rotation speed threshold is determined according to an actual wheel motor torque of the first wheel, a throttle change signal of the vehicle, and road environment information of the vehicle;

[0173] The rotation speed of the second wheel is less than a second rotation speed threshold, and the second rotation speed threshold is determined according to an actual wheel motor torque of the second wheel, a throttle change signal of the vehicle, and road environment information of the vehicle.

[0174] The vehicle control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail in this embodiment.

[0175] Figure 6 This is a schematic diagram of the structure of the vehicle controller provided in the embodiment of the present application. Figure 6 As shown, the vehicle controller 60 provided in this embodiment includes: at least one processor 601 and a memory 602. Optionally, the vehicle 60 further includes a communication component 603. The processor 601, the memory 602 and the communication component 603 are connected via a bus 604.

[0176] In a specific implementation process, at least one processor 601 executes the computer execution instructions stored in the memory 602, so that at least one processor 601 executes the above method.

[0177] The specific implementation process of the processor 601 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0178] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0179] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0180] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0181] The present application also provides a vehicle, including a vehicle controller.

[0182] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0183] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0184] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), 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.

[0185] An exemplary 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 (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0186] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0187] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0188] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0189] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0190] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0191] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that: include: In response to an in-situ drift instruction, braking and locking one end of the vehicle; The motion state of the first wheel on the drifting direction side and the motion state of the second wheel on the non-drifting direction side at the other end of the vehicle are adjusted to control the other end of the vehicle to drift in situ in the drifting direction.

2. The method according to claim 1, characterized in that The step of braking and locking one end of the vehicle in response to the in-situ drift instruction comprises: After the vehicle enters the in-situ drift mode, a drift demand signal is obtained; Obtaining an in-situ drift instruction according to the drift demand signal; According to the in-situ drift instruction, a target wheel on the drifting direction side at one end of the vehicle is braked and locked.

3. The method according to claim 2, characterized in that The step of obtaining an in-situ drift instruction according to the drift demand signal comprises: Determining a drift condition of the vehicle according to a drift direction and a drift radius in the drift demand signal; If the drift condition of the vehicle satisfies a first preset drift condition, an on-site drift instruction is generated according to the drift demand signal, wherein the preset drift condition is determined according to a first scene environment in which the vehicle is located and vehicle information of the vehicle.

4. The method according to claim 3, characterized in that After determining the drift condition of the vehicle according to the drift direction and the drift radius in the drift demand signal, the method further includes: If the drift condition of the vehicle does not meet the first preset drift condition, determining a second preset drift condition, wherein the second preset drift condition is determined according to a second scene environment and vehicle information of the vehicle, and the second scene environment is determined according to the first scene environment; If the drift condition of the vehicle meets the second preset drift condition, the vehicle is controlled to move to an area corresponding to the second scene environment, and an on-site drift instruction is generated according to the drift demand signal.

5. The method according to claim 4, characterized in that After determining the second preset drift condition if the drift condition of the vehicle does not satisfy the first preset drift condition, the method further includes: If the drift condition of the vehicle does not meet the second preset drift condition, the rotation direction of the wheels in the vehicle is adjusted, and the vehicle is controlled to rotate on the spot.

6. The method according to claim 2, characterized in that The step of obtaining an in-situ drift instruction according to the drift demand signal comprises: Determining the rotation speed of the wheels of the vehicle according to the road environment information on which the vehicle is located; Determining a rotation direction of a wheel in the vehicle according to a drift direction in the drift demand signal; Determining a motion state of a wheel in the vehicle according to a rotation direction of the wheel in the vehicle and a rotation speed of the wheel in the vehicle; According to the motion state of the wheels in the vehicle, an in-situ drift instruction is obtained.

7. The method according to claim 1, characterized in that The step of adjusting the motion state of a first wheel on the drifting direction side and the motion state of a second wheel on the non-drifting direction side of the other end of the vehicle to control the other end of the vehicle to drift in situ in the drifting direction includes: Determining, according to the drift demand signal, a wheel motor torque of the first wheel and a wheel motor torque of the second wheel, wherein the wheel motor torque of the first wheel is a negative torque, and the wheel motor torque of the second wheel is a positive torque; According to the wheel motor torque of the first wheel and the wheel motor torque of the second wheel, the first wheel and the second wheel are driven accordingly to control the other end of the vehicle to drift in place in the drifting direction.

8. The method according to claim 7, characterized in that The method of driving the first wheel and the second wheel correspondingly according to the wheel motor torque of the first wheel and the wheel motor torque of the second wheel to control the other end of the vehicle to drift in situ in the drifting direction includes: Get throttle control signal; According to the throttle control signal, the wheel motor torque of the first wheel and the wheel motor torque of the second wheel, the first wheel and the second wheel are driven to rotate accordingly to control the other end of the vehicle to drift in place in the drift direction.

9. The method according to claim 7, characterized in that The method further comprises: In the process of controlling the other end of the vehicle to drift in place in the drift direction, the wheel motor torque of the first wheel and the wheel motor torque of the second wheel are adjusted in response to the throttle change signal to control the other end of the vehicle to drift in place in the drift direction.

10. The method according to claim 7, characterized in that When the drift requirement signal includes drift radius limitation information, After driving the first wheel and the second wheel accordingly according to the wheel motor torque of the first wheel and the wheel motor torque of the second wheel to control the other end of the vehicle to drift in situ in the drifting direction, the method further includes: Determining, according to the drift radius limitation information, a yaw angular velocity at which the other end of the vehicle drifts in situ in a drift direction; The wheel motor torque of the first wheel and the wheel motor torque of the second wheel are adjusted respectively according to the current speed at which the other end of the vehicle drifts in place in the drift direction and the yaw angular velocity at which the other end of the vehicle drifts in place in the drift direction.

11. The method according to claims 7-10, characterized in that The rotation speed of the first wheel is less than a first rotation speed threshold, and the first rotation speed threshold is determined according to an actual wheel motor torque of the first wheel, a throttle change signal of the vehicle, and road environment information of the vehicle; The rotation speed of the second wheel is less than a second rotation speed threshold, and the second rotation speed threshold is determined according to an actual wheel motor torque of the second wheel, a throttle change signal of the vehicle, and road environment information of the vehicle.

12. A vehicle control device, characterized in that: include: A response module, configured to brake and lock one end of the vehicle in response to an on-site drift instruction after the vehicle enters an on-site drift mode; A control module is used to adjust the motion state of the first wheel on the drift direction side and the motion state of the second wheel on the non-drift direction side at the other end of the vehicle to control the other end of the vehicle to drift in place in the drift direction.

13. A vehicle controller, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 11.

14. A vehicle, characterized in that: Includes the vehicle controller as claimed in claim 13.

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

16. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 11 when being executed by a processor.

Images