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

Abstract

The invention provides a vehicle control method and device, a storage medium, a vehicle controller and a vehicle, according to the vehicle control method provided by the invention, vehicle state parameters and a road surface adhesion coefficient corresponding to a current driving road surface are obtained, and then a parameter safety threshold value corresponding to a vehicle dynamic control system is determined based on the road surface adhesion coefficient; the road adhesion coefficient is inversely proportional to the parameter safety threshold, and whether the vehicle dynamic control system is started to stably control the vehicle is determined according to the comparison result by comparing the parameter safety threshold with the vehicle state parameter, so that the VDC system does not intervene when the road adhesion coefficient is low, and the stability of the vehicle is improved. And when the road adhesion coefficient is relatively high, the VDC system performs rollover prevention intervention on the vehicle, so that the use requirements of a driver on the vehicle in different scenes are met, and the user experience is improved.

Description

Technical Field

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

[0002] Vehicle Dynamics Control (VDC) is a vehicle dynamics control system that aims to improve the driving stability and safety of the vehicle under various road conditions. It achieves this goal by real-time monitoring and adjusting various dynamic parameters of the vehicle. The VDC system is an indispensable part of modern cars. It provides drivers with a safer, more stable and comfortable driving experience through advanced technical means.

[0003] However, in some special driving scenarios, the driver may not want VDC to intervene too much in vehicle control (for example, when a car is racing on a track, an off-road vehicle is driving in the desert or on water, the driver hopes that VDC will not intervene in vehicle control at all), while when driving on normal roads, the driver hopes that VDC can control the vehicle normally to ensure driving safety. Therefore, how to meet the driver's demand for VDC in different scenarios is an urgent problem to be solved. Summary of the invention

[0004] Based on this, the present invention provides a vehicle control method, device, storage medium, vehicle controller and vehicle. By adopting the vehicle control method, when the vehicle is at risk of losing control, the vehicle can be stably controlled in combination with the current road adhesion coefficient, so that the VDC system does not intervene when the road adhesion coefficient is low, and the VDC system intervenes to prevent the vehicle from rolling over when the road adhesion coefficient is high, thereby meeting the driver's needs for vehicle use in different scenarios and improving the user experience.

[0005] In one aspect, the present invention provides a vehicle control method, the method comprising:

[0006] Obtain vehicle state parameters and the road adhesion coefficient corresponding to the current driving road surface;

[0007] Determining a parameter safety threshold corresponding to a vehicle dynamic control system based on the road adhesion coefficient, wherein the road adhesion coefficient and the parameter safety threshold are in inverse proportion;

[0008] The parameter safety threshold and the vehicle state parameter are compared, and according to the comparison result, it is determined whether to enable the vehicle dynamic control system to perform stability control on the vehicle.

[0009] Furthermore, in some implementations, comparing the parameter safety threshold with the vehicle state parameter and determining whether to enable the vehicle dynamic control system to perform stability control on the vehicle according to the comparison result includes:

[0010] If the vehicle state parameter is greater than the parameter safety threshold, activating the vehicle dynamic control system to perform stability control on the vehicle;

[0011] If the vehicle state parameter is less than or equal to the parameter safety threshold, the vehicle dynamic control system is prohibited from being enabled.

[0012] Furthermore, in some implementations, enabling the vehicle dynamics control system to perform stability control on the vehicle includes:

[0013] determining a system intervention amount based on a deviation between the vehicle state parameter and the parameter safety threshold;

[0014] The vehicle is stabilized and controlled based on the system intervention amount.

[0015] Furthermore, in some implementations, enabling the vehicle dynamics control system to perform stability control on the vehicle includes:

[0016] determining an instability level of the vehicle according to a deviation between a vehicle state parameter and the parameter safety threshold;

[0017] The vehicle is stabilized by using a system intervention amount corresponding to the instability level.

[0018] Further, in some embodiments, the vehicle state parameter includes a predicted state parameter and an actual state parameter, the stability control includes a feedforward control and a feedback control, and the enabling of the vehicle dynamic control system to perform stability control on the vehicle includes:

[0019] determining a feedforward control intervention amount based on a deviation between the predicted state parameter and the parameter safety threshold;

[0020] determining a feedback control intervention amount based on a deviation between the actual state parameter and the parameter safety threshold;

[0021] The vehicle is feedforward controlled based on the feedforward control intervention amount and the vehicle is feedback controlled based on the feedback control intervention amount.

[0022] Further, in some embodiments, the performing feedforward control on the vehicle based on the feedforward control intervention amount and the performing feedback control on the vehicle based on the feedback control intervention amount include:

[0023] Determining a weight distribution factor corresponding to the road adhesion coefficient;

[0024] Determine a feedforward control weight corresponding to the feedforward control and a feedback control weight corresponding to the feedback control based on the weight allocation factor, wherein the feedforward control weight is positively correlated with the road adhesion coefficient, and a minimum value of the feedforward control weight is 0;

[0025] The vehicle is feedforward controlled based on the feedforward control weight and the feedforward control intervention amount, and the vehicle is feedback controlled based on the feedback control weight and the feedback control intervention amount.

[0026] Furthermore, in some embodiments, the method further comprises:

[0027] In response to receiving a shutdown instruction for the vehicle dynamics control system, a function disabling mode is entered, wherein the vehicle dynamics control system is prohibited from being enabled under any circumstances.

[0028] Furthermore, in some embodiments, the vehicle state parameters include, but are not limited to, one or more of vehicle speed, yaw rate, lateral acceleration, vehicle body sideslip angle, and wheel slip rate.

[0029] Furthermore, in some embodiments, the method further comprises:

[0030] If the vehicle speed exceeds a preset speed threshold, the control mode of the vehicle dynamic control system is switched to a standard mode, and the vehicle is stably controlled based on a parameter safety threshold corresponding to the standard mode; or,

[0031] If the vehicle yaw moment exceeds a preset moment threshold, the control mode of the vehicle dynamic control system is switched to a standard mode, and the vehicle is stably controlled based on a parameter safety threshold corresponding to the standard mode.

[0032] In another aspect, the present invention provides a vehicle control device, comprising:

[0033] A parameter acquisition module is used to obtain vehicle state parameters and a road adhesion coefficient corresponding to the current driving road surface;

[0034] A threshold determination module, used to determine a parameter safety threshold corresponding to a vehicle dynamic control system based on the road adhesion coefficient, wherein the road adhesion coefficient and the parameter safety threshold are in an inverse proportional relationship;

[0035] The stability control module is used to compare the parameter safety threshold with the vehicle state parameter, and decide whether to enable the vehicle dynamic control system to perform stability control on the vehicle according to the comparison result.

[0036] On the other hand, the present invention provides a storage medium storing a computer program, wherein the computer program is suitable for being loaded by a processor and executing the steps of the above method.

[0037] On the other hand, the present invention further provides a vehicle controller, comprising: a processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the above method.

[0038] On the other hand, the present invention further provides a vehicle, comprising the above-mentioned vehicle control device or vehicle controller.

[0039] On the other hand, the present invention further provides a computer program product, which includes computer executable instructions, and the above method steps are implemented when the instructions are executed.

[0040] According to the vehicle control method provided by the present invention, during vehicle driving, vehicle state parameters and a road adhesion coefficient corresponding to the current driving road surface are obtained, and then a parameter safety threshold corresponding to the vehicle dynamic control system is determined based on the road adhesion coefficient. By comparing the parameter safety threshold and the vehicle state parameters, and based on the comparison result, it is determined whether to enable the vehicle dynamic control system to perform stability control on the vehicle, wherein the road adhesion coefficient and the parameter safety threshold are in an inversely proportional relationship, that is, when the road adhesion coefficient is low, the parameter safety threshold corresponding to the vehicle dynamic control system is high, so that the vehicle dynamic control is not easily triggered when the road adhesion coefficient is low, and the VDC system can be implemented without intervention when the road adhesion coefficient is low, and the VDC system can perform anti-rollover intervention on the vehicle when the road adhesion coefficient is high, thereby meeting the driver's needs for vehicle use in different scenarios and improving user experience.

[0041] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic flow chart of a vehicle control method provided by an embodiment of the present invention;

[0043] Figure 2 A schematic flow chart of a vehicle control method provided by an embodiment of the present invention;

[0044] Figure 3 A schematic flow chart of a vehicle control method provided by an embodiment of the present invention;

[0045] Figure 4 A schematic flow chart of a vehicle control method provided by an embodiment of the present invention;

[0046] Figure 5 A schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention;

[0047] Figure 6 A schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention;

[0048] Figure 7 A schematic structural diagram of a vehicle controller provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0050] In the description of one or more embodiments of the present invention, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0051] Vehicle Dynamics Control (VDC) is a vehicle dynamic control system that aims to improve the vehicle's driving stability and safety under various road conditions. It monitors and adjusts the vehicle's dynamic parameters in real time. When it detects that the vehicle is at risk of losing control, it improves the vehicle's stability by reducing torque output, braking the vehicle, etc.

[0052] However, in some special driving scenarios, the driver hopes that VDC will not intervene in vehicle control at all to avoid the impact of VDC intervention on vehicle handling (for example, in scenarios such as racing where vehicle drifting operations need to be completed, the driver often needs to increase the cornering speed by drifting, and vehicle drifting can only be triggered when the vehicle slips. Usually, on roads with low adhesion coefficients, vehicles are more likely to slip and more likely to trigger drift operations, while on roads with high adhesion coefficients, vehicles are not prone to slip and are not prone to drift operations). In normal driving scenarios, the driver hopes that VDC can control the vehicle normally.

[0053] Based on the above reasons, the present invention proposes a vehicle control method, during vehicle driving, obtaining vehicle state parameters and a road adhesion coefficient corresponding to the current driving road surface, then determining a parameter safety threshold corresponding to a vehicle dynamic control system based on the road adhesion coefficient, by comparing the parameter safety threshold and the vehicle state parameters, and deciding whether to enable the vehicle dynamic control system to perform stability control on the vehicle according to the comparison result, wherein the road adhesion coefficient and the parameter safety threshold are in an inversely proportional relationship, that is, when the road adhesion coefficient is low, the parameter safety threshold corresponding to the vehicle dynamic control system is high, so that the vehicle dynamic control is not easily triggered when the road adhesion coefficient is low, and the VDC system can be implemented when the road adhesion coefficient is low. The VDC system does not intervene when the road adhesion coefficient is low, and when the road adhesion coefficient is high, the VDC system intervenes to prevent the vehicle from rolling over, thereby meeting the driver's needs for vehicle use in different scenarios and improving the user experience.

[0054] See also Figure 1 , is a flow chart of a vehicle control method provided by an embodiment of the present invention. The execution subject of the process may be a program for vehicle start control, or the execution subject of the process may also be a vehicle or a domain controller equipped with the above program, or other devices capable of communicating with a vehicle, a domain controller, etc., without specific limitation.

[0055] The following is for Figure 1 The process shown is described in detail, and the vehicle control method may specifically include the following steps:

[0056] Step S102, obtaining vehicle state parameters and a road adhesion coefficient corresponding to the current driving road surface;

[0057] Among them, the road adhesion coefficient refers to the ratio of adhesion to the normal pressure of the wheel (the direction perpendicular to the road surface). It can be regarded as the static friction coefficient between the tire and the road surface. The larger this coefficient is, the greater the available adhesion is, and the less likely the car is to slip.

[0058] The vehicle state parameters are parameter information monitored by various sensors during vehicle driving. The vehicle state parameters include but are not limited to one or more of vehicle speed, yaw rate, lateral acceleration, body sideslip angle, and wheel slip rate.

[0059] Specifically, during the driving of the vehicle, the vehicle state parameters and the road adhesion coefficient corresponding to the current driving road surface are obtained in real time.

[0060] Among them, the road adhesion coefficient can be estimated based on the vehicle sensor data, which includes wheel speed sensors, acceleration sensors, and steering angle sensors. The wheel speed sensors and acceleration sensors monitor the speed and acceleration of the vehicle, and the friction force at different speeds and accelerations can be calculated by formulas to estimate the road adhesion coefficient.

[0061] Furthermore, another way to estimate the road adhesion coefficient is to use a visual sensor to capture image information of the road surface, and estimate the road adhesion coefficient by analyzing features such as texture, color, and brightness of the captured road surface image.

[0062] Step S104, determining a parameter safety threshold corresponding to a vehicle dynamic control system based on the road adhesion coefficient, wherein the road adhesion coefficient and the parameter safety threshold are in inverse proportion;

[0063] The parameter safety threshold is a threshold parameter used to characterize the system intervention threshold of the vehicle dynamic control system. When the vehicle state parameter exceeds the parameter safety threshold, the vehicle dynamic control system intervenes to control the vehicle's driving stability.

[0064] Specifically, a corresponding relationship between the road adhesion coefficient and the parameter safety threshold of the vehicle dynamic control system is preset, and different road adhesion coefficients correspond to different parameter safety thresholds. In this embodiment, the parameter safety threshold and the road adhesion coefficient are in inverse proportion, that is, the lower the road adhesion coefficient, the higher the parameter safety threshold corresponding to the vehicle dynamic control system, and the higher the threshold for intervention of the vehicle dynamic control system.

[0065] To be more specific, the correspondence between the road adhesion coefficient and the parameter safety threshold can be: the higher the road adhesion coefficient, the lower the parameter safety threshold, and the easier it is for the vehicle dynamic control system to trigger intervention; the lower the road adhesion coefficient, the higher the parameter safety threshold, and the more difficult it is for the vehicle dynamic control system to trigger intervention.

[0066] Step S106, comparing the parameter safety threshold and the vehicle state parameter, and determining whether to enable the vehicle dynamic control system to perform stability control on the vehicle according to the comparison result.

[0067] Specifically, after calculating the parameter safety threshold corresponding to the current road adhesion coefficient and the vehicle state parameter corresponding to the current vehicle state, the parameter safety threshold and the vehicle state parameter are compared; when the vehicle state parameter is greater than the parameter safety threshold, it is determined that the trigger condition of the vehicle dynamic control system is met, and the vehicle dynamic control system is enabled to perform stability control on the vehicle; when the vehicle state parameter is less than or equal to the parameter safety threshold, it is determined that the trigger condition of the vehicle dynamic control system is not met, and the vehicle dynamic control system is not enabled to perform stability control on the vehicle.

[0068] It should be noted that in one or more embodiments of the present invention, the vehicle state parameter represents multiple parameters during vehicle operation, including but not limited to one or more of vehicle speed, yaw rate, lateral acceleration, vehicle body sideslip angle, and wheel slip rate; similarly, the parameter safety threshold also includes safety thresholds corresponding to multiple vehicle parameters, including but not limited to yaw rate threshold, yaw moment threshold, lateral acceleration threshold, wheel slip rate threshold, etc. The specific value of the parameter safety threshold can be calibrated according to actual conditions, and one or more embodiments of the present invention do not make specific limitations.

[0069] It can be understood that in the embodiment of the present invention, by obtaining the road adhesion coefficient and the vehicle state parameters, different parameter safety thresholds are pre-set for different road adhesion coefficients. When the road adhesion coefficient is low, a higher parameter safety threshold is set, so that the vehicle dynamic control system is difficult to be triggered, so that the vehicle can complete operations such as drifting on a road with a low adhesion coefficient; when the road adhesion coefficient is high, a higher parameter safety threshold is set, so that the vehicle dynamic control system can be triggered normally, ensuring the driving safety and vehicle stability of the vehicle when driving on a road with a high adhesion coefficient.

[0070] In an embodiment of the present invention, during vehicle driving, vehicle state parameters and a road adhesion coefficient corresponding to the current driving road surface are obtained, and then a parameter safety threshold corresponding to the vehicle dynamic control system is determined based on the road adhesion coefficient. By comparing the parameter safety threshold and the vehicle state parameters, and based on the comparison result, it is determined whether to enable the vehicle dynamic control system to perform stability control on the vehicle. The road adhesion coefficient and the parameter safety threshold are in an inversely proportional relationship, that is, when the road adhesion coefficient is low, the parameter safety threshold corresponding to the vehicle dynamic control system is high, so that the vehicle dynamic control is not easily triggered when the road adhesion coefficient is low. It can be achieved that the VDC system does not intervene when the road adhesion coefficient is low, and the VDC system intervenes in the vehicle to prevent rollover when the road adhesion coefficient is high, thereby meeting the driver's needs for vehicle use in different scenarios and improving user experience.

[0071] In one embodiment, in step S106, the parameter safety threshold and the vehicle state parameter are compared, and a decision is made based on the comparison result whether to enable the vehicle dynamic control system to perform stability control on the vehicle. Specifically, if the vehicle state parameter is greater than the parameter safety threshold, the vehicle dynamic control system is enabled to perform stability control on the vehicle; if the vehicle state parameter is less than or equal to the parameter safety threshold, the vehicle dynamic control system is prohibited from being enabled.

[0072] In one embodiment, in response to receiving a shutdown command for the vehicle dynamics control system, the function disabling mode is entered, and the function disabling mode prohibits the vehicle dynamics control system from being enabled under any circumstances.

[0073] Specifically, a fully closed control corresponding to the vehicle dynamics control system may be pre-set in the vehicle, and the fully closed control is used to generate a closing instruction to completely close the vehicle dynamics control system. The driver can use the fully closed control to disable the function of the vehicle dynamics control system, and the vehicle dynamics control system is prohibited from being enabled under any circumstances to meet the driver's driving needs in special driving scenarios.

[0074] In one embodiment, see Figure 2 , is a flow chart of a vehicle control method provided by an embodiment of the present invention. Figure 2 As shown, the following steps are included:

[0075] Step S202, obtaining vehicle state parameters and a road adhesion coefficient corresponding to the current driving road surface;

[0076] Specifically, for step S202, please refer to the detailed description of step S102 in another embodiment of the present invention, which will not be repeated here.

[0077] Step S204, determining a parameter safety threshold corresponding to the vehicle dynamic control system based on the road adhesion coefficient, wherein the road adhesion coefficient and the parameter safety threshold are in inverse proportion;

[0078] Specifically, for step S204, please refer to the detailed description of step S104 in another embodiment of the present invention, which will not be repeated here.

[0079] Step S206, if the vehicle state parameter is greater than the parameter safety threshold, determining the system intervention amount based on the deviation between the vehicle state parameter and the parameter safety threshold;

[0080] The vehicle status parameters are the various vehicle status parameters during the vehicle's driving process. When the vehicle status parameters exceed the parameter safety threshold corresponding to the vehicle dynamic control system, it indicates that the vehicle is at risk of losing control. The parameter safety threshold is the condition for judging whether the vehicle dynamic control system should be activated and intervened according to the vehicle status parameters.

[0081] The system intervention amount is used to indicate the degree of intervention of the vehicle dynamic control system on the vehicle stability control. The greater the deviation between the vehicle state parameter and the parameter safety threshold, the greater the corresponding system intervention amount. In this embodiment, the system intervention amount is positively correlated with the deviation.

[0082] Specifically, after determining the parameter safety threshold corresponding to the current road adhesion coefficient and the vehicle state parameter corresponding to the current vehicle state, the parameter safety threshold and the vehicle state parameter are compared. If the vehicle state parameter is greater than the parameter safety threshold, it is determined that the trigger condition of the vehicle dynamic control system is met, and the vehicle dynamic control system is enabled to perform stability control on the vehicle. In an embodiment of the present invention, after determining the parameter safety threshold corresponding to the current road adhesion coefficient and the vehicle state parameter corresponding to the current vehicle state, the corresponding system intervention amount can be determined according to the deviation between the vehicle state parameter and the parameter safety threshold. The greater the deviation between the vehicle state parameter and the parameter safety threshold, the greater the corresponding system intervention amount.

[0083] It should be noted that in one or more embodiments of the present invention, the vehicle state parameter represents multiple parameters during vehicle operation, including but not limited to one or more of vehicle speed, yaw rate, lateral acceleration, vehicle body sideslip angle, and wheel slip rate; similarly, the parameter safety threshold also includes safety thresholds corresponding to multiple vehicle parameters, including but not limited to yaw rate threshold, yaw moment threshold, lateral acceleration threshold, wheel slip rate threshold, etc. Then, the above vehicle state parameter is greater than the parameter safety threshold, which can be any vehicle state parameter greater than the corresponding parameter safety threshold, and the system intervention amount is calculated only based on the deviation between the vehicle state parameter exceeding the parameter safety threshold and the corresponding parameter safety threshold. For example, if the yaw rate in the vehicle state parameter is greater than the yaw rate threshold, and the wheel slip rate is greater than the wheel slip rate threshold, the system intervention amount is calculated based on the deviation between the yaw rate and the yaw rate threshold, and the deviation between the wheel slip rate and the wheel slip rate threshold, and other vehicle state parameters that do not exceed the parameter safety threshold will not affect the calculation of the system intervention amount.

[0084] Step S208, performing stability control on the vehicle based on the system intervention amount;

[0085] Among them, the system intervention amount is used to indicate the degree of intervention of the vehicle dynamic control system on the vehicle.

[0086] It is not difficult to understand that during the period when the vehicle dynamic control system controls the vehicle, the degree of intervention of the vehicle dynamic control system on the vehicle stability control is adjusted in real time according to the deviation between the vehicle state parameters and the parameter safety threshold, which can improve driving interest while ensuring driving safety.

[0087] Step S210: If the vehicle state parameter is less than or equal to the parameter safety threshold, the vehicle dynamic control system is prohibited from being enabled.

[0088] In an embodiment of the present invention, during vehicle driving, vehicle state parameters and a road adhesion coefficient corresponding to the current driving road surface are obtained, and then a parameter safety threshold corresponding to the vehicle dynamic control system is determined based on the road adhesion coefficient. When the vehicle state parameter is greater than the parameter safety threshold, a corresponding system intervention amount is determined according to a deviation between the vehicle state parameter and the parameter safety threshold. The vehicle is stably controlled based on the determined system intervention amount, that is, when the road adhesion coefficient is low, the parameter safety threshold corresponding to the vehicle dynamic control system is high, so that the vehicle dynamic control is not easily triggered when the road adhesion coefficient is low. This can achieve the situation where the VDC system does not intervene when the road adhesion coefficient is low, and the VDC system intervenes in the vehicle to prevent rollover when the road adhesion coefficient is high, thereby meeting the driver's needs for vehicle use in different scenarios and improving user experience.

[0089] In one embodiment, see Figure 3 , is a flow chart of a vehicle control method provided by an embodiment of the present invention. Figure 3 As shown, the following steps are included:

[0090] Step S302, obtaining vehicle state parameters and a road adhesion coefficient corresponding to the current driving road surface;

[0091] Specifically, for step S302, please refer to the detailed description of step S102 in another embodiment of the present invention, which will not be repeated here.

[0092] Step S304, determining a parameter safety threshold corresponding to the vehicle dynamic control system based on the road adhesion coefficient, wherein the road adhesion coefficient and the parameter safety threshold are in inverse proportion;

[0093] Specifically, for step S304, please refer to the detailed description of step S104 in another embodiment of the present invention, which will not be repeated here.

[0094] Step S306, if the vehicle state parameter is greater than the parameter safety threshold, determining the vehicle instability level according to the deviation between the vehicle state parameter and the parameter safety threshold;

[0095] The vehicle status parameters are the various vehicle status parameters during the vehicle's driving process. When the vehicle status parameters exceed the parameter safety threshold corresponding to the vehicle dynamic control system, it indicates that the vehicle is at risk of losing control. The parameter safety threshold is the condition for judging whether the vehicle dynamic control system should be activated and intervened according to the vehicle status parameters.

[0096] Specifically, after determining the parameter safety threshold corresponding to the current road adhesion coefficient and the vehicle state parameter corresponding to the current vehicle state, the parameter safety threshold and the vehicle state parameter are compared. If the vehicle state parameter is greater than the parameter safety threshold, it is determined that the trigger condition of the vehicle dynamic control system is met, and the vehicle dynamic control system is enabled to perform stability control on the vehicle. In an embodiment of the present invention, different instability levels are preset for different parameter safety thresholds, and then the corresponding instability level can be determined according to the deviation between the vehicle state parameter and the parameter safety threshold. The greater the deviation between the vehicle state parameter and the parameter safety threshold, the higher the corresponding instability level.

[0097] Furthermore, for different instability levels, different degrees of system intervention can be used to control the stability of the corresponding vehicle. The higher the instability level, the greater the corresponding system intervention, and the deeper the intervention of the vehicle dynamic control system on the vehicle.

[0098] Step S308, using a system intervention amount corresponding to the instability level to perform stability control on the vehicle;

[0099] Specifically, system intervention amounts corresponding to different instability levels are pre-set. After the instability level corresponding to the vehicle state parameters is determined, the vehicle dynamic control system is enabled, and the vehicle is stabilized by using the system intervention amount corresponding to the instability level, wherein the system intervention amount is used to indicate the degree of intervention of the vehicle dynamic control system on the vehicle.

[0100] It is not difficult to understand that during the period when the vehicle dynamic control system controls the vehicle, the degree of intervention of the vehicle dynamic control system on the vehicle stability control is adjusted in real time according to the deviation between the vehicle state parameters and the parameter safety threshold, which can improve driving interest while ensuring driving safety.

[0101] Step S310: If the vehicle state parameter is less than or equal to the parameter safety threshold, the vehicle dynamic control system is prohibited from being enabled.

[0102] In an embodiment of the present invention, during vehicle driving, a vehicle state parameter and a road adhesion coefficient corresponding to the current driving road surface are obtained, and then a parameter safety threshold corresponding to the vehicle dynamic control system is determined based on the road adhesion coefficient. When the vehicle state parameter is greater than the parameter safety threshold, the vehicle is stably controlled according to the deviation between the vehicle state parameter and the parameter safety threshold, that is, when the road adhesion coefficient is low, the parameter safety threshold corresponding to the vehicle dynamic control system is high, so that the vehicle dynamic control is not easily triggered when the road adhesion coefficient is low, so that the VDC system does not intervene when the road adhesion coefficient is low, and the VDC system intervenes to prevent the vehicle from rolling over when the road adhesion coefficient is high, so as to meet the driver's demand for vehicle use in different scenarios and improve the user experience; and when the vehicle state parameter is greater than the parameter safety threshold, the corresponding instability level is determined according to the deviation between the vehicle state parameter and the parameter safety threshold, and then the vehicle is stably controlled using the system intervention amount corresponding to the instability level, so as to achieve different control degrees of intervention of the vehicle dynamic control system under different vehicle state parameters, so as to ensure driving safety while improving driving interest.

[0103] In one embodiment, the vehicle dynamic control system performs stability control on the vehicle including feedforward control and feedback control. Figure 4 , is a flow chart of a vehicle control method provided by an embodiment of the present invention. Figure 4 As shown, the following steps are included:

[0104] Step S402, obtaining vehicle state parameters and a road adhesion coefficient corresponding to the current driving road surface;

[0105] Specifically, for step S402, please refer to the detailed description of step S102 in another embodiment of the present invention, which will not be repeated here.

[0106] Step S404, determining a parameter safety threshold corresponding to the vehicle dynamic control system based on the road adhesion coefficient, wherein the road adhesion coefficient and the parameter safety threshold are in inverse proportion;

[0107] Specifically, for step S404, please refer to the detailed description of step S104 in another embodiment of the present invention, which will not be repeated here.

[0108] Step S406, if the vehicle state parameter is greater than the parameter safety threshold, determining a feedforward control intervention amount based on a deviation between the predicted state parameter and the parameter safety threshold, and determining a feedback control intervention amount based on a deviation between the actual state parameter and the parameter safety threshold;

[0109] It should be noted that the vehicle state parameters include predicted state parameters and actual state parameters. The predicted state parameters are the vehicle state parameters predicted at a future time based on the current actual state parameters of the vehicle and the driver's input, and the actual state parameters are the state parameters detected in real time by the sensor.

[0110] Specifically, the vehicle dynamic control system performs stability control on the vehicle including feedforward control and feedback control, wherein the feedforward control intervention amount can be calculated according to the deviation between the predicted state parameter and the parameter safety threshold, and the feedback control intervention amount can be calculated according to the deviation between the actual state parameter and the parameter safety threshold. Then, the vehicle is feedforward controlled based on the feedforward control intervention amount, and the vehicle is feedback controlled based on the feedback control intervention amount.

[0111] Step S408, performing feedforward control on the vehicle based on the feedforward control intervention amount and performing feedback control on the vehicle based on the feedback control intervention amount;

[0112] Step S410: If the vehicle state parameter is less than or equal to the parameter safety threshold, the vehicle dynamic control system is prohibited from being enabled.

[0113] In an embodiment of the present invention, during vehicle driving, a vehicle state parameter and a road adhesion coefficient corresponding to the current driving road surface are obtained, and then a parameter safety threshold corresponding to the vehicle dynamic control system is determined based on the road adhesion coefficient. By comparing the parameter safety threshold and the vehicle state parameter, when the vehicle state parameter is greater than the parameter safety threshold, the vehicle is stably controlled based on the deviation between the vehicle state parameter and the parameter safety threshold, wherein the road adhesion coefficient and the parameter safety threshold are in an inversely proportional relationship, that is, when the road adhesion coefficient is low, the parameter safety threshold corresponding to the vehicle dynamic control system is high, so that the vehicle dynamic control is not easily triggered when the road adhesion coefficient is low, and the VDC system can be implemented when the road adhesion coefficient is low. The VDC system does not intervene when the road adhesion coefficient is low, and when the road adhesion coefficient is high, the VDC system intervenes in the vehicle to prevent rollover, thereby meeting the driver's needs for vehicle use in different scenarios and improving user experience.

[0114] In one embodiment, in step S308, the vehicle is feedforward controlled based on the feedforward control intervention amount and the vehicle is feedback controlled based on the feedback control intervention amount, which can be specifically: determining a weight allocation factor corresponding to the road adhesion coefficient; determining a feedforward control weight corresponding to the feedforward control and determining a feedback control weight corresponding to the feedback control based on the weight allocation factor, the feedforward control weight is positively correlated with the road adhesion coefficient, and the minimum value of the feedforward control weight is 0; the vehicle is feedforward controlled based on the feedforward control weight and the feedforward control intervention amount, and the vehicle is feedback controlled based on the feedback control weight and the feedback control intervention amount.

[0115] It should be noted that feedforward control is based on vehicle state prediction or preset values, and does not consider real-time system feedback. On low-adhesion roads (such as slippery, icy and snowy roads), wheels are prone to slipping, and feedforward control may intervene based on inaccurate predictions or preset values, resulting in large errors in predicted state parameters, which may further lead to frequent intervention of the vehicle dynamic control system.

[0116] In the embodiment of the present invention, the weight allocation factor corresponding to the feedforward control and the feedback control is determined according to the road adhesion coefficient. The feedforward control weight corresponding to the feedforward control and the feedback control weight corresponding to the feedback control can be determined according to the weight allocation factor. The feedforward control weight is positively correlated with the road adhesion coefficient. The minimum value of the feedforward control weight is 0. When the road adhesion coefficient is low, the feedforward control can be weakened by reducing the weight allocation of the feedforward control, thereby reducing unnecessary intervention of the VDC under low adhesion coefficients, avoiding the situation where the VDC intervenes in the vehicle stability control due to inaccurate prediction of the feedforward control under low road adhesion coefficients, and realizing that the VDC system does not intervene when the road adhesion coefficient is low, thereby meeting the driver's needs for vehicle use in different scenarios and improving the user experience.

[0117] It should be further noted that the vehicle control method provided by one or more embodiments of the present invention is usually applied in special driving scenarios, that is, when the driver needs to perform drifting operations or sand off-roading. Furthermore, a mode start control corresponding to the special driving scenario can be set, and the vehicle control method provided by one or more embodiments of the present invention can be started after the driver turns on the mode start control corresponding to the special driving scenario.

[0118] Furthermore, the mode for stabilizing the vehicle by the vehicle control method provided by one or more embodiments of the present invention may be a PATA mode. During the stabilization control of the vehicle based on the PATA mode, if the vehicle speed exceeds a preset speed threshold, the control mode of the vehicle dynamic control system is switched to the standard mode, and the vehicle is stabilized based on the parameter safety threshold corresponding to the standard mode; or, if the vehicle yaw moment exceeds a preset moment threshold, the control mode of the vehicle dynamic control system is switched to the standard mode, and the vehicle is stabilized based on the parameter safety threshold corresponding to the standard mode.

[0119] It should be noted that in the standard mode, the parameter safety threshold corresponding to the vehicle dynamics control system is lower than the parameter safety threshold in the PATA mode, the system intervention threshold corresponding to the vehicle dynamics control system is lower, and in the standard mode, the vehicle dynamics control system intervenes more deeply in the vehicle stability control.

[0120] Among them, if the vehicle speed exceeds the preset speed threshold, it indicates that the vehicle is at a high risk of losing control. At this time, the control mode of the vehicle dynamic control system should be switched to the standard mode so that the vehicle dynamic control system can perform a stronger stabilization intervention on the vehicle to keep the vehicle stable. Similarly, if the vehicle yaw moment exceeds the preset moment threshold, it indicates that the vehicle is at a high risk of losing control. At this time, it should be switched back to the standard mode so that the vehicle dynamic control system can perform a stronger stabilization intervention on the vehicle to keep the vehicle stable.

[0121] See also Figure 5 , is a schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention. Figure 5 As shown, the vehicle control device 01 can be implemented as all or part of the vehicle controller through software, hardware or a combination of both. According to some embodiments, the vehicle control device 01 may include a parameter acquisition module 11, a threshold determination module 12, and a stability control module 13, specifically including:

[0122] The parameter acquisition module 11 is used to acquire the vehicle state parameters and the road adhesion coefficient corresponding to the current driving road surface;

[0123] A threshold determination module 12, configured to determine a parameter safety threshold corresponding to a vehicle dynamic control system based on the road adhesion coefficient, wherein the road adhesion coefficient and the parameter safety threshold are in an inverse proportional relationship;

[0124] The stability control module 13 is used to compare the parameter safety threshold with the vehicle state parameter, and decide whether to enable the vehicle dynamic control system to perform stability control on the vehicle according to the comparison result.

[0125] Optionally, the stability control module 13 is specifically used for:

[0126] If the vehicle state parameter is greater than the parameter safety threshold, activating the vehicle dynamic control system to perform stability control on the vehicle;

[0127] If the vehicle state parameter is less than or equal to the parameter safety threshold, the vehicle dynamic control system is prohibited from being enabled.

[0128] Optionally, when executing the step of enabling the vehicle dynamic control system to perform stability control on the vehicle, the stability control module 13 is specifically configured to:

[0129] determining a system intervention amount based on a deviation between the vehicle state parameter and the parameter safety threshold;

[0130] Performing stability control on the vehicle based on the system intervention amount

[0131] Optionally, when executing the step of enabling the vehicle dynamic control system to perform stability control on the vehicle, the stability control module 13 is specifically configured to:

[0132] determining an instability level of the vehicle according to a deviation between a vehicle state parameter and the parameter safety threshold;

[0133] The vehicle is stabilized by using a system intervention amount corresponding to the instability level.

[0134] Optionally, the vehicle state parameter includes a predicted state parameter and an actual state parameter, the stability control includes a feedforward control and a feedback control, and the stability control module 13, when executing the activation of the vehicle dynamic control system to perform stability control on the vehicle, is specifically used to:

[0135] determining a feedforward control intervention amount based on a deviation between the predicted state parameter and the parameter safety threshold;

[0136] determining a feedback control intervention amount based on a deviation between the actual state parameter and the parameter safety threshold;

[0137] The vehicle is feedforward controlled based on the feedforward control intervention amount and the vehicle is feedback controlled based on the feedback control intervention amount.

[0138] Optionally, when executing the feedforward control of the vehicle based on the feedforward control intervention amount and the feedback control of the vehicle based on the feedback control intervention amount, the stability control module 13 is specifically configured to:

[0139] Determining a weight distribution factor corresponding to the road adhesion coefficient;

[0140] Determine a feedforward control weight corresponding to the feedforward control and a feedback control weight corresponding to the feedback control based on the weight allocation factor, wherein the feedforward control weight is positively correlated with the road adhesion coefficient, and a minimum value of the feedforward control weight is 0;

[0141] The vehicle is feedforward controlled based on the feedforward control weight and the feedforward control intervention amount, and the vehicle is feedback controlled based on the feedback control weight and the feedback control intervention amount.

[0142] Optional, see Figure 6 The device further includes a function disabling module 14, which is specifically used for:

[0143] In response to receiving a shutdown instruction for the vehicle dynamics control system, a function disabling mode is entered, wherein the function disabling mode prohibits the vehicle dynamics control system from being enabled under any circumstances.

[0144] Optionally, the vehicle state parameters include but are not limited to one or more of vehicle speed, yaw angular velocity, lateral acceleration, vehicle body sideslip angle, and wheel slip rate.

[0145] Optional, see Figure 6 The device further includes a mode switching module 15, which is specifically used for:

[0146] If the vehicle speed exceeds a preset speed threshold, the control mode of the vehicle dynamic control system is switched to a standard mode, and the vehicle is stably controlled based on a parameter safety threshold corresponding to the standard mode; or,

[0147] If the vehicle yaw moment exceeds a preset moment threshold, the control mode of the vehicle dynamic control system is switched to a standard mode, and the vehicle is stably controlled based on a parameter safety threshold corresponding to the standard mode.

[0148] The above device embodiments correspond to the method embodiments. For specific descriptions, please refer to the description of the method embodiments, which will not be repeated here. The device embodiments are obtained based on the corresponding method embodiments and have the same technical effects as the corresponding method embodiments. For specific descriptions, please refer to the corresponding method embodiments.

[0149] The present invention also provides a storage medium, which can store multiple instructions. The instructions are suitable for being loaded by a processor and executing the vehicle control methods of the above embodiments. The specific execution process can be found in the specific descriptions of the above embodiments, which will not be repeated here.

[0150] In one embodiment, the present invention also provides Figure 7 The structural diagram of the vehicle controller is shown in FIG. Figure 7 At the hardware level, the vehicle controller includes a processor 21, an internal bus 22, a network interface 23, a memory 24, and a non-volatile memory 25, and may also include hardware required for other services. The vehicle controller can be set in a vehicle, wherein the processor 21 reads the corresponding computer program from the non-volatile memory 25 into the memory and then runs it to implement the above-mentioned vehicle control method.

[0151] In one embodiment, the present invention further provides a vehicle, which may include a vehicle control device or a vehicle controller as described above, so as to implement stable control of the vehicle during driving by executing a vehicle control method through the vehicle control device or the vehicle controller.

[0152] In some embodiments, the present invention further provides a computer program product, which may store computer executable instructions, and the computer executable instructions may be loaded by a domain controller and executed as in the vehicle control methods of the above embodiments. The specific execution process may refer to the specific descriptions in the above embodiments, which will not be repeated here.

[0153] Finally, the various embodiments of the present invention are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0154] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A vehicle control method, comprising: Obtain vehicle state parameters and the road adhesion coefficient corresponding to the current driving road surface; Determining a parameter safety threshold corresponding to a vehicle dynamic control system based on the road adhesion coefficient, wherein the road adhesion coefficient and the parameter safety threshold are in inverse proportion; The parameter safety threshold and the vehicle state parameter are compared, and according to the comparison result, it is determined whether to enable the vehicle dynamic control system to perform stability control on the vehicle.

2. The method according to claim 1, wherein comparing the parameter safety threshold with the vehicle state parameter and determining whether to enable the vehicle dynamic control system to perform stability control on the vehicle according to the comparison result comprises: If the vehicle state parameter is greater than the parameter safety threshold, activating the vehicle dynamic control system to perform stability control on the vehicle; If the vehicle state parameter is less than or equal to the parameter safety threshold, the vehicle dynamic control system is prohibited from being enabled.

3. The method according to claim 2, wherein activating the vehicle dynamic control system to perform stability control on the vehicle comprises: determining a system intervention amount based on a deviation between the vehicle state parameter and the parameter safety threshold; The vehicle is stabilized and controlled based on the system intervention amount.

4. The method according to claim 2, wherein activating the vehicle dynamic control system to perform stability control on the vehicle comprises: determining an instability level of the vehicle according to a deviation between a vehicle state parameter and the parameter safety threshold; The vehicle is stabilized by using a system intervention amount corresponding to the instability level.

5. The method according to claim 2, wherein the vehicle state parameters include predicted state parameters and actual state parameters, the stability control includes feedforward control and feedback control, and the enabling of the vehicle dynamic control system to perform stability control on the vehicle comprises: determining a feedforward control intervention amount based on a deviation between the predicted state parameter and the parameter safety threshold; determining a feedback control intervention amount based on a deviation between the actual state parameter and the parameter safety threshold; The vehicle is feedforward controlled based on the feedforward control intervention amount and the vehicle is feedback controlled based on the feedback control intervention amount.

6. The method according to claim 5, wherein the performing feedforward control on the vehicle based on the feedforward control intervention amount and the performing feedback control on the vehicle based on the feedback control intervention amount comprise: Determining a weight distribution factor corresponding to the road adhesion coefficient; Determine a feedforward control weight corresponding to the feedforward control and a feedback control weight corresponding to the feedback control based on the weight allocation factor, wherein the feedforward control weight is positively correlated with the road adhesion coefficient, and a minimum value of the feedforward control weight is 0; The vehicle is feedforward controlled based on the feedforward control weight and the feedforward control intervention amount, and the vehicle is feedback controlled based on the feedback control weight and the feedback control intervention amount.

7. The method according to claim 1, further comprising: In response to receiving a shutdown instruction for the vehicle dynamics control system, a function disabling mode is entered, wherein the vehicle dynamics control system is prohibited from being enabled under any circumstances.

8. The method according to claim 1, wherein the vehicle state parameters include but are not limited to one or more of vehicle speed, yaw rate, lateral acceleration, vehicle sideslip angle, and wheel slip rate.

9. The method according to claim 1, further comprising: If the vehicle speed exceeds a preset speed threshold, the control mode of the vehicle dynamic control system is switched to a standard mode, and the vehicle is stably controlled based on a parameter safety threshold corresponding to the standard mode; or, If the vehicle yaw moment exceeds a preset moment threshold, the control mode of the vehicle dynamic control system is switched to a standard mode, and the vehicle is stably controlled based on a parameter safety threshold corresponding to the standard mode.

10. A vehicle control device, comprising: A parameter acquisition module is used to obtain vehicle state parameters and a road adhesion coefficient corresponding to the current driving road surface; A threshold determination module, used to determine a parameter safety threshold corresponding to a vehicle dynamic control system based on the road adhesion coefficient, wherein the road adhesion coefficient and the parameter safety threshold are in an inverse proportional relationship; The stability control module is used to compare the parameter safety threshold with the vehicle state parameter, and decide whether to enable the vehicle dynamic control system to perform stability control on the vehicle according to the comparison result.

11. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 9.

12. A vehicle controller, comprising: A processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the method as claimed in any one of claims 1 to 9.

13. A vehicle comprising the vehicle control device according to claim 10 or the vehicle controller according to claim 12.

14. A computer program product comprising computer executable instructions, wherein the instructions, when executed, implement the steps of the method according to any one of claims 1 to 9.

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