Vehicle control method, vehicle controller and vehicle for realizing pendulum type warehouse entry and exit

Abstract

The application provides a vehicle control method, a vehicle controller and a vehicle for vehicle pendulum parking, which is used for controlling the braking system and the front drive motor of the vehicle after a user starts the vehicle pendulum parking function, and comprises the following steps: in response to the angle of the steering wheel of the vehicle turned right by the user being greater than a preset angle and the opening degree of the accelerator pedal of the vehicle operated by the user being greater than a first preset opening degree, controlling the braking system to brake the left rear wheel of the vehicle and controlling the front drive motor to drive the two front wheels of the vehicle to reverse rotation so that the vehicle parks; and in response to the angle of the steering wheel of the vehicle turned left by the user being greater than the preset angle and the opening degree of the accelerator pedal of the vehicle operated by the user being greater than the first preset opening degree, controlling the braking system to brake the right rear wheel of the vehicle and controlling the front drive motor to drive the two front wheels of the vehicle to forward rotation so that the vehicle deparks. By using the method, the parking distance of the vehicle can be effectively reduced while the vehicle body dynamics is accurately controlled.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more particularly to a vehicle control method, a vehicle controller, and a vehicle for realizing pendulum-style entry and exit from a parking garage. Background Technology

[0002] The conventional parking process of entering and exiting a parking space requires sufficient longitudinal and lateral distance. If the parking space is narrow or the longitudinal distance is too small, it will cause great difficulty in parking smoothly. During conventional parking, the driver needs to repeatedly move the vehicle forward and backward and adjust the steering wheel to slowly park the vehicle in or out of the parking space. This operation is cumbersome and may result in scrapes or collisions with the wind. The current proposal is to lock the rear axle wheels with a mechanical differential lock, driving the front axle wheels to slide significantly, causing the vehicle to rotate at a certain angle, thereby assisting in parking and exiting the space. However, in this process, it is difficult for the driver to accurately control the vehicle's dynamics and make full use of the parking distance. Summary of the Invention

[0003] This application provides a method, vehicle controller, and vehicle for pendulum-style entry and exit from parking spaces. By coordinating the control of the drive system and braking system, the vehicle's dynamics can be accurately controlled, allowing the vehicle to rotate at a certain angle according to the driver's needs, thus assisting in completing the entry and exit actions and effectively reducing parking distance.

[0004] In a first aspect, this application provides a vehicle control method for implementing pendulum-style entry and exit parking. This method controls the vehicle's braking system and front-drive motor after the user activates the pendulum-style entry and exit parking function. The method includes controlling the braking system to brake the left rear wheel and controlling the front-drive motor to drive the two front wheels in opposite directions to allow the vehicle to enter the parking space, in response to the user turning the steering wheel to the right at an angle greater than a preset angle and the user opening the accelerator pedal to an opening greater than a first preset opening. The method also includes controlling the braking system to brake the right rear wheel and controlling the front-drive motor to drive the two front wheels in the forward direction to allow the vehicle to exit the parking space, in response to the user turning the steering wheel to the left at an angle greater than a preset angle and the user opening the accelerator pedal to an opening greater than a first preset opening.

[0005] In scenarios where users drive their vehicles into and out of the parking lot, after activating the pendulum-style entry and exit function, users can achieve pendulum-style entry and exit by operating the vehicle's steering wheel and accelerator pedal.

[0006] First, the user needs to activate the vehicle's pendulum parking function to put the vehicle into pendulum parking mode. In one implementation, the user triggers the pendulum parking function by clicking the vehicle's pendulum parking function button on the vehicle's central control screen. In another implementation, after the vehicle is started and stationary, the user can trigger the pendulum parking function by turning the steering wheel to the left or right greater than a preset angle and pressing the brake pedal to a greater than a preset opening. Then, the user can release the brake pedal and press the accelerator pedal to start the pendulum parking or exiting the parking space.

[0007] When the user turns the steering wheel to the right by an angle greater than a preset angle, and the user's accelerator pedal opening is greater than a first preset opening, while the vehicle is in reverse gear, the pendulum-style parking maneuver is achieved by controlling the braking system to brake the left rear wheel and controlling the front drive motor to drive the two front wheels to rotate in opposite directions. Correspondingly, under the action of braking force and ground friction, the left rear wheel will grip the ground and remain stationary, thus suppressing the longitudinal translational motion of the vehicle during the pendulum-style movement. Similarly, the user can also park the vehicle to the right by turning the steering wheel to the left by an angle greater than a preset angle and opening the accelerator pedal greater than a first preset opening.

[0008] Similar to the parking process, when the user turns the steering wheel to the left by an angle greater than a preset angle, the user operates the accelerator pedal to a position greater than a first preset position, and the vehicle is in forward gear, the braking system is controlled to brake the right rear wheel of the vehicle, and the front drive motor is controlled to drive the two front wheels of the vehicle to rotate forward so that the vehicle can exit the parking space.

[0009] It is understood that the pendulum-type entry and exit method provided in the above embodiments only requires the vehicle to be equipped with an independent wheel-end braking device, and does not limit the specific type of drive system. It only requires the drive system to be equipped with a front drive motor. The vehicle control method has a wide range of applications and high practicality.

[0010] It is understandable that the other rear wheel of the vehicle can be in a free state, and the braking system can output braking force only to the rear wheel on the side opposite to the steering direction and not to the other rear wheel, thereby reducing the wear of the braking device of the other rear wheel during the pendulum motion of the vehicle and extending its service life.

[0011] According to the present application, after activating the vehicle's pendulum-style parking function, the user can control the vehicle to move in a pendulum motion by turning the steering wheel and operating the accelerator pedal. Furthermore, during the pendulum-style movement, the vehicle control method provided in this application controls the front drive motor to drive the two front wheels to rotate and controls the braking system to brake the rear wheel on the opposite side of the vehicle's steering direction. This suppresses longitudinal translational motion and provides stable yaw torque for the entire vehicle, thereby effectively reducing the parking distance while accurately controlling the vehicle's dynamics.

[0012] In conjunction with the first aspect, in one embodiment of the first aspect, during the process of the vehicle entering the warehouse or during the process of the vehicle leaving the warehouse, the vehicle control method further includes first controlling the speed of the front drive motor to increase from zero to a value greater than a first preset value, and then controlling the speed of the front drive motor to decrease to a value equal to the first preset value.

[0013] Here, the first preset value can be understood as the preset speed value that the front drive motor needs to reach. When the front drive motor increases its speed from zero, in order to shorten the power response time of the front drive motor, it is necessary to control the front drive motor to increase its speed to a maximum speed. However, when the front drive motor needs to output torque according to power demand, in order to maintain stable yaw motion of the vehicle, it is necessary to control the front drive motor to reduce its speed to the preset speed value.

[0014] According to the proposed solution, by controlling the front drive motor to rapidly increase its speed from zero, the front drive motor can quickly reach the preset speed to drive the two front wheels to rotate. The pendulum-like motion of the vehicle has a rapid power response and strong handling.

[0015] In conjunction with the first aspect, in one embodiment of the first aspect, controlling the front drive motor to drive the two front wheels of the vehicle to rotate in opposite directions or controlling the front drive motor to drive the two front wheels of the vehicle to rotate in the forward direction specifically includes: first controlling the speed of the front drive motor to increase from zero to a second preset value according to a first speed change rate, and then controlling the speed of the front drive motor to decrease from the second preset value to equal the first preset value according to a second speed change rate, wherein the first speed change rate is greater than the second speed change rate.

[0016] The second preset value is a maximum speed supported by the front-drive motor. This application rapidly increases the speed of the front-drive motor to the second preset value, making the vehicle's pendulum-like motion more responsive to achieve a launch control effect. The first preset value is any speed value less than the second preset value. This application reduces the speed of the front-drive motor from the second preset value to the first preset value, limiting the torque output of the front-drive motor to suppress body roll when the vehicle begins its pendulum-like motion.

[0017] It is understandable that in order to shorten the time required for the motor speed to increase from zero to the second preset value, the motor speed needs to increase at a larger rate of change, i.e., the first rate of change. However, in order to achieve accurate matching of the front drive motor with the torque required by the user, the motor speed can decrease at a smaller rate of change, i.e., the second rate of change.

[0018] According to the proposed solution, when the vehicle begins its pendulum-style entry and exit from a parking space, the front-drive motor is first controlled to increase its speed with a large rate of change to achieve a launch start effect, thus shortening the time delay between user operation and vehicle initiation. Subsequently, by controlling the front-drive motor to decrease its speed with a smaller rate of change, a smooth start is achieved, which stabilizes the vehicle's posture when it begins its pendulum-style movement, thereby improving the user's driving experience.

[0019] In conjunction with the first aspect, in one embodiment of the first aspect, controlling the front drive motor to drive the two front wheels of the vehicle to rotate in opposite directions or to drive the two front wheels of the vehicle to rotate in the forward direction specifically includes: During a first time period after the accelerator pedal opening is greater than or equal to a first preset opening, controlling the speed of the front drive motor to increase from zero to a second preset value. During a second time period following the first time period, controlling the speed of the front drive motor to decrease to the first preset value. During a third time period following the second time period, controlling the speed of the front drive motor to remain at the first preset value. After the third time period, in response to the accelerator pedal opening being equal to zero, controlling the vehicle to exit the pendulum parking function.

[0020] According to the solution proposed in this application, the user can control the speed of the front drive motor by adjusting the accelerator pedal, thereby enabling and disabling the pendulum parking function of the vehicle, making operation simple for the user. Furthermore, the speed of the front drive motor is controlled accordingly at each stage of the pendulum parking process, resulting in a simple and highly reliable control method.

[0021] In conjunction with the first aspect, in one implementation of the first aspect, the length of the second time period is greater than the length of the first time period.

[0022] It is understandable that, to ensure a launch start during the pendulum motion, the front-drive motor needs to increase its speed to the second preset value within a very short time at a first rate of change. Furthermore, to ensure the vehicle can begin the pendulum motion stably and smoothly, the front-drive motor can decrease its speed from the second preset value to the first preset value over a longer period at the second rate of change. Therefore, the length of the second time period needs to be greater than the length of the first time period.

[0023] According to the embodiments of this application, when the vehicle begins to enter and exit the parking space in a pendulum-like manner, the time required for the front drive motor to achieve a smooth start can be longer than the time required for a launch start, making the pendulum-like movement of the vehicle more stable and improving the user's driving experience.

[0024] In conjunction with the first aspect, in one embodiment of the first aspect, the vehicle control method includes: during a third time period, when the opening degree of the accelerator pedal is greater than or equal to a first preset opening degree and less than a second preset opening degree, controlling the torque output of the front drive motor to increase linearly with the increase of the accelerator pedal opening degree. During the third time period, when the opening degree of the accelerator pedal is greater than or equal to the second preset opening degree, controlling the torque output of the front drive motor to be a fixed value.

[0025] Here, the first preset opening degree can be understood as an extremely small opening value. When the opening degree of the accelerator pedal is less than the first preset opening degree, it can be understood as the driver expecting to start or stop the pendulum-like movement of the vehicle. Therefore, when the opening degree of the accelerator pedal is less than the first preset opening degree, the driving torque output by the front drive motor does not change with the change in the opening degree of the accelerator pedal, that is, the torque output by the front drive motor is zero.

[0026] The second preset opening can be understood as a relatively large opening value. When the accelerator pedal opening is greater than the second preset opening, it can be understood that the driving torque output by the front drive motor reaches its peak torque. Therefore, when the accelerator pedal opening is greater than the second preset opening, the driving torque output by the front drive motor does not change with the change of the accelerator pedal opening, but maintains the peak output torque.

[0027] It is understood that when the accelerator pedal opening varies between a first preset opening and a second preset opening, the drive torque output by the front drive motor will increase as the accelerator pedal opening increases. However, this embodiment does not limit the functional relationship between the drive torque and the accelerator pedal opening. For example, the drive torque and accelerator pedal opening are linearly related; that is, the drive torque output by the front drive motor increases linearly as the accelerator pedal opening increases until the peak torque is reached when the accelerator pedal opening reaches the second preset opening.

[0028] According to the proposed solution, the driver can adjust the driving force output by the front drive motor by controlling the opening of the accelerator pedal, thereby controlling the pendulum-like speed of the vehicle, which is highly safe and has strong handling.

[0029] In conjunction with the first aspect, in one embodiment of the first aspect, the vehicle control method is further used to control the rear drive motor of the vehicle after the user activates the vehicle's pendulum-style parking function. The vehicle control method further includes: during the vehicle's parking process, controlling the rear drive motor to drive the right rear wheel of the vehicle to rotate forward; during the vehicle's exit process, controlling the rear drive motor to drive the left rear wheel of the vehicle to rotate in the opposite direction. The torque output by the rear drive motor is less than the torque output by the front drive motor, and the direction of the torque output by the rear drive motor is opposite to the direction of the torque output by the front drive motor.

[0030] Similarly, in other embodiments, the front drive motor can be controlled to drive the front axle wheels to rotate in the opposite direction, while the rear drive motor can be controlled to drive the left rear wheel to rotate in the forward direction. During the process of the vehicle exiting the parking space to the right, the front drive motor can be controlled to drive the front axle wheels to rotate in the forward direction, while the rear drive motor can be controlled to drive the right rear wheel to rotate in the opposite direction.

[0031] In other words, during the pendulum-like entry and exit of the vehicle, the rear drive motor outputs drive torque to one of the two rear wheels (that is, the rear wheel on the side with the same steering direction) except for the one that is braked by the braking system 30, so that the wheel rotates in the opposite direction to the two front wheels.

[0032] It's understandable that the sum of the driving force output by the rear-drive motor to one rear wheel, the braking force output by the braking system to the other rear wheel, and the frictional force of the ground on the other wheel, balances the driving force output by the front-drive motor to the two front axle wheels. Therefore, the torque output by the rear-drive motor is necessarily less than the torque output by the front-drive motor. Furthermore, when the driving torque output by the front-drive motor changes, the driving torque output by the rear-drive motor also changes accordingly, thus ensuring a dynamic balance between driving force and braking force and preventing longitudinal translation during pendulum-like vehicle motion.

[0033] According to the embodiments of this application, the drive system can control the rear axle wheels to rotate in the opposite direction to the front axle wheels, which can reduce the braking force required by the braking system while ensuring grip and stationary position, making it more practical.

[0034] In conjunction with the first aspect, in one embodiment of the first aspect, the vehicle control method further includes: during the process of the vehicle entering the parking space or during the process of the vehicle exiting the parking space, while controlling the increase of the torque output by the front drive motor, controlling the increase of the braking force output by the braking system to the right rear wheel.

[0035] It is understandable that, since the braking force output by the braking system needs to be balanced with the driving force output by the front drive motor, while controlling the increase of the torque output by the front drive motor, the braking system needs to correspondingly increase the braking force output to the left or right rear wheel to ensure the dynamic balance between driving force and braking force and avoid longitudinal translation of the vehicle.

[0036] It is understandable that while reducing the torque output of the front drive motor, it is also possible to reduce the braking force output by the braking system to the left or right rear wheel. This can reduce the workload of the braking system while maintaining the balance between driving force and braking force, which is beneficial to extending the service life of the brakes.

[0037] According to the present application, during the pendulum motion of the vehicle, the braking force output by the control braking system changes with the torque output by the front drive motor, which can achieve a dynamic balance between driving force and braking force, and further improve the safety and reliability of the vehicle's pendulum parking function.

[0038] In conjunction with the first aspect, in one embodiment of the first aspect, the control method includes: during the process of a vehicle leaving or entering a parking space, when the opening of the accelerator pedal decreases from greater than a first preset opening to less than a first preset opening, first controlling the two front wheels to stop rotating and then stopping the braking of the right rear wheel or the left rear wheel.

[0039] It can be understood that when the accelerator pedal opening decreases from a large value to less than or equal to the first preset opening value, it can be interpreted as the user stopping the pendulum motion of the vehicle. At this time, the front drive motor will first stop outputting driving force to control the two front wheels to stop rotating. Then the braking system will stop outputting braking force to stop braking the left or right rear wheel, thereby ensuring that the vehicle will not experience longitudinal or lateral translation when it stops the pendulum motion. That is, the vehicle can maintain grip and remain stationary throughout the entire pendulum motion process, which is highly reliable.

[0040] According to the embodiments of this application, when the vehicle stops its pendulum-like motion, the front drive motor first stops driving the two front wheels to rotate, and then the braking system stops outputting braking force, so that the vehicle always maintains traction and remains stationary, resulting in higher reliability.

[0041] In conjunction with the first aspect, in one embodiment of the first aspect, the vehicle control method includes: during the rotation of the two front wheels, when the slip ratio of the front axle of the vehicle is greater than a first preset slip ratio, controlling the torque output of the front drive motor to decrease; during the rotation of the two front wheels, when the slip ratio of the front axle of the vehicle is less than a second preset slip ratio, controlling the torque output of the front drive motor to increase. Wherein, the first preset slip ratio is greater than the second preset slip ratio.

[0042] It is understandable that the control system can calculate the actual slip ratio of a front wheel based on its wheel speed. When the difference between the actual slip ratio and a preset target slip ratio exceeds a preset threshold, the system adjusts the drive torque output by the front-drive motor to bring the actual slip ratio of the front-drive motor to the target slip ratio. For example, when the slip ratio of the vehicle's front axle is greater than a first preset slip ratio, the drive torque output by the front-drive motor to both front wheels is reduced, causing the actual slip ratio of the front axle to decrease to the target slip ratio. Conversely, when the slip ratio of the vehicle's front axle is less than a second preset slip ratio, the drive torque output by the front-drive motor to both front wheels is increased, causing the actual slip ratio of the front axle to increase to the target slip ratio.

[0043] The first preset slip ratio can be understood as the sum of the preset target slip ratio and the preset threshold, and the second preset slip ratio can be understood as the difference between the preset target slip ratio and the preset threshold. Therefore, the first preset slip ratio is greater than the second preset slip ratio.

[0044] According to the embodiments of this application, during the pendulum-style entry and exit of a vehicle, closed-loop control of the front wheel speed is achieved by adjusting the driving force output by the front drive motor to the front wheels. This can improve the utilization rate of the driving force output by the drive system and avoid wheel slippage and loss of control, thereby further improving the stability and controllability of the vehicle's pendulum motion.

[0045] In conjunction with the first aspect, in one embodiment of the first aspect, the vehicle entry and exit method further includes: during the process of the vehicle leaving or entering the parking space, when the change value of the steering wheel angle is greater than a preset change value or when the vehicle speed is greater than a preset speed threshold, controlling the two front wheels to stop rotating.

[0046] The preset steering angle change value can be understood as the maximum allowable steering angle change value when the vehicle is pendulum-style entering and exiting parking spaces. When the user adjusts the steering wheel angle by more degrees than the preset angle change value, it can be understood that the user wants to stop the vehicle's pendulum motion, and at this time, it is necessary to control the two front wheels to stop rotating. Alternatively, if the user mistakenly operates the steering wheel angle change value to be greater than the preset angle change value, it is also necessary to control the two front wheels to stop rotating in order to ensure the vehicle's posture remains controllable.

[0047] According to the embodiments of this application, during the pendulum-style entry and exit of a vehicle, when the steering wheel angle changes too much, the front drive motor will actively stop driving the two front wheels to stop rotating, thereby stopping the pendulum-style movement of the vehicle, further improving the safety and reliability of the pendulum-style entry and exit of the vehicle.

[0048] In conjunction with the first aspect, in one embodiment of the first aspect, the user activating the vehicle pendulum-style parking function includes: the user turning the vehicle's steering wheel to the right or left at an angle greater than a preset angle and operating the vehicle's brake pedal to an opening greater than a preset opening.

[0049] According to the proposed solution, users do not need to operate the central control screen or press the activation button. They only need to turn the steering wheel beyond a certain angle and press the brake pedal to activate the vehicle's pendulum-style parking function.

[0050] In conjunction with the first aspect, in one embodiment of the first aspect, activating the vehicle's pendulum-style entry and exit function includes: the user clicking the vehicle's pendulum-style entry and exit function button on the vehicle's central control screen. According to the solution of this application, the user can activate the vehicle's pendulum-style entry and exit function through a shortcut button in the cabin, which is simple to operate.

[0051] Secondly, this application provides a vehicle controller for implementing pendulum-style vehicle entry and exit, the vehicle controller being used to execute the vehicle control method as described in any embodiment of the first aspect.

[0052] Thirdly, this application provides a vehicle that includes a vehicle controller as described in the second aspect.

[0053] The supplementary solutions and technical effects provided in the second and third aspects above can be found in the corresponding descriptions in the first aspect, and will not be repeated here. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of vehicle 01 provided in an embodiment of this application;

[0055] Figure 2 This is a schematic diagram of the vehicle 01 architecture provided in an embodiment of this application;

[0056] Figure 3 This is a schematic flowchart of the vehicle control method provided in the embodiments of this application;

[0057] Figure 4 This is a schematic diagram illustrating the user manually activating the pendulum parking function according to an embodiment of this application;

[0058] Figure 5 This is a schematic diagram of a pendulum-style entry and exit scenario for vehicle 01 provided in an embodiment of this application;

[0059] Figure 6 This is a force diagram illustrating the process of vehicle 01 pendulum-shaped exit from the warehouse to the left, as provided in an embodiment of this application.

[0060] Figure 7 This is a timing diagram of vehicle 01 pendulum-style entry and exit from the warehouse provided in an embodiment of this application;

[0061] Figure 8 This is a schematic diagram of the road surface adhesion coefficient and target slip ratio provided in the embodiments of this application;

[0062] Figure 9 This is another force diagram of the vehicle 01 during the pendulum motion process provided in the embodiments of this application. Detailed Implementation

[0063] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0064] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone.

[0065] The prefixes such as "first" and "second" used in this application embodiment are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not constitute unnecessary restrictions due to the use of such prefixes. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0066] References to “some embodiments” and the like in this specification mean that one or more embodiments of this application include a particular feature, structure, or characteristic described in connection with that embodiment. Therefore, phrases such as “in one embodiment” appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean “one or more, but not all, embodiments”, unless otherwise specifically emphasized. The terms “comprising,” “including,” “having,” and variations thereof mean “including, but not limited to,” unless otherwise specifically emphasized.

[0067] The conventional parking process, both entering and exiting a parking space, requires sufficient longitudinal and lateral distance. If the parking space is narrow or the longitudinal distance is too small, parking will become very difficult. When parking space is limited, the driver needs to repeatedly move the vehicle forward and backward while adjusting the steering wheel to slowly park or exit the space, which demands a high level of driving skill. However, conventional parking methods require a considerable distance; insufficient distance can prevent successful parking or risk scratches. For vehicles parallel parked, drivers may find it difficult to exit the space using conventional driving methods when the longitudinal distance is too small.

[0068] One solution involves mechanically locking the rear axle wheels during parking maneuvers and driving the front axle wheels to slide significantly, causing the vehicle to turn at a certain angle to assist in parking. However, when using a mechanical differential lock to lock the rear axle wheels, it is difficult to accurately control the vehicle's dynamics and cannot fully utilize the parking distance.

[0069] In another solution, for vehicles with four-motor distributed drive, the four drive motors independently control the four wheels during parking and entry / exit, applying opposite driving torques to the left and right wheels respectively, causing the vehicle to rotate around its own center of gravity, thus assisting in parking and exiting the parking space. However, this solution places excessive demands on the vehicle's drive configuration, limiting its practicality.

[0070] In view of this, the embodiments of this application provide a method, a vehicle controller and a vehicle for realizing pendulum-style entry and exit of a vehicle. By coordinating the control of the drive system and the braking system, the vehicle body dynamics can be accurately controlled, so that the vehicle body rotates at a certain angle according to the driver's needs, assisting in completing the entry and exit actions and effectively reducing the parking distance.

[0071] See Figure 1 , Figure 1 This is a schematic diagram of vehicle 01 provided in an embodiment of this application. Figure 1 As shown, vehicle 01 includes a drive system 10 and a power battery 20 connected to the drive system 10. The drive system 10 is used to drive vehicle 01. The power battery 20 is used to provide electrical energy to the drive system 10. The drive system 10 is used to receive power from the power battery 20 and provide power to vehicle 01. Vehicle 01 also includes a braking system 30, which provides braking force to vehicle 01 when it is braking. The drive system 10 can also be referred to as a powertrain.

[0072] It is understandable that, based on the position of the wheels in vehicle 01, they can be divided into left front wheel (FL), right front wheel (FR), left rear wheel (BL), and right rear wheel (BR). According to axle division, the left and right front wheels are coaxial and connected via the front axle. The left and right rear wheels are coaxial and connected via the rear axle. According to position, the left and left rear wheels are on the same side (left side), and the right front and right rear wheels are on the same side (right side). In other words, in vehicle 01, the left and right front wheels are coaxial, the left and right rear wheels are coaxial, the left and left rear wheels are on the same side, and the right front and right rear wheels are on the same side.

[0073] It is understood that the vehicle 01 in this application embodiment can be any type of automobile, such as a sedan, truck, or passenger bus, or it can be a tricycle, two-wheeled vehicle, train, or other transportation device for carrying passengers or goods, or other types of vehicles powered by a power battery. This application embodiment does not limit this. The vehicle includes, but is not limited to, pure electric vehicles (pure EV / battery EV), hybrid electric vehicles (HEV), range-extended electric vehicles (REEV), plug-in hybrid electric vehicles (PHEV), and new energy vehicles (NEV).

[0074] It is understood that the embodiments of this application do not limit the specific type of powertrain, but are provided as examples rather than limitations. The powertrain described above can be a centralized powertrain, a hub motor powertrain, or a wheel-side motor powertrain. Specifically, the hub motor powertrain directly mounts the motor and reducer in the wheel rim, eliminating transmission components such as half-shafts, universal joints, differentials, and gearboxes; the wheel-side motor powertrain mounts the motor on the subframe.

[0075] It is understood that the power battery 20 in this application embodiment can be a lithium-ion battery, lithium metal battery, lead-acid battery, nickel-cadmium battery, nickel-metal hydride battery, lithium-sulfur battery, lithium-air battery, or sodium-ion battery, etc., and this application does not limit it. In terms of scale, the power battery 20 in this application embodiment can be a single cell, a battery module, or a battery pack, and this application does not limit it. The power battery 20 can also supply power to other electrical devices in the vehicle, such as the in-vehicle air conditioner and in-vehicle media player.

[0076] Figure 2 A schematic diagram of the vehicle 01 architecture provided in an embodiment of this application is shown.

[0077] See Figure 2 (a) Vehicle 01 is a two-wheel drive vehicle. The drive system 10 includes a front drive motor 11 and a motor controller 12. The braking system 30 includes a central controller 31 and four independent wheel-end brake devices 32.

[0078] It is understood that the front-drive motor 11 includes a stator winding and a rotor (not shown in the figure). The motor controller 12 can change the stator magnetic field strength and direction by adjusting the magnitude of the stator winding current and the phase of the three-phase current, thereby changing the interaction force between the stator and rotor, i.e., the motor torque. Specifically, the motor controller 12 changes the phase of the three-phase current output to the front-drive motor 11, causing the rotor to cut the magnetic field generated by the stator winding. The rotor's kinetic energy is converted into electrical energy and input into the power battery. At this time, the front-drive motor 11 outputs negative torque. At the same time, the motor controller 12 can also change the magnitude of the three-phase current output to the front-drive motor 11, thereby increasing or decreasing the positive or negative torque output by the front-drive motor 11. Specifically, when the front-drive motor 11 outputs positive torque, the wheel connected to the front-drive motor 11 rotates in the forward direction, so that the vehicle 01 obtains a forward speed or a tendency to move forward in the direction of the vehicle's front. When the front drive motor 11 outputs negative torque, the wheel connected to the front drive motor 11 rotates in the opposite direction, so that the vehicle 01 obtains a speed or tendency to move backward in the direction of the rear of the vehicle.

[0079] It can be understood that each wheel-end braking device 32 mainly consists of a brake controller, a brake pedal, and a brake (not shown in the figure). The central controller 31 can generate a braking signal based on the brake pedal travel and output the braking signal to the brake controller of one or more wheel-end braking devices 32. The brake can then output braking force to the corresponding wheel according to the braking signal, thereby preventing wheel rotation or stopping the tendency of wheel rotation. It can be understood that during the braking process of vehicle 01, the greater the brake pedal travel, the greater the braking force indicated by the brake signal, the greater the braking force output by the brake, and the faster the vehicle 01's speed decreases.

[0080] It is understood that the brake in the braking system of this application embodiment may be an electronic hydraulic brake (EHB), an electronic mechanical brake (EMB), or other types of brakes, without limitation.

[0081] Continue to refer to Figure 2 In (a) of the diagram, the vehicle 01 also includes a vehicle controller 40. The functions of the vehicle controller 40 will be explained below in conjunction with the operating state of the vehicle 01.

[0082] When vehicle 01 is in driving mode, the front drive motor 11 in drive system 10 provides driving force to vehicle 01. Specifically, when vehicle 01 is in driving mode, vehicle controller 40 calculates the vehicle's torque demand based on the accelerator pedal movement state indicated by the accelerator pedal signal and outputs a torque signal to motor controller 12. Motor controller 12 receives electrical energy from power battery 20 and controls the front drive motor 11 to output the torque value indicated by the torque signal.

[0083] When vehicle 01 is braking, drive system 10 stops driving the wheels to rotate, and braking system 30 provides braking force to the wheels to reduce the vehicle speed. During braking, the front drive motor 11 in vehicle 01 with energy recovery function can also provide braking force. Specifically, when vehicle 01 is braking, vehicle controller 40 receives a braking signal and sends an energy recovery command to motor controller 12. Motor controller 12 responds to the energy recovery command by controlling the front drive motor 11 to operate in a power generation state. The front drive motor 11 converts the kinetic energy of the vehicle's wheels into electrical energy and outputs counter-torque to the wheels of vehicle 01 to provide braking force.

[0084] It is understood that the drive system 10, braking system 30, and vehicle controller 40 are connected via a CAN network, and the specific communication connection method is not limited in this embodiment. For example, the motor controller and vehicle controller 40 in the drive system 10 can communicate via a private CAN network, the central controller and vehicle controller 40 in the braking system 30 can communicate via a public CAN network, and the central controller and the brake controllers at each wheel end in the braking system 30 can communicate via another private CAN network. As another example, the vehicle controller 40 can communicate with the motor controller in the drive system 10 and the central controller in the braking system 30 via the same CAN network.

[0085] In one embodiment, the vehicle controller 40 can also acquire a driving mode signal via a CAN network. The driving mode signal is used to indicate the current driving mode of the vehicle 01. For example, the driving mode may include one or more of the following: sport mode, comfort mode, and smart mode.

[0086] In one embodiment, the vehicle controller 40 can also obtain the vehicle gear position signal through the CAN network. The vehicle gear position signal is used to indicate the current gear position of the vehicle 01, such as forward gear, reverse gear, etc.

[0087] See Figure 2 (b) Vehicle 01 is a four-wheel drive vehicle. The drive system 10 includes a front-drive motor 11 and a motor controller 12 for driving the front axle wheels, and a rear-drive motor 13 and a motor controller 14 for driving the rear axle wheels. The magnitude and / or direction of the driving force output by the front-drive motor 11 to the front axle wheels may differ from the magnitude and / or direction of the driving force output by the rear-drive motor 13 to the rear axle wheels. For example, the front-drive motor 11 and the rear-drive motor 13 may drive the front axle wheels and the rear axle wheels to rotate in opposite directions, respectively.

[0088] Understandable. Figure 2 The drive system 10 shown is merely an example. The drive system 10 may also include three drive motors, one of which drives two coaxial wheels, and the other two motors drive two other coaxial wheels respectively. Alternatively, the drive system 10 may also include four drive motors, each driving one wheel.

[0089] It should be noted that the vehicle control method provided in this application embodiment is used to control the vehicle's braking system and front drive motor when the vehicle operation meets the conditions for pendulum entry and exit after the user activates the vehicle's pendulum entry and exit function, so as to realize the vehicle's pendulum entry and exit.

[0090] Specifically, in one embodiment, the vehicle control method includes:

[0091] In response to the user turning the steering wheel to the right at an angle greater than a preset angle and the user operating the accelerator pedal to an opening greater than a first preset opening, the braking system is controlled to brake the left rear wheel of the vehicle and the front drive motor is controlled to drive the two front wheels of the vehicle to rotate in opposite directions so that the vehicle can enter the parking space.

[0092] In response to the user turning the steering wheel to the left at an angle greater than a preset angle and the user operating the accelerator pedal to an opening greater than a first preset opening, the braking system is controlled to brake the right rear wheel of the vehicle and the front drive motor is controlled to drive the two front wheels of the vehicle to rotate forward so that the vehicle can exit the parking space.

[0093] It is understood that the above embodiments are merely examples. In another embodiment, the vehicle control method further includes:

[0094] In response to the user turning the steering wheel to the right at an angle greater than a preset angle and the user opening the accelerator pedal to a degree greater than a first preset opening, the braking system is controlled to brake the right rear wheel of the vehicle, and the front drive motor is controlled to drive the two front wheels of the vehicle to rotate in opposite directions so that the vehicle can enter the parking space.

[0095] In response to the user turning the steering wheel to the right at an angle greater than a preset angle and the user operating the accelerator pedal to an opening greater than a first preset opening, the braking system is controlled to brake the left rear wheel of the vehicle and the front drive motor is controlled to drive the two front wheels of the vehicle to rotate forward so that the vehicle can exit the parking space.

[0096] In other words, the vehicle control method provided in this application embodiment can support vehicles exiting the parking space to the left, exiting to the right, entering the parking space to the left, and entering the parking space to the right. Moreover, users can control the specific vehicle entry and exit methods by turning the steering wheel and operating the accelerator pedal. It is highly flexible and has a wide range of applications.

[0097] It is understandable that by controlling the braking system to output braking force to the left or right rear wheel of the vehicle, the left or right rear wheel can be made to grip the ground and stop under the action of braking force and ground friction, which can suppress the longitudinal translation of the vehicle during the pendulum motion process.

[0098] It is understood that the pendulum-type entry and exit method provided in the above embodiments only requires the vehicle to be equipped with an independent wheel-end braking device, and does not limit the specific type of the drive system 10. It only requires the drive system 10 to be equipped with a front drive motor. The vehicle control method has a wide range of applications and high practicality.

[0099] It is understood that in these embodiments, the braking system 30 may only output braking force to the rear wheel on the side opposite to the steering direction and not to the other rear wheel, which can reduce the wear of the braking device of the other rear wheel and extend its service life.

[0100] According to the embodiments of this application, after activating the vehicle's pendulum-style parking function, the user can control the vehicle to perform pendulum-style movements by turning the steering wheel and operating the accelerator pedal. Furthermore, during the pendulum-style movement, the vehicle control method provided in this application controls the front drive motor to drive the two front wheels to rotate and controls the braking system to brake the rear wheels on the opposite side of the vehicle's steering direction. This suppresses longitudinal translational motion and provides stable yaw torque for the entire vehicle, thereby effectively reducing the parking distance while accurately controlling the vehicle's dynamics.

[0101] The vehicle control method for pendulum-style entry and exit provided in this application mainly includes two steps. First, the user needs to activate the pendulum-style entry and exit function of the vehicle. Second, the user can realize the pendulum-style entry and exit of the vehicle by operating the steering wheel and accelerator pedal.

[0102] Figure 3 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application. See also... Figure 3 The vehicle control method specifically includes the following steps:

[0103] S1 users activate the vehicle's pendulum parking function. At this time, the control system will switch from the normal driving mode to the pendulum parking mode.

[0104] In one embodiment, such as Figure 4 As shown, activating the vehicle's pendulum parking function includes: the user clicking the vehicle pendulum parking function button on the vehicle's central control screen; or the user clicking the physical vehicle pendulum parking function button inside the vehicle's cabin. In these embodiments, the user can activate the vehicle's pendulum parking function via a shortcut button, which is simple to operate.

[0105] In one embodiment, activating the vehicle's pendulum-style parking function involves the user turning the vehicle's steering wheel to the right or left at an angle greater than a preset angle and opening the vehicle's brake pedal to an opening greater than a preset value. In other words, the user does not need to operate the central control screen or press an activation button; simply turning the steering wheel beyond a certain angle and pressing the brake pedal is sufficient to activate the vehicle's pendulum-style parking function.

[0106] Furthermore, when the user activates the pendulum parking function, the control system executes the subsequent step S2; otherwise, the control system will not switch to the pendulum parking function.

[0107] S2 determines whether the vehicle is malfunctioning or speeding.

[0108] After the user activates the pendulum parking function through the operation in the above embodiment, the control system switches to the pendulum parking mode and needs to obtain information such as the obstacles around the vehicle, the vehicle's fault status, and the vehicle's status to determine whether the pendulum parking conditions are met. If the system ensures that the vehicle can safely perform pendulum parking, it executes the subsequent step S3. Otherwise, the control system will not control the vehicle to start pendulum movement.

[0109] In one embodiment, the pendulum parking condition includes the vehicle speed being less than a preset speed. That is, the pendulum parking will only be activated when the vehicle speed is less than the preset speed. If the vehicle speed is greater than or equal to the preset speed, the pendulum parking will not be activated even if the user manually activates the pendulum parking function.

[0110] In one embodiment, the pendulum parking condition includes the wheel speed being less than a preset wheel speed. That is, the vehicle will only activate pendulum parking when the wheel speed is less than the preset wheel speed. If the wheel speed is greater than or equal to the preset wheel speed, the pendulum parking function will not be activated even if the user manually activates it.

[0111] It is understandable that in step S2 above, the control system will actively detect environmental information, vehicle fault information, and whether the vehicle status meets the pendulum parking conditions before implementing pendulum parking. Only after the pendulum parking conditions are met will subsequent steps be executed, further improving the safety of pendulum parking.

[0112] The S3 sensor detects gear position and steering wheel angle to determine the parking scenario. These scenarios include exiting a parking space to the left, entering a parking space to the left, exiting a parking space to the right, and entering a parking space to the right. Specifically:

[0113] The vehicle is in D gear, the steering wheel is turned to the left, and the parking scenario is exiting the parking space to the left.

[0114] The vehicle is in D gear, the steering wheel is turned to the right, and the parking scenario is exiting the parking space to the right.

[0115] The vehicle is in reverse gear, the steering wheel is turned to the right, and the parking scenario is entering the parking space to the left.

[0116] The vehicle is in reverse gear (R), the steering wheel is turned to the left, and the parking scenario is entering the parking space to the right.

[0117] Furthermore, after determining the specific parking scenario, the control system will control the vehicle to begin pendulum-like motion through step S4.

[0118] When the S4 user operates the vehicle's accelerator pedal to a degree greater than the first preset opening, the vehicle's braking system and front drive motor work together to achieve the vehicle's pendulum-style entry and exit from the parking space.

[0119] The first preset opening can be understood as an extremely small opening value. When the accelerator pedal opening is less than the first preset opening, it can be understood as the driver intending to start or stop the pendulum-like movement of the vehicle. When the user operates the accelerator pedal to an opening greater than the first preset opening, the aforementioned vehicle braking system and front drive motor cooperate to achieve the pendulum-like entry and exit of the vehicle, specifically including:

[0120] The parking scenario is to exit the parking space to the left. The braking system is controlled to output braking force to the right rear wheel and the front drive motor is controlled to rotate forward to enable the vehicle to exit the parking space to the left.

[0121] The parking scenario is to exit the parking space to the right. The braking system is controlled to output braking force to the left rear wheel and the front drive motor is controlled to rotate forward to enable the vehicle to exit the parking space to the right.

[0122] The parking scenario is to enter the parking space to the left. The braking system is controlled to output braking force to the left rear wheel and the front drive motor is controlled to rotate in the opposite direction to enable the car to enter the parking space to the left.

[0123] In the parking scenario, the vehicle is entering the parking space on the right. The braking system is controlled to output braking force to the right rear wheel and the front drive motor is controlled to rotate in the opposite direction to enable the vehicle to enter the parking space on the right.

[0124] Figure 5 This illustration shows a scenario diagram of vehicle 01 pendulum-style entry and exit from a parking garage, as provided in an embodiment of this application. Figure 5 (a) in the diagram is a schematic of vehicle 01 pendulum-style exit from the parking space to the left. Figure 5 (b) in the diagram is a schematic of vehicle 01 exiting the garage in a pendulum-like motion to the left. Figure 5 (c) in the diagram is a schematic of vehicle 01 pendulum-style entry into the parking space to the right. Figure 5 (d) in the diagram is a schematic diagram of vehicle 01 pendulum-style entry into the parking space to the left.

[0125] like Figure 5 As shown in (a), vehicle 01 moves in a pendulum motion from position 1 to position 2. After the user activates the pendulum-style parking function, the user turns the steering wheel to the left by an angle greater than a preset angle, opens the accelerator pedal to a greater than a first preset opening, and sets vehicle 01 to forward gear. The braking system brakes the right rear wheel to keep it stationary, and the front drive motor drives the two front wheels to rotate clockwise, giving vehicle 01 a counter-clockwise yaw torque, causing vehicle 01 to rotate from position 1 to position 2. Furthermore, the user can control vehicle 01 to move forward, completing the exit from the parking space.

[0126] like Figure 5As shown in (b), vehicle 01 moves in a pendulum motion from position 1' to position 2'. After the user activates the pendulum-style parking function, the user turns the steering wheel to the right by an angle greater than a preset angle, opens the accelerator pedal to a greater than a first preset opening, and sets vehicle 01 to forward gear. The braking system brakes the left rear wheel to keep it stationary, and the front drive motor drives the two front wheels to rotate clockwise, giving vehicle 01 a clockwise yaw torque, causing vehicle 01 to rotate from position 1' to position 2'. Furthermore, the user can control vehicle 01 to move forward, and vehicle 01 completes its exit from the parking space.

[0127] like Figure 5 As shown in (c), vehicle 01 moves in a pendulum motion from position 3 to position 4. After the user activates the pendulum parking function, the user turns the steering wheel to the left by an angle greater than a preset angle, opens the accelerator pedal to a position greater than a first preset opening, and shifts vehicle 01 into reverse gear. The braking system brakes the right rear wheel to keep it stationary, and the front drive motor drives the two front wheels to rotate in opposite directions, giving vehicle 01 a clockwise yaw torque, causing vehicle 01 to rotate from position 3 to position 4. Vehicle 01 completes parking.

[0128] like Figure 5 As shown in (d), vehicle 01 moves in a pendulum motion from position 3' to position 4'. After the user activates the pendulum parking function, the user turns the steering wheel to the right by an angle greater than the preset angle, the user operates the accelerator pedal to an opening greater than the first preset opening, and the user operates vehicle 01 in reverse gear. The braking system brakes the left rear wheel of the vehicle to make the left rear wheel grip the ground and stop. The front drive motor drives the two front wheels of the vehicle to rotate in opposite directions so that vehicle 01 will receive a counterclockwise yaw torque, causing vehicle 01 to rotate from position 3' to position 4'. Then the user can control the vehicle to reverse to complete the parking.

[0129] Through the above step S4, in response to the user's operation of the accelerator pedal opening being greater than the preset opening, the control system can control the drive system and braking system to coordinate the output of driving force and braking force, so that the vehicle performs pendulum-like motion.

[0130] It is important to emphasize that during the pendulum-style entry or exit of a vehicle from a parking space, the longitudinal component of the braking force and the longitudinal component of the driving force are equal, and the lateral component of the braking force and the lateral component of the driving force are equal. The longitudinal direction of the vehicle is the direction in which the vehicle body extends, and the lateral direction is perpendicular to the longitudinal direction.

[0131] Figure 6 A schematic diagram illustrating the force analysis of a vehicle during a pendulum-like entry and exit from a parking space to the left is shown.

[0132] like Figure 6 As shown, the front axle turns left at an angle of θ, and due to the leftward turn of vehicle 01, the braking system 30 will first output braking force to the right rear wheel. At this time, the braking torque on the right rear wheel is B. rr During the process of the braking system outputting braking torque to the right rear wheel, the drive system 10 outputs drive torque F to the front axle wheels. xf .

[0133] In this process, the vehicle generates yaw torque under the influence of steering angle and driving torque, thus achieving pendulum motion. Furthermore, the frictional resistance generated by the right rear wheel's interaction with the ground ensures that the center of the pendulum motion is located on the rear axle.

[0134] In this embodiment, by controlling the balance of braking torque and driving torque, the longitudinal and lateral force balance of the vehicle can be ensured, thereby guaranteeing that the vehicle has no longitudinal or lateral translational motion. The force and motion equations of the vehicle at this time are as follows:

[0135]

[0136] Among them, I z L is the yaw moment of inertia of the vehicle. B L is the distance from the front axle to the rear axle. F f is the distance between the left and right wheels on the same axis. rr This represents the frictional force between the RR wheel and the ground.

[0137] It is easy to understand that the condition for a vehicle to initiate pendulum motion is: F xf >1 / 4μMg; The condition for the vehicle's RR wheels to maintain traction and remain stationary is: f rr ≤1 / 4μMg and B rr >f rr Where μ is the ground adhesion coefficient, M is the vehicle mass, and g is the gravitational acceleration.

[0138] Based on the above theoretical analysis, the pendulum-type entry and exit control method provided in this application embodiment can balance the braking force output by the braking system and the driving force output by the front drive motor, so that the longitudinal and lateral translational motion of the vehicle approaches zero, and provide yaw torque to the vehicle, thereby realizing the pendulum motion of the vehicle.

[0139] In one embodiment, the front drive motor can begin outputting driving force after the braking force output by the braking system 30 stops increasing. Alternatively, it can begin outputting driving force after a certain period of time after the braking system 30 begins to increase its braking force output, and during the process of the braking system 30 increasing its braking force output, the actual driving force output by the front drive motor is always less than or equal to the driving force required to maintain dynamic balance with the braking force output by the braking system 30.

[0140] According to the embodiments of this application, by controlling the balance between the braking force output by the braking system and the driving force output by the front drive motor, the longitudinal and lateral translational motion of the vehicle can be suppressed while the vehicle completes steering, thereby achieving pendulum parking. This effectively reduces parking distance while ensuring vehicle controllability, improving the practicality of the pendulum parking method. Furthermore, the timing of the drive system's output of driving force is flexible, further enhancing its practicality.

[0141] When an S5 user releases the accelerator pedal, the pendulum parking function disengages, and the vehicle enters normal driving mode.

[0142] Specifically, when the user releases the accelerator pedal, it means that the user's accelerator pedal opening decreases from greater than the first preset opening to less than the first preset opening. At this time, by controlling the drive system to stop outputting driving force and controlling the braking system to stop outputting braking force, the pendulum-like motion of the vehicle can be stopped. Furthermore, the vehicle's control system will switch from active pendulum parking mode to normal driving mode, without affecting the driver's subsequent operations.

[0143] See Figure 7 , Figure 7 The diagram shows the relationship between motor speed, accelerator pedal opening, steering wheel angle, torque output of the front drive motor, torque output of the rear drive motor, and braking force output by the braking system during the pendulum-style entry and exit of the vehicle.

[0144] like Figure 7 As shown, before time t0, the user activates the vehicle's pendulum-style entry and exit function and turns the steering wheel to the preset angle R1.

[0145] Starting from time t0, when the user operates the accelerator pedal to an opening greater than the first preset opening L1, the vehicle begins to perform pendulum-like motion, which specifically includes the following processes:

[0146] During the first time interval from time t0 to time t1, the output torque of the front drive motor is increased so that the speed of the front drive motor increases from zero to a second preset value K1; and the braking system is controlled to output braking torque to the brake wheel.

[0147] During the second time period from time t1 to time t2, the output torque of the front drive motor is reduced so that the speed of the front drive motor decreases from the second preset value K1 to the first preset value K2.

[0148] During the third time period from time t2 to time t3, the speed of the front drive motor is kept at the first preset value K2.

[0149] At time t3, the user actively reduces the accelerator pedal opening to zero. First, the torque and speed output of the front drive motor and the rear drive motor are controlled to drop to zero at time t4 after the third time period. Then, the braking force output by the braking system is controlled to drop to zero, and the vehicle exits the pendulum parking mode.

[0150] It is understandable that after completing the pendulum motion described above, the driver can control the vehicle's normal driving by adjusting the steering wheel and accelerator pedal.

[0151] In one embodiment, the vehicle control method further includes: during the process of the vehicle entering the parking space or during the process of the vehicle leaving the parking space, first controlling the speed of the front drive motor to increase from zero to a value greater than a first preset value, and then controlling the speed of the front drive motor to decrease to a value equal to the first preset value.

[0152] Here, the first preset value can be understood as the preset speed value that the front drive motor needs to reach. When the front drive motor increases its speed from zero, in order to shorten the power response time of the front drive motor, it is necessary to control the front drive motor to increase its speed to a maximum speed. However, when the front drive motor needs to output torque according to power demand, in order to maintain stable yaw motion of the vehicle, it is necessary to control the front drive motor to reduce its speed to the preset speed value.

[0153] According to the embodiments of this application, by controlling the front drive motor to increase its speed from zero at a relatively fast rate of change, the front drive motor can quickly reach the preset speed to drive the two front wheels to rotate, resulting in rapid power response and strong maneuverability of the vehicle's pendulum-like motion.

[0154] In one embodiment, the vehicle control method provided in this application controls the speed of the front drive motor to increase from zero to a second preset value according to a first speed change rate during a first time period, and controls the speed of the front drive motor to decrease from the second preset value to equal the first preset value according to a second speed change rate during a second time period, wherein the first speed change rate is greater than the second speed change rate.

[0155] The second preset value is a maximum speed supported by the front-drive motor, and the specific value of the second preset value is not limited in this embodiment. This embodiment rapidly increases the speed of the front-drive motor to the second preset value, making the power response of the vehicle's pendulum motion more rapid to achieve a launch start effect. This provides real-time feedback to the user from the vehicle's pendulum motion, improving the operability and practicality of the pendulum parking function.

[0156] Wherein, the first preset value is any rotational speed value less than the second preset value, and the specific value of the first preset value is not limited in this embodiment. By reducing the rotational speed of the front drive motor from the second preset value to the first preset value, this embodiment can suppress the body roll when the vehicle begins pendulum motion by limiting the torque output of the front drive motor, so that the vehicle can start pendulum motion stably and smoothly, thereby improving the user's driving experience during the pendulum motion of the vehicle.

[0157] It is understandable that, in order to shorten the time required for the motor speed to increase from zero to the second preset value, the motor speed needs to increase at a relatively large rate of change, i.e., a first rate of change. Conversely, to achieve accurate matching of the front-drive motor with the user's required torque, the motor speed can decrease at a relatively small rate of change, i.e., a second rate of change. Furthermore, this application does not limit the specific values ​​of the aforementioned first and second rates of change. For example, the first rate of change can be 10,000 revolutions per second, and the second rate of change can be 5,000 revolutions per second.

[0158] According to the embodiments of this application, when the vehicle begins its pendulum-style entry and exit from a parking space, by first controlling the front drive motor to increase its speed with a large rate of change to achieve a launch start effect, the time delay between the user's operation and the vehicle's start of movement can be shortened. Subsequently, by controlling the front drive motor to decrease its speed with a smaller rate of change to achieve a smooth start effect, the vehicle's posture can be stabilized when the vehicle begins its pendulum-style movement, thereby improving the user's driving experience.

[0159] In one embodiment, the length of the second time period is greater than the length of the first time period.

[0160] It is understandable that, to ensure a launch start during the pendulum motion, the front-drive motor needs to increase its speed to the second preset value within a very short time at a first rate of change. Furthermore, to ensure the vehicle can begin the pendulum motion stably and smoothly, the front-drive motor can decrease its speed from the second preset value to the first preset value over a longer period at the second rate of change. Therefore, the length of the second time period needs to be greater than the length of the first time period.

[0161] It is understood that the specific lengths of the first and second time periods are not limited in the embodiments of this application. As an example rather than a limitation, the front drive motor can increase its speed to the second preset value within 50ms, and then decrease its speed from the second preset value to the first preset value within 1s.

[0162] According to the embodiments of this application, when the vehicle begins to enter and exit the parking space in a pendulum-like manner, the time required for the front drive motor to achieve a smooth start can be longer than the time required for a launch start, making the pendulum-like movement of the vehicle more stable and improving the user's driving experience.

[0163] In one embodiment, during the third time period, when the opening of the accelerator pedal is greater than or equal to a first preset opening and less than a second preset opening, the torque output by the front drive motor is controlled to increase linearly with the increase of the opening of the accelerator pedal.

[0164] During the third time period, when the accelerator pedal opening is greater than or equal to the second preset opening, the torque output of the front drive motor is controlled to a fixed value.

[0165] Here, the first preset opening degree can be understood as an extremely small opening value. When the opening degree of the accelerator pedal is less than the first preset opening degree, it can be understood as the driver expecting to start or stop the pendulum-like movement of the vehicle. Therefore, when the opening degree of the accelerator pedal is less than the first preset opening degree, the driving torque output by the front drive motor does not change with the change in the opening degree of the accelerator pedal, that is, the torque output by the front drive motor is zero.

[0166] The second preset opening can be understood as a relatively large opening value. When the accelerator pedal opening is greater than the second preset opening, it can be understood that the driving torque output by the front drive motor reaches its peak torque. Therefore, when the accelerator pedal opening is greater than the second preset opening, the driving torque output by the front drive motor does not change with the change of the accelerator pedal opening, but maintains the peak output torque.

[0167] It is understood that the aforementioned peak torque may be the maximum torque that the front drive motor 11 can output under its capacity limitations, or it may be a relatively large preset torque that the front drive motor 11 can output. This application embodiment does not limit this.

[0168] It is understood that when the accelerator pedal opening varies between a first preset opening and a second preset opening, the drive torque output by the front drive motor 11 will increase with the increase of the accelerator pedal opening. However, this embodiment does not limit the functional relationship between the drive torque and the accelerator pedal opening. For example, the drive torque and the accelerator pedal opening are linearly related; that is, the drive torque output by the front drive motor 11 will increase linearly with the increase of the accelerator pedal opening until the drive torque reaches its peak torque when the accelerator pedal opening reaches the second preset opening.

[0169] It is understandable that the first and second preset opening degrees can differ for different driving modes of the vehicle, thereby providing users with differentiated pendulum-style parking experiences in different driving modes. For example, compared to Comfort mode, Sport mode has a lower first preset opening degree and a higher corresponding second preset opening degree, allowing users to more precisely adjust the speed of the vehicle's pendulum-style movement, making the pendulum-style parking maneuver more responsive in Sport mode.

[0170] According to the embodiments of this application, the driver can adjust the driving force output by the front drive motor by controlling the opening of the accelerator pedal, thereby controlling the pendulum-like speed of the vehicle, which is highly safe and has strong maneuverability.

[0171] In one embodiment, during the third time period, when the accelerator pedal opening is greater than or equal to a first preset opening, the torque output of the front drive motor is controlled to be a fixed value.

[0172] It is understood that in these embodiments, when the accelerator pedal opening is greater than a first preset opening, the vehicle begins pendulum motion. The drive torque output by the front drive motor to the two front wheels is a fixed value and does not change with the accelerator pedal opening, allowing the vehicle to perform pendulum motion at a constant speed. This fixed value is any torque value that the front drive motor 11 can output under its capacity limitations; this application embodiment does not impose any limitation on this.

[0173] Understandably, once the driver initiates the pendulum motion of the vehicle by controlling the opening of the accelerator pedal, there is no need to continuously adjust the opening of the accelerator pedal, making operation simpler, reducing the driver's workload and learning cost.

[0174] In one embodiment, the vehicle control method further includes:

[0175] During the process of a vehicle entering or leaving the parking space, the torque output of the front drive motor is increased while the braking system is controlled to increase the braking force output to the left or right rear wheel.

[0176] It is understandable that, since the braking force output by the braking system 30 needs to be balanced with the driving force output by the front drive motor 11, while controlling the increase of the torque output by the front drive motor, the braking system 30 needs to correspondingly increase the braking force output to the left or right rear wheel to ensure the dynamic balance between driving force and braking force and avoid longitudinal translation of the vehicle.

[0177] It is understandable that while reducing the torque output of the front drive motor, the braking force output by the braking system 30 to the left or right rear wheel can also be reduced. This can reduce the workload of the braking system 30 while maintaining the balance between driving force and braking force, which is beneficial to extending the service life of the brake.

[0178] According to the embodiments of this application, during the pendulum motion of the vehicle, it is necessary to control the braking force output by the braking system to change with the torque output by the front drive motor, so as to achieve a dynamic balance between driving force and braking force, and further improve the safety and reliability of the vehicle's pendulum parking function.

[0179] In one embodiment, the vehicle control method includes:

[0180] During the rotation of the two front wheels, when the slip ratio of the front axle of the vehicle is greater than the first preset slip ratio, the torque output of the front drive motor is reduced.

[0181] During the rotation of the two front wheels, when the slip ratio of the front axle of the vehicle is less than the second preset slip ratio, the torque output of the front drive motor is increased.

[0182] The first preset slip ratio is greater than the second preset slip ratio.

[0183] It is understood that the control system can calculate the actual slip ratio of a front wheel based on its wheel speed. When the difference between the actual slip ratio and a preset target slip ratio exceeds a preset threshold, the control system adjusts the drive torque output by the front drive motor 11 to bring the actual slip ratio of the front drive motor to the target slip ratio. For example, when the slip ratio of the vehicle's front axle is greater than a first preset slip ratio, the drive torque output by the front drive motor to both front wheels is reduced, causing the actual slip ratio of the front axle to decrease to the target slip ratio. Conversely, when the slip ratio of the vehicle's front axle is less than a second preset slip ratio, the drive torque output by the front drive motor to both front wheels is increased, causing the actual slip ratio of the front axle to increase to the target slip ratio.

[0184] The first preset slip ratio can be understood as the sum of the preset target slip ratio and the preset threshold, and the second preset slip ratio can be understood as the difference between the preset target slip ratio and the preset threshold. Therefore, the first preset slip ratio is greater than the second preset slip ratio.

[0185] According to the embodiments of this application, during the pendulum-style entry and exit of a vehicle, closed-loop control of the front wheel speed is achieved by adjusting the driving force output to the front wheels by the drive system. This can improve the utilization rate of the driving force output by the drive system and avoid wheel slippage and loss of control, thereby further improving the stability and controllability of the vehicle's pendulum motion.

[0186] In one embodiment, during the rotation of the two front wheels, in response to the slip ratio of the front axle of the vehicle being continuously less than a second preset slip ratio, and the driving force output by the front drive motor 11 to the two front wheels being less than a preset driving force, the front drive motor reduces the output driving force so that the slip ratio of the front axle reaches a first target slip ratio, which is less than a preset target slip ratio.

[0187] The phrase "the slip ratio of the front axle of the vehicle is continuously less than the second preset slip ratio" means that the slip ratio of the front axle of the vehicle is continuously less than the second preset slip ratio for a preset duration.

[0188] Understandable, such as Figure 8As shown, the aforementioned preset target slip ratio and first target slip ratio can correspond to different road surface adhesion levels, and the road surface adhesion coefficient corresponding to the preset target slip ratio is greater than the road surface adhesion coefficient corresponding to the first target slip ratio. For example, the aforementioned preset target slip ratio can correspond to a road surface with a high adhesion coefficient (such as cement, asphalt, etc.), while the aforementioned first target slip ratio can correspond to a road surface with a low adhesion coefficient (such as icy or snowy roads). Furthermore, the aforementioned preset driving force can be understood as the minimum driving force output by the front drive motor 11 to the two front wheels when the actual slip ratio of one front wheel reaches the target slip ratio corresponding to a road surface with a high adhesion coefficient. At the same time, the first target slip ratio can also be calibrated with a first driving force, which is the minimum driving force output by the front drive motor 11 to the two front wheels when the actual slip ratio of one front wheel reaches the first target slip ratio.

[0189] Furthermore, when the actual slip ratio of the current axle reaches the target slip ratio corresponding to the high-friction surface, but the driving force output by the front drive motor 11 is less than the minimum driving force corresponding to that target slip ratio, it can be understood that the current surface is not a high-friction surface. In this case, it is necessary to actively reduce the target slip ratio to the first target slip ratio corresponding to the low-friction surface, while simultaneously reducing the driving force output to the two front wheels by the front drive motor 11, so that the actual slip ratio of the front axle reaches the first target slip ratio. It is easy to understand that when the actual slip ratio of one front wheel reaches the first target slip ratio, the driving force output by the front drive motor to the two front wheels is greater than or equal to that first driving force.

[0190] It should be noted that the speed of the front drive motor 11 when it outputs a preset driving force to the two front wheels on a high-friction surface is very small compared with the speed of the front drive motor 11 when it outputs the first driving force to the two front wheels on a low-friction surface. This makes the algorithm inside the front drive motor 11 applicable to both high-friction and low-friction surfaces, resulting in low design complexity and strong practicality.

[0191] According to the embodiments of this application, during the pendulum-style entry and exit of the vehicle, the road surface adhesion can be identified by the wheel slip ratio and the driving force output by the drive system. Based on the road surface adhesion, the target slip ratio of the wheels is adjusted and closed-loop wheel speed regulation is completed. This ensures efficient adhesion utilization and prevents overspeed, thereby further improving the reliability and safety of the pendulum-style motion process. Furthermore, the internal algorithm of the drive system has low design complexity and high practicality.

[0192] It is understood that one or more stepped target slip rates can be set between the aforementioned preset target slip rate and the first target slip rate, with each stepped target slip rate corresponding to a road surface adhesion coefficient range. For example, a second target slip rate can be set between the preset target slip rate and the first target slip rate. This second target slip rate can correspond to a road surface with a medium adhesion coefficient (such as soil, gravel road surface, etc.), and this second target slip rate can also be calibrated with a second driving force. This second driving force represents the minimum driving force output by the front drive motor 11 to the two front wheels when the actual slip rate of one front wheel reaches the second target slip rate.

[0193] Furthermore, when the actual slip ratio of the vehicle's front axle reaches the target slip ratio corresponding to a high-friction surface, but the driving force output by the front-drive motor is less than the preset driving force, it can be understood that the current surface is not a high-friction surface. If the difference between the driving force output by the front-drive motor and the second driving force is less than the difference between the driving force and the first driving force, it can be understood that the current surface is a medium-friction surface. Further, the vehicle will actively reduce the target slip ratio to the second target slip ratio corresponding to a medium-friction surface, while simultaneously reducing the driving force output to that front wheel through the front-drive motor, so that the actual slip ratio of the front axle reaches the second target slip ratio. Conversely, if the difference between the driving force output by the front-drive motor and the second driving force is greater than the difference between the driving force and the first driving force, it can be understood that the current surface is a low-friction surface. In this case, the front-drive motor will perform the response operation described in the above embodiment, which will not be elaborated here.

[0194] According to the embodiments of this application, by setting corresponding target slip ratios for multiple different road surface adhesion coefficients, multi-scenario coverage of pendulum-style vehicle entry and exit can be achieved, further improving the practicality of pendulum-style entry and exit.

[0195] In one embodiment, the vehicle control method includes:

[0196] During the process of a vehicle leaving or entering the parking lot, when the opening of the accelerator pedal decreases from greater than the first preset opening to less than the first preset opening, the two front wheels are first controlled to stop rotating before the right or left rear wheel is braked.

[0197] It can be understood that when the accelerator pedal opening decreases from a large value to less than or equal to the first preset opening value, it can be interpreted as the user stopping the pendulum motion of the vehicle. At this time, the front drive motor will first stop outputting driving force to control the two front wheels to stop rotating. Then, the braking system 30 will stop outputting braking force to stop braking the left or right rear wheel, thereby ensuring that the vehicle will not experience longitudinal or lateral translation when it stops the pendulum motion. That is, the vehicle can maintain grip and remain stationary throughout the entire pendulum motion process, which is highly reliable.

[0198] It is understood that the braking system 30 can stop outputting braking force after the driving force output by the front drive motor is reduced to zero. Alternatively, the braking system 30 can reduce the output braking force after a certain period of time when the front drive motor begins to reduce the driving force output, and during the process of the braking system 30 reducing the output braking force, the actual output braking force of the braking system 30 is always greater than or equal to the braking force required to maintain dynamic balance with the driving force output by the front drive motor.

[0199] Furthermore, since the braking force output by the braking system 30 needs to be balanced with the driving force output by the drive system 10, while adjusting the driving force output by the front drive motor to the two front wheels according to the front axle slip ratio, the braking system 30 will also adjust the output braking force accordingly, thereby maintaining a dynamic balance between driving force and braking force. Therefore, the braking force output by the braking system 30 will also change with the change in the front axle slip ratio.

[0200] According to the embodiments of this application, when the vehicle stops its pendulum-like motion, the front drive motor first stops driving the two front wheels to rotate, and then the braking system stops outputting braking force, so that the vehicle always maintains traction and remains stationary, resulting in higher reliability. Furthermore, the timing of when the braking system stops outputting braking force is flexible, making it more practical.

[0201] In one embodiment, during the pendulum-style entry and exit of the vehicle, in response to the brake pedal opening increasing from a small to a third preset opening, the two front wheels are controlled to stop rotating, and then the braking of the right rear wheel or the left rear wheel is stopped.

[0202] The third preset opening degree can be understood as a relatively small opening value. When the user presses the brake pedal and the brake pedal opening degree reaches this third preset opening degree, it indicates that the user has stopped the pendulum motion of the vehicle. This ensures that even if the accelerator pedal opening degree detection fails, the user can still control the vehicle to stop the pendulum motion. Furthermore, the front drive motor will first stop outputting driving force, and then the braking system 30 will stop outputting braking force, ensuring that the vehicle can maintain traction and remain stationary throughout the entire pendulum motion.

[0203] According to the embodiments of this application, during the pendulum-style entry and exit of a vehicle, the user can control the vehicle to stop the pendulum motion by pressing the brake pedal, thereby further improving the safety and reliability of the pendulum-style entry and exit of the vehicle.

[0204] In one embodiment, the vehicle entry and exit method further includes:

[0205] During the process of a vehicle leaving or entering the parking space, if the change in the steering wheel angle exceeds a preset change in steering angle, the two front wheels will be stopped from rotating.

[0206] The preset steering angle change value can be understood as the maximum allowable steering angle change value during pendulum-style parking maneuvers. When the user adjusts the steering wheel angle to a value less than the preset value, it can be understood that the user intends to change the turning radius of the pendulum parking maneuver by adjusting the steering of the two front wheels. In this case, the driving torque output by the front drive motor 11 and the braking torque output by the braking system will not be affected by the change in steering wheel angle. When the user adjusts the steering wheel angle to a value greater than the preset value, it can be understood that the user intends to stop the pendulum motion of the vehicle. In this case, it is necessary to control the two front wheels to stop rotating. Alternatively, if the user mistakenly adjusts the steering wheel angle to a value greater than the preset value, it is also necessary to control the two front wheels to stop rotating to ensure the controllability of the vehicle's posture.

[0207] It is understood that the specific value of the preset angle change is not limited in the embodiments of this application. For example, the preset angle change value can be 20°.

[0208] According to the embodiments of this application, during the pendulum-style entry and exit of a vehicle, when the steering wheel angle changes too much, the front drive motor will actively stop driving the two front wheels to stop rotating, thereby stopping the pendulum-style movement of the vehicle, further improving the safety and reliability of the pendulum-style entry and exit of the vehicle.

[0209] In one embodiment, the vehicle entry and exit method further includes:

[0210] In one embodiment, during the pendulum-style entry and exit of vehicle 01, in response to the wheel speed of either of the two front wheels being greater than a preset wheel speed threshold or the vehicle speed of vehicle 01 being greater than a preset vehicle speed threshold, the two front wheels are first controlled to stop rotating, and then the braking system 30 is controlled to stop braking the left or right rear wheel.

[0211] It is understandable that during the pendulum-style entry and exit of vehicle 01, if the wheel speed of either of the two front wheels exceeds a preset wheel speed threshold, or if the vehicle speed of 01 exceeds a preset vehicle speed threshold, continuing to output driving force by the drive system 10 may cause the vehicle to become unstable or even lose traction and remain stationary. Therefore, the drive system 10 needs to stop outputting driving force, and subsequently the braking system needs to stop outputting braking force, so that vehicle 01 stops its pendulum-style movement and avoids potential accidents.

[0212] According to the embodiments of this application, during the pendulum-style exit or entry of a vehicle, if the wheel speed of any front wheel is too high or the vehicle speed is too high, the drive system and braking system will actively stop the pendulum-style motion, further improving the safety and reliability of the pendulum-style entry and exit of the vehicle.

[0213] In one embodiment, the vehicle control method is further configured to control the rear drive motor of the vehicle after the user activates the vehicle's pendulum-style parking function. The vehicle control method also includes:

[0214] During the process of the vehicle entering the parking space, the rear drive motor of the vehicle is controlled to drive the right rear wheel of the vehicle to rotate in the forward direction;

[0215] During the vehicle's exit from the warehouse, the rear-drive motor controls the vehicle's left rear wheel to rotate in the opposite direction.

[0216] The torque output of the rear drive motor is less than that of the front drive motor, and the direction of the torque output of the rear drive motor is opposite to that of the front drive motor.

[0217] Specifically, in these embodiments, during the process of the vehicle entering the parking space to the right, the front drive motor is controlled to drive the front axle wheels to rotate in the opposite direction, and the rear drive motor is controlled to drive the right rear wheel to rotate in the forward direction. During the process of the vehicle exiting the parking space to the left, the front drive motor is controlled to drive the front axle wheels to rotate in the forward direction, and the rear drive motor is controlled to drive the left rear wheel to rotate in the opposite direction.

[0218] Similarly, in other embodiments, the front drive motor can be controlled to drive the front axle wheels to rotate in the opposite direction, while the rear drive motor can be controlled to drive the left rear wheel to rotate in the forward direction. During the process of the vehicle exiting the parking space to the right, the front drive motor can be controlled to drive the front axle wheels to rotate in the forward direction, while the rear drive motor can be controlled to drive the right rear wheel to rotate in the opposite direction.

[0219] In other words, during the pendulum-like entry and exit of the vehicle, the rear drive motor outputs drive torque to one of the two rear wheels (that is, the rear wheel on the side with the same steering direction) except for the one that is braked by the braking system 30, so that the wheel rotates in the opposite direction to the two front wheels.

[0220] It is understood that in these embodiments, the vehicle needs to have the ability to output driving force to the front axle wheels and the rear axle wheels separately, that is, the drive system 10 needs to be a four-wheel drive, a three-motor distributed powertrain, or a four-motor distributed powertrain. For example... Figure 9 As shown, the force and motion equations of the vehicle at this time are as follows:

[0221]

[0222] Among them, F xr This is the reverse drive torque for the rear axle. It's easy to understand that the condition for the vehicle to start its pendulum motion is: F xf >1 / 4μMg; The condition for the vehicle's RR wheels to maintain traction and remain stationary is: f rr ≤1 / 4μMg and B rr -F xf >f rr Where μ is the ground adhesion coefficient, M is the vehicle mass, and g is the gravitational acceleration.

[0223] It is understood that in these embodiments, the front drive motor and the rear drive motor drive complement each other, which reduces the braking force required by the braking system 30 to maintain traction and stationary position, thus placing lower demands on the braking system 30.

[0224] It's understandable that the sum of the driving force output by the rear-drive motor to one rear wheel, the braking force output by the braking system to the other rear wheel, and the frictional force of the ground on the other wheel, balances the driving force output by the front-drive motor to the two front axle wheels. Therefore, the torque output by the rear-drive motor is necessarily less than the torque output by the front-drive motor. Furthermore, when the driving torque output by the front-drive motor changes, the driving torque output by the rear-drive motor also changes accordingly, thus ensuring a dynamic balance between driving force and braking force and preventing longitudinal translation during pendulum-like vehicle motion.

[0225] According to the embodiments of this application, the drive system can control the rear axle wheels to rotate in the opposite direction to the front axle wheels, which can reduce the braking force required by the braking system while ensuring grip and stationary position, making it more practical.

[0226] This application also provides a vehicle controller for executing the vehicle control method described in the above embodiments.

[0227] It is understood that the vehicle controller can be a single controller, such as a central controller 31 or a vehicle controller 40. When the vehicle controller is a central controller 31, it can implement the drive torque control function of the vehicle controller 40. When the vehicle controller is a vehicle controller 40, it can implement the braking torque control function of the central controller 31. Alternatively, the vehicle controller can also be a controller cluster consisting of multiple controllers, for example, the controller cluster includes, but is not limited to, the central controller 31 and the vehicle controller 40.

[0228] It is understandable that after all the conditions for initiating the pendulum motion of the vehicle are met, the vehicle controller will calculate the drive torque setpoint based on the accelerator pedal opening and determine the braking torque setpoint based on the principle of drive-brake balance. The vehicle controller first controls the braking system to output the braking torque setpoint to the brake wheels according to the command, and then controls the drive system to output the drive torque setpoint to the front axle wheels and / or rear axle wheels according to the command, so that the vehicle begins the pendulum motion.

[0229] Furthermore, during the vehicle's pendulum-like motion, the vehicle controller monitors wheel speeds in real time and automatically adjusts drive and braking torque based on wheel slip ratios to achieve closed-loop control of front and rear axle speeds. Additionally, the vehicle controller identifies road surface adhesion based on wheel speeds and the driving force output by the drive system, thereby adaptively adjusting the target slip amount.

[0230] In addition, during the pendulum parking process, if the vehicle controller detects a vehicle malfunction or the user manually stops the pendulum parking function, the vehicle will revert to the normal driving mode, and the pendulum parking function will stop.

[0231] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle control method for realizing pendulum-style vehicle entry and exit from a parking garage, characterized in that, The vehicle control method is used to control the vehicle's braking system and front drive motor after the user activates the vehicle's pendulum-style parking function. The vehicle control method includes: In response to the user turning the steering wheel of the vehicle to the right at an angle greater than a preset angle and the user operating the accelerator pedal of the vehicle at an opening greater than a first preset opening, the braking system is controlled to brake the left rear wheel of the vehicle and the front drive motor is controlled to drive the two front wheels of the vehicle to rotate in opposite directions so that the vehicle enters the parking space. In response to the user turning the steering wheel of the vehicle to the left at an angle greater than a preset angle and the user operating the accelerator pedal of the vehicle at an opening greater than a first preset opening, the braking system is controlled to brake the right rear wheel of the vehicle and the front drive motor is controlled to drive the two front wheels of the vehicle to rotate in the forward direction so that the vehicle leaves the parking space. The vehicle control method further includes: During the process of the vehicle entering or leaving the warehouse, the speed of the front drive motor is first controlled to increase from zero to a value greater than a first preset value, and then the speed of the front drive motor is controlled to decrease to a value equal to the first preset value.

2. The vehicle control method according to claim 1, characterized in that, Controlling the front drive motor to drive the two front wheels of the vehicle to rotate in opposite directions or controlling the front drive motor to drive the two front wheels of the vehicle to rotate in the forward direction includes: First, the speed of the front drive motor is controlled to increase from zero to a second preset value according to a first speed change rate. Then, the speed of the front drive motor is controlled to decrease from the second preset value to equal the first preset value according to a second speed change rate. The first speed change rate is greater than the second speed change rate.

3. The vehicle control method according to claim 2, characterized in that, The vehicle control method further includes: During a first time period after the accelerator pedal opening is greater than or equal to the first preset opening, the speed of the front drive motor is controlled to increase from zero to the second preset value. During the second period following the first period, the rotational speed of the front drive motor is reduced to the first preset value. During the third period following the second period, the speed of the front drive motor is controlled to remain at a first preset value; After the third time period, in response to the accelerator pedal opening being zero, the vehicle is controlled to exit the pendulum parking function.

4. The vehicle control method according to claim 3, characterized in that, The length of the second time period is greater than the length of the first time period.

5. The vehicle control method according to claim 3 or 4, characterized in that, The vehicle control method includes: During the third time period, when the opening of the accelerator pedal is greater than or equal to the first preset opening and less than the second preset opening, the torque output by the front drive motor is controlled to increase linearly with the increase of the opening of the accelerator pedal. During the third time period, when the opening of the accelerator pedal is greater than or equal to the second preset opening, the torque output by the front drive motor is controlled to be a fixed value.

6. The vehicle control method according to claim 1, characterized in that, The vehicle control method is further used to control the rear drive motor of the vehicle after the user activates the vehicle's pendulum-style entry and exit function. The vehicle control method also includes: During the process of the vehicle entering the parking space, the rear drive motor of the vehicle is controlled to drive the right rear wheel of the vehicle to rotate in the forward direction. During the process of the vehicle leaving the warehouse, the rear drive motor of the vehicle is controlled to drive the left rear wheel of the vehicle to rotate in the opposite direction. The torque output by the rear drive motor is less than the torque output by the front drive motor, and the direction of the torque output by the rear drive motor is opposite to the direction of the torque output by the front drive motor.

7. The vehicle control method according to claim 1, characterized in that, The vehicle control method further includes: During the process of the vehicle entering or leaving the parking space, while controlling the increase of the torque output by the front drive motor, the braking system is also controlled to increase the braking force output to the left rear wheel or the right rear wheel.

8. The vehicle control method according to claim 1, characterized in that, The vehicle control method includes: During the process of the vehicle leaving or entering the warehouse, when the opening of the accelerator pedal decreases from greater than the first preset opening to less than the first preset opening, the two front wheels are first controlled to stop rotating and then the braking of the right rear wheel or the left rear wheel is stopped.

9. The vehicle control method according to claim 1, characterized in that, The vehicle control method includes: During the rotation of the two front wheels, when the slip ratio of the front axle of the vehicle is greater than the first preset slip ratio, the torque output by the front drive motor is reduced. During the rotation of the two front wheels, when the slip ratio of the front axle of the vehicle is less than the second preset slip ratio, the torque output of the front drive motor is increased. The first preset slip ratio is greater than the second preset slip ratio.

10. The vehicle control method according to claim 1, characterized in that, The vehicle control method further includes: During the process of the vehicle leaving or entering the warehouse, if the change in the steering wheel angle is greater than a preset change in steering angle or if the vehicle speed is greater than a preset speed threshold, the two front wheels are controlled to stop rotating.

11. The vehicle control method according to claim 1, characterized in that, The user-activated vehicle pendulum-style entry and exit function includes: The user turns the vehicle's steering wheel to the right or left at an angle greater than the preset angle and operates the vehicle's brake pedal to an opening greater than the preset opening.

12. The vehicle control method according to claim 1, characterized in that, The user-activated vehicle pendulum-style entry and exit function includes: The user clicks the vehicle pendulum-style entry / exit function button on the vehicle's central control screen.

13. A vehicle controller for realizing pendulum-style vehicle entry and exit from a parking garage, characterized in that, The vehicle controller is used to perform the vehicle control method as described in any one of claims 1 to 12.

14. A vehicle, characterized in that, The vehicle includes the vehicle controller as described in claim 13.

Images