Vehicle control method and device, vehicle and medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a medium, and relates to the field of vehicle dynamics control. The method comprises the steps that under the condition that a vehicle is in an unstable state, invalid wheels of the vehicle are determined, and a hydraulic system corresponding to the invalid wheels is invalid; and based on the recovery braking capacity of the motor, the failed wheels are controlled. According to the method, the working boundary of the vehicle body stabilizing system can be widened, and the safety protection capacity of the vehicle is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle dynamics control, specifically to a vehicle body stability control system of an electric vehicle, and more particularly to a vehicle control method, device, vehicle and medium. Background Art

[0002] The body stability system is an active safety control function when the vehicle skids. When the vehicle encounters a similar unsafe scenario, the body stability control system will actively request to build up pressure on one or more wheels. Even if the driver does not step on the brakes, the yaw moment of the entire vehicle can be adjusted through the pressure control of the corresponding wheels, thereby enabling the vehicle to travel along the trajectory expected by the driver and ensuring that the vehicle does not lose stability. Summary of the invention

[0003] The present disclosure provides a vehicle control method, device, vehicle and medium to solve the problem that the vehicle stability cannot be controlled when the vehicle hydraulic system fails or malfunctions.

[0004] The first aspect of the present disclosure proposes a vehicle control method, including: when the vehicle is in an unstable state, determining the failed wheel of the vehicle, and the hydraulic system corresponding to the failed wheel fails; based on the recovery braking capability of the motor, controlling the failed wheel.

[0005] In some embodiments of the present disclosure, determining a failed wheel of a vehicle includes: when the instability state is understeer, determining the inner wheel of the vehicle when turning as the target wheel, or when the instability state is oversteer, determining the outer wheel of the vehicle when turning as the target wheel; determining a target wheel that has a hydraulic system failure and is controlled by a single motor as a failed wheel.

[0006] In some embodiments of the present disclosure, controlling the failed wheel based on the recovery braking capability of the motor includes: determining the wheel cylinder pressure of the failed wheel; converting the wheel cylinder pressure into the braking torque of the motor corresponding to the failed wheel; and controlling the motor corresponding to the failed wheel to perform braking control on the failed wheel according to the braking torque.

[0007] In some embodiments of the present disclosure, converting the wheel cylinder pressure into the braking torque of the motor corresponding to the failed wheel includes: obtaining a braking efficiency coefficient; and determining the braking torque based on the wheel cylinder pressure and the braking efficiency coefficient.

[0008] In some embodiments of the present disclosure, controlling the motor corresponding to the failed wheel to perform braking control on the failed wheel according to the braking torque includes: determining the recovery power of the motor corresponding to the failed wheel; and controlling the motor to apply the braking torque to the failed wheel when the recovery power meets a preset condition.

[0009] In some embodiments of the present disclosure, the method further includes: when the recovered power does not meet a preset condition, displaying a fault prompt message on a display interface of the vehicle, the fault prompt message being used to indicate that there is a fault in the hydraulic system and / or motor of the vehicle.

[0010] The second aspect of the embodiment of the present disclosure proposes a vehicle control device, including: a determination module and a control module. The determination module is used to determine the failed wheel of the vehicle when the vehicle is in an unstable state, and the hydraulic system corresponding to the failed wheel fails; the control module is used to control the failed wheel based on the recovery braking capability of the motor.

[0011] A third aspect embodiment of the present disclosure proposes a vehicle, comprising: a processor; a memory for storing processor executable instructions; wherein the processor is configured to implement any one of the methods described in the first aspect of the present disclosure.

[0012] A fourth aspect of the present disclosure provides a vehicle control system, including a control module, wherein the control module is used to implement any one of the methods described in the first aspect of the present disclosure.

[0013] The fifth aspect embodiment of the present disclosure proposes an electronic device, comprising: a processor and a memory for storing a computer program that can be run on the processor, wherein the processor, when used to run the computer program, executes any one of the methods described in the first aspect of the present disclosure.

[0014] The sixth aspect embodiment of the present disclosure proposes a non-transitory computer-readable storage medium storing computer instructions, where the computer instructions are used to enable a computer to execute any method described in any one of the first aspects of the present disclosure.

[0015] In summary, the vehicle control method, device, vehicle and medium proposed in the present disclosure, by determining the disabled wheel of the vehicle when the vehicle is in an unstable state, the hydraulic system corresponding to the disabled wheel fails; based on the recovery braking capability of the motor, the disabled wheel is controlled. When the hydraulic system fails or malfunctions, the motor recovery braking force is used as a backup braking to assist the vehicle body stability system, which broadens the working boundary of the vehicle body stability system and improves the safety protection capability of the vehicle.

[0016] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0018] Figure 1 A schematic flow chart of a vehicle control method proposed in an embodiment of the present disclosure;

[0019] Figure 2 A flow chart of a method for controlling a disabled wheel proposed in an embodiment of the present disclosure;

[0020] Figure 3 A flow chart of a method for determining braking torque proposed in an embodiment of the present disclosure;

[0021] Figure 4 A flow chart of a method for controlling a disabled wheel proposed in an embodiment of the present disclosure;

[0022] Figure 5 A method flow chart of a vehicle control method proposed in an embodiment of the present disclosure;

[0023] Fig. 6A A schematic diagram of the architecture of a vehicle control system provided by an embodiment of the present disclosure;

[0024] Figure 6B A schematic diagram of the architecture of a vehicle control system provided by an embodiment of the present disclosure;

[0025] Figure 7 A schematic diagram of the structure of a vehicle control device proposed in an embodiment of the present disclosure;

[0026] Figure 8 The present invention is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0027] Embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0028] Vehicle instability generally includes understeer and oversteer. Understeer is mainly caused by obvious side slip of the front wheels, and oversteer is caused by obvious side slip of the rear wheels. In different instability situations, the wheels requested by the body stability system to build pressure are also different. When the hydraulic system fails or malfunctions, whether a single wheel or multiple wheels lose the ability to build pressure, the body stability system generally adopts a downgrade process, that is, when it is recognized that the wheel does not have the ability to build pressure, the function is directly turned off and the function is no longer activated. At the same time, the ESC fault light is turned on on the instrument or large screen as a reminder. At this time, if the vehicle slips and becomes unstable, the system will no longer provide active safety control and can only rely on the driver's driving skills to perform rescue operations. Most drivers do not have the ability to rescue vehicles under dangerous side slip conditions and require professional training. With the development of new energy vehicles, electric vehicles have stronger and stronger ability to recover braking. Using the motor to recover braking force as a backup brake to assist the body stability system is a solution proposed in the embodiment of the present disclosure.

[0029] In summary, in order to solve the technical problems in the related art, the embodiment of the present disclosure provides a vehicle control method, which uses the motor to recover the braking force as a backup braking system to assist the vehicle body stability when the hydraulic system fails or malfunctions.

[0030] The method proposed in the embodiment of the present disclosure can achieve the goal of broadening the working boundary of the vehicle body stability system while providing more protection for the driver.

[0031] The vehicle control method proposed in the embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0032] The vehicle control method proposed in the embodiment of the present disclosure is applied to distributed independently driven vehicles, specifically three-motor controlled or four-motor controlled vehicles. Three-motor control means that the front axle uses one drive motor, and the two wheels of the rear axle use independent motors. For vehicles with this arrangement, as long as the hydraulic system of the front wheels is not invalid, even if the hydraulic system of the rear wheels fails, the body stability system can still work, and two independent motors can be used for recovery braking to realize the function of the body stability system; for vehicles controlled by four motors, each of the four wheels is driven by an independent motor. Even if the hydraulic brakes of the four wheels fail, the function of the body stability system can still be realized by motor braking.

[0033] Figure 1 FIG. 1 is a flow chart of a vehicle control method proposed in an embodiment of the present disclosure. Figure 1 As shown, the method is executed by a controller of the vehicle and may include the following steps.

[0034] Step 101: when the vehicle is in an unstable state, determine the failed wheel of the vehicle.

[0035] In some embodiments, the hydraulic system corresponding to the failed wheel fails, and the unstable state includes understeer and oversteer.

[0036] In some embodiments, the vehicle being in an unstable state may mean that the wheels of the vehicle slip sideways, causing the vehicle body to be unstable, thereby threatening the safety of the driver and passengers.

[0037] In some embodiments, determining that the vehicle is in an unstable state may be a result obtained by a body stability system of the vehicle.

[0038] In some embodiments, the determination of the stability state of the vehicle may be performed by the vehicle stability system from the perspective of the entire vehicle to determine whether the vehicle is in an unstable state.

[0039] In some embodiments, the vehicle being in an unstable state may be due to understeering of the vehicle, resulting in an inability to complete the steering in the indicated direction, or oversteering of the vehicle, resulting in the steering direction deviating from the target direction.

[0040] In some embodiments, the failed wheel of the vehicle can be determined by the body stability system judging the functional status of the vehicle, and determining the wheel with failed hydraulic system through vehicle drive mode identification and hydraulic system status identification, and the failed wheel is controlled by a single motor.

[0041] In some embodiments, determining the failed wheel of a vehicle includes: when the instability state is understeer, determining the inner wheel of the vehicle when turning as the target wheel, or when the instability state is oversteer, determining the outer wheel of the vehicle when turning as the target wheel; determining the target wheel with a hydraulic system failure and controlled by a single motor as the failed wheel.

[0042] In some embodiments, when the vehicle is understeering, intervention needs to be applied to the inner wheel when the vehicle is turning, that is, the wheels that need active boost control may be the two inner wheels when the vehicle is turning, and when there is a hydraulic system failure in the two inner wheels, it is necessary to use electric motor braking to replace the hydraulic system, that is, the wheel with a hydraulic system failure and controlled by a single motor is determined as a failed wheel.

[0043] In some embodiments, when the vehicle is in the state of oversteering, intervention needs to be applied to the outer wheels when the vehicle is turning, that is, the wheels that need active boost control may be the two outer wheels when the vehicle is turning, and when there is a hydraulic system failure in the two outer wheels, it is necessary to replace the hydraulic system with electric motor braking, that is, the wheel with a hydraulic system failure and controlled by a single motor is determined as a failed wheel.

[0044] In some embodiments, the failed wheel of a vehicle can be determined when the vehicle is controlled by three motors, the left front wheel and the right front wheel of the vehicle are controlled by one motor through shaft control, and the left rear wheel and the right rear wheel of the vehicle are respectively controlled by one motor. For a vehicle controlled by three motors, the failed wheel can be determined between the left rear wheel and the right rear wheel, that is, when the vehicle turns right and slides to the left, the failed wheel is the left rear wheel, or when the vehicle turns left and slides to the right, the failed wheel is the right rear wheel.

[0045] In some embodiments, the failed wheels of a vehicle can be determined by, for example, when the vehicle is controlled by four motors, the left front wheel, left rear wheel, right front wheel, and right rear wheel of the vehicle are respectively controlled by one motor, and when the vehicle turns right and slides to the left, the failed wheels are the left rear wheel and the left front wheel, or when the vehicle turns left and slides to the right, the failed wheels are the right front wheel and the right rear wheel.

[0046] For example, the body stability system receives status information of the hydraulic braking system. If the hydraulic system is normal, the body stability system can operate normally without the participation of motor braking. However, when some wheels of the hydraulic system fail and the failed wheels have independent drive motors, motor braking can still be used and the system does not need to be downgraded. The system judges the functional status of the body stability system based on hydraulic system status identification and vehicle drive mode identification. When the vehicle loses stability, it determines that the hydraulic system has failed and the wheels are controlled by a single motor.

[0047] Step 102: Control the disabled wheel based on the recovery braking capability of the motor.

[0048] In some embodiments, the regenerative braking capability of the motor is used to control the wheel motor to convert the vehicle's kinetic energy into electrical energy, that is, to recover part of the braking energy to control the wheels. The regenerative braking capability of the motor is independent of the vehicle's braking system, that is, independent of the braking method through the brakes.

[0049] For example, the body stability system determines that the vehicle is in an unstable state, selects the wheel that causes the vehicle to be in an unstable state, and uses the motor regenerative braking as a backup brake to assist the body stability system.

[0050] In some embodiments, based on the recovery braking capability of the motor, the control of the failed wheel can be performed by calculating the recovery torque of the motor, and sending the calculated torque as the requested torque of the motor to the motor corresponding to the failed wheel, so that the motor can control the failed wheel and achieve braking of the failed wheel.

[0051] In some embodiments, the motor recovery torque corresponds to the reverse torque of the motor and is used to recover energy.

[0052] In some embodiments, based on the recovery braking capability of the motor, the control of the failed wheel can be performed by looking up a table, and the braking torque is obtained according to the correspondence table between the offset rate of the current failed wheel and the corresponding braking torque. The control motor of the failed wheel controls the failed wheel according to the braking torque to achieve the purpose of stabilizing the vehicle body.

[0053] In some embodiments, based on the recovery braking ability of the motor, the control of the failed wheel can be performed by obtaining the braking torque recovered by the motor through formula calculation and parameters. The calculation formula and parameters can be selected according to the needs and the scenario in which the vehicle is located. For example, the calculation formula can be T=9550P / n, where: T is torque, in Newton meters (Nm); P is power, in kilowatts (kW), corresponding to the output power of the motor, which can be obtained from the nameplate of the motor; n is the speed, in revolutions per minute (rpm), corresponding to the current speed of the motor.

[0054] In some embodiments, based on the recovery braking capability of the motor, the method for controlling the failed wheel may also be to determine the motor recovery torque by other means to control the failed wheel, which is not limited by the present disclosure.

[0055] In some embodiments, based on the regenerative braking capability of the motor, the control of the disabled wheel can be performed by converting the pressure that should have been boosted by the hydraulic system into the torque of the motor regenerative braking through the conversion coefficient corresponding to the vehicle to control the disabled wheel.

[0056] In the above embodiment, in the event of failure or malfunction of the hydraulic system of the vehicle, the failed wheel is controlled by the recovery braking capability based on the motor to achieve the purpose of stabilizing the vehicle body and improving the safety protection capability of the vehicle.

[0057] Figure 2 This is a flow chart of the method for controlling a disabled wheel proposed in an embodiment of the present disclosure. Figure 1 The embodiment shown, Figure 2 Yes Figure 1 The step 102 is further defined. Figure 2 The illustrated embodiment may include the following steps.

[0058] Step 201, determining the wheel cylinder pressure of the failed wheel.

[0059] In some embodiments, the wheel cylinder pressure is the pressure in the wheel cylinder of the vehicle's braking system. When the vehicle is in an unstable state, the braking system will increase the pressure on the failed wheel to generate the wheel cylinder pressure of the failed wheel.

[0060] In some embodiments, the wheel cylinder pressure of the failed wheel may be calculated by measuring the braking torque and tire parameters during vehicle braking.

[0061] In some embodiments, the wheel cylinder pressure may be calculated based on a vehicle body stability system.

[0062] For example, for a vehicle controlled by three motors, when the vehicle turns right and slides to the left, it is determined that the failed wheel is the left rear wheel, and the target wheel cylinder pressure of the left rear wheel is calculated to be 50 bar through the vehicle body stability system.

[0063] For example, for a vehicle controlled by four motors, when the vehicle turns left and slides to the right, the failed wheels are determined to be the right front wheel and the right rear wheel, and the target wheel cylinder pressures of the right front wheel and the right rear wheel are calculated by the body stability system to be 40 bar and 30 bar, respectively.

[0064] Step 202: Convert the wheel cylinder pressure into the braking torque of the motor corresponding to the failed wheel.

[0065] In some embodiments, the wheel cylinder pressure may be converted into the braking torque of the motor corresponding to the failed wheel by using pre-set conversion parameters, wherein the wheel cylinder pressure may be converted into the braking torque, wherein the conversion parameters may be obtained based on statistical analysis of historical data.

[0066] In some embodiments, converting the wheel cylinder pressure into the braking torque of the motor corresponding to the failed wheel may be performed by looking up a conversion coefficient corresponding to the wheel cylinder pressure according to a table lookup method, and determining the corresponding braking torque.

[0067] In some embodiments, the wheel cylinder pressure may be converted into the braking torque of the motor corresponding to the failed wheel through a pre-trained dynamic model, and after the wheel cylinder pressure is input, the output braking torque is obtained, wherein the dynamic model may be obtained by training the model using historical data as training data.

[0068] In some embodiments, the braking torque of the motor corresponding to the failed wheel may be the target braking force of the failed wheel.

[0069] Step 203: Control the motor corresponding to the disabled wheel to perform braking control on the disabled wheel according to the braking torque.

[0070] In some embodiments, controlling the motor corresponding to the failed wheel to perform braking control on the failed wheel according to the braking torque may be to send the braking torque as a request torque to the motor corresponding to the failed wheel, and control the motor to perform braking control on the corresponding failed wheel to reduce the driving force of the failed wheel and achieve the purpose of stabilizing the vehicle body.

[0071] For example, for a vehicle controlled by three motors, if the failed wheel is determined to be the left rear wheel or the right rear wheel, the motor corresponding to the left rear wheel is controlled to brake the left rear wheel according to the target braking force, or the motor corresponding to the right rear wheel is controlled to brake the right rear wheel according to the target braking force.

[0072] For example, for a vehicle controlled by four motors, if the failed wheel is determined to be the left front wheel, the left rear wheel, or the right front wheel, the right rear wheel, the motors of the corresponding wheels are controlled to brake the failed wheels according to the braking torque obtained in step 202.

[0073] In the above embodiment, the wheel cylinder pressure of the failed wheel is obtained and converted into the recovery braking torque of the motor, so that the failed wheel is braked and controlled by using the motor recovery braking method, thereby stabilizing the vehicle body and improving the safety protection capability of the vehicle.

[0074] Figure 3 A flow chart of a method for determining braking torque proposed in an embodiment of the present disclosure. Figure 1-Figure 2 The embodiment shown, Figure 3 Yes Figure 2 Step 202 is further described. Figure 3 The illustrated embodiment may include the following steps.

[0075] Step 301, obtaining the braking efficiency coefficient.

[0076] In some embodiments, the braking efficiency coefficient is related to the vehicle hardware system. After the vehicle hardware system is fixed, the braking efficiency coefficient is a fixed value.

[0077] In some embodiments, the braking efficiency coefficient is related to the friction coefficient of the vehicle friction plate, the piston area, and the effective radius. For vehicles with different hardware configurations, their braking efficiency coefficients may be different or the same, and this disclosure does not limit this.

[0078] In some embodiments, obtaining the braking effectiveness coefficient may be obtaining the value of the effectiveness coefficient in a hardware system corresponding to the vehicle.

[0079] In some embodiments, the unit of the braking efficiency coefficient is braking torque generated per bar of pressure.

[0080] For example, the braking efficiency coefficient of the vehicle is obtained as 20 Nm / bar.

[0081] Step 302: Determine the braking torque based on the wheel cylinder pressure and the braking efficiency coefficient.

[0082] In some embodiments, based on the wheel cylinder pressure and the braking effectiveness coefficient, determining the braking torque may be by multiplying the wheel cylinder pressure by the braking effectiveness coefficient to obtain the braking torque.

[0083] In some embodiments, based on the wheel cylinder pressure and the braking efficiency coefficient, the braking torque can be determined by using a dynamic model that takes the wheel cylinder pressure and the braking efficiency coefficient as input and outputs the braking torque, wherein the dynamic model can be a model trained based on historical data.

[0084] For example, for a vehicle controlled by three motors, when the vehicle turns right and slides to the left, the failed wheel is determined to be the left rear wheel, the wheel cylinder pressure is 50 bar, the braking efficiency coefficient is 20 Nm / bar, and the braking torque of the left rear wheel is 1000 Nm.

[0085] For example, for a vehicle controlled by four motors, when the vehicle turns left and slides to the right, the failed wheels are determined to be the right front wheel and the right rear wheel. The target wheel cylinder pressures are calculated by the body stability system, which are 40 bar for the right front wheel and 30 bar for the right rear wheel. The braking efficiency coefficient is 20 Nm / bar, and the braking torque of the right front wheel is 800 Nm, and the braking torque of the right rear wheel is 600 Nm.

[0086] In the above embodiment, by determining the wheel cylinder pressure of the failed wheel and obtaining the corresponding braking efficiency coefficient of the vehicle, the wheel cylinder pressure of the failed wheel is converted into a braking torque according to the braking efficiency coefficient. The obtained braking torque can achieve the same effect of stabilizing the vehicle body as the hydraulic system's pressurization of the wheel when acting on the failed wheel, thereby achieving motor recovery braking of the vehicle under the premise of failure or malfunction of the hydraulic system to improve the vehicle's safety protection capability.

[0087] In the above embodiment, by obtaining the braking efficiency coefficient corresponding to the vehicle and determining the braking torque based on the wheel cylinder pressure and the braking efficiency coefficient, the obtained braking torque can be made more consistent with the performance of the vehicle, thereby achieving effectiveness in vehicle body stability control.

[0088] Figure 4 This is a flow chart of the method for controlling a disabled wheel proposed in an embodiment of the present disclosure. Figure 1-Figure 3 The embodiment shown, Figure 4 Yes Figure 2 Step 203 is further described. Figure 4 The illustrated embodiment may include the following steps.

[0089] Step 401, determining the recovery power of the motor corresponding to the failed wheel.

[0090] The motor's recovery power is affected by the battery's nuclear power status, requested recovery torque, battery's allowable recovery power, requested recovery power, motor recovery efficiency, motor rated power, battery temperature, etc. In actual scenarios, the motor's recovery power is also affected by road conditions, vehicle speed, etc.

[0091] In some embodiments, determining the recovery power of the motor corresponding to the failed wheel may be by obtaining the recovery power corresponding to the motor controlling the failed wheel through a body stability control system of the vehicle.

[0092] In some embodiments, the recovery power of the motor corresponding to the failed wheel may be determined by searching in a hardware parameter table of the motor.

[0093] In some embodiments, the recovery power of the motor corresponding to the failed wheel can be determined by comprehensively calculating the recovery power of the motor through a dynamic model in the system in combination with factors such as the battery power status and battery temperature.

[0094] Step 402: When the regenerated power meets a preset condition, the motor is controlled to apply a braking torque to the disabled wheel.

[0095] In some embodiments, the preset condition may be that the recovery power is greater than a preset threshold value, and the preset threshold value may be a preset maximum recovery power value. In other words, when the recovery power of the motor is greater than the maximum recovery power value, that is, the recovery power is sufficient, it means that the motor can achieve braking control of the failed wheel.

[0096] In some embodiments, the preset condition may be that the recovery power is greater than or equal to a power threshold, and the power threshold may be obtained according to the braking torque.

[0097] In some embodiments, the power threshold may be a corresponding value calculated based on the current braking torque of the vehicle and the recovery efficiency of the motor. In other words, the power threshold may be the recovery power corresponding to the target braking force.

[0098] In some embodiments, the power threshold may be a value obtained by looking up a table based on the calculated braking torque to determine whether the motor can achieve the braking control function for the failed wheel.

[0099] In some embodiments, when the recovered power meets a preset condition, controlling the motor to apply a braking torque to the failed wheel may be to apply a braking torque to the failed wheel to reduce the deviation of the failed wheel and achieve stability control of the vehicle body.

[0100] For example, for a vehicle controlled by three motors, when the vehicle turns right and slides to the left, it is determined that the braking torque of the left rear wheel is 1000 Nm, and the motor is controlled to apply a braking torque of 1000 Nm to the left rear wheel.

[0101] For example, for a vehicle controlled by four motors, when the vehicle turns left and slides to the right, it is determined that the braking torque of the right front wheel is 800 Nm and the braking torque of the right rear wheel is 600 Nm. The motor of the right front wheel applies a braking torque of 800 Nm to the right front wheel, and the motor of the right rear wheel applies a braking torque of 600 Nm to the right rear wheel.

[0102] In the above embodiment, by judging the recovery power of the motor, when the recovery power meets the preset conditions, the motor recovery braking is adopted to apply the corresponding braking torque to the failed wheel to achieve the stability control of the vehicle body and improve the safety protection capability of the vehicle.

[0103] Figure 5 A flow chart of a vehicle control method proposed in an embodiment of the present disclosure, based on Figure 1-Figure 4 In the embodiment shown, the method further comprises the following steps:

[0104] Step 501: When the regenerated power does not meet a preset condition, a fault prompt message is displayed on a display interface of the vehicle.

[0105] In some embodiments, the fault prompt information is used to prompt that there is a fault in the hydraulic system and / or the motor of the vehicle.

[0106] In some embodiments, when the recovery power does not meet the preset condition, the preset condition may be that the recovery power is greater than a preset threshold, and the preset threshold may be a pre-set maximum recovery power value. When the recovery power of the motor is less than or equal to the maximum recovery power value, that is, the recovery power is small and the recovery braking capability of the motor cannot be realized, it means that the failed wheel cannot be controlled based on the recovery braking capability of the motor. In other words, the vehicle's motor cannot effectively perform the body stability function.

[0107] In some embodiments, when the recovery power does not meet a preset condition, the preset condition may be that the recovery power is greater than or equal to a power threshold, and the power threshold may be calculated based on the braking torque. If the recovery power of the motor is less than the power threshold, that is, the recovery power is small and the recovery braking capability of the motor cannot be achieved, it means that the failed wheel cannot be controlled based on the recovery braking capability of the motor.

[0108] In some embodiments, when the recovered power does not meet preset conditions, displaying a fault prompt message on the vehicle's display interface may be outputting the fault prompt message through the vehicle's display interface to prompt the driver to go to a repair shop as soon as possible to repair the vehicle's hydraulic system and / or motor.

[0109] For example, when the recovery power of the motor is small and the motor braking cannot reach the target braking force, the large screen or instrument of the vehicle displays a fault prompt, indicating that there is a fault in the hydraulic system or the motor.

[0110] In summary, the vehicle control method proposed in the present invention can control the failed wheels based on the recovery braking capability of the motor when the vehicle is in an unstable state and the hydraulic system fails or malfunctions, so as to achieve stable control of the vehicle body, broaden the working boundary of the vehicle body stability system, and improve the vehicle's safety protection capability.

[0111] Fig. 6A is a schematic diagram of a vehicle body stabilization system, such as Fig. 6A As shown, the working principle of the vehicle body stability system is as follows:

[0112] 1. The vehicle stability system receives the status information of the hydraulic brake system. If the hydraulic system is normal, the vehicle stability system can work normally without the participation of the motor brake, regardless of any driving mode;

[0113] 2. If some wheels of the hydraulic system fail, but the failed wheels have independent drive motors, the motors can still be used for braking, and the system does not need to be degraded;

[0114] 3. The system determines the vehicle's instability and selects the corresponding wheel (FL / FR / RL / RR) to issue an active boost command, such as Figure 6B The schematic diagram shown is of the rear axle sliding to the left when the vehicle turns right. At this time, the wheels that need to be braked are the left front wheel and the left rear wheel. The counterclockwise yaw moment generated by the whole vehicle can offset the tendency of the rear end to slide to the left. In this case, as long as the hydraulic systems of the left front wheel and the left rear wheel can work normally or although the hydraulic systems cannot work but the two wheels have single-wheel motor braking, the function of the body stability system can also be realized.

[0115] 4. When the hydraulic system is normal, the wheel cylinder pressure calculation and request method will be adopted, that is, the wheel cylinder pressure is built up to control the failed wheel. However, when the hydraulic system fails or malfunctions, the group will adopt the motor recovery torque calculation and request method, that is, motor braking to control the failed wheel. The motor braking method is to convert the wheel cylinder pressure obtained by wheel cylinder pressure building into the corresponding recovery braking torque to control the braking of the failed wheel.

[0116] In summary, this solution can use the motor's recovered braking force as a backup brake to assist the vehicle body stability system when the hydraulic system fails or malfunctions, which can broaden the working boundaries of the vehicle body stability system and provide more protection for the driver.

[0117] Figure 7 FIG. 7 is a schematic diagram of the structure of a vehicle control device 700 according to an embodiment of the present disclosure. Figure 7 As shown, the device comprises:

[0118] A determination module 710 is used to determine a failed wheel of the vehicle when the vehicle is in an unstable state, and the hydraulic system corresponding to the failed wheel is failed;

[0119] The control module 720 is used to control the disabled wheel based on the recovery braking capability of the motor.

[0120] In some embodiments, the determination module is also used to determine the inner wheel of the vehicle when turning as the target wheel when the instability state is understeer, or to determine the outer wheel of the vehicle when turning as the target wheel when the instability state is oversteer; and to determine the target wheel where the hydraulic system fails and is controlled by a single motor as a failed wheel.

[0121] In some embodiments, the control module is further used to: determine the wheel cylinder pressure of the failed wheel; convert the wheel cylinder pressure into the braking torque of the motor corresponding to the failed wheel; and control the motor corresponding to the failed wheel to perform braking control on the failed wheel according to the braking torque.

[0122] In some embodiments, the determination module is further used to: obtain a braking effectiveness coefficient; and determine a braking torque based on the wheel cylinder pressure and the braking effectiveness coefficient.

[0123] In some embodiments, the control module is further used to: determine the recovery power of the motor corresponding to the failed wheel; and control the motor to apply braking torque to the failed wheel when the recovery power meets a preset condition.

[0124] In some embodiments, the control module is also used to: when the recovery power does not meet the preset conditions, display a fault prompt information on the display interface of the vehicle, and the fault prompt information is used to indicate that there is a fault in the hydraulic system and / or motor of the vehicle.

[0125] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0126] Figure 8 A block diagram of a vehicle 800 is shown according to an exemplary embodiment. For example, the vehicle 800 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 800 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0127] Reference Figure 8, the vehicle 800 may include various subsystems, for example, an infotainment system 810, a perception system 820, a decision control system 830, a drive system 840, and a computing platform 850. The vehicle 800 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 800 may be interconnected by wire or wireless means.

[0128] In some embodiments, the infotainment system 810 may include a communication system, an entertainment system, and a navigation system, etc.

[0129] The perception system 820 may include several sensors for sensing information about the environment around the vehicle 800. For example, the perception system 820 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0130] The decision control system 830 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0131] The drive system 840 may include components that provide powered motion for the vehicle 800. In one embodiment, the drive system 840 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0132] Some or all functions of the vehicle 800 are controlled by a computing platform 850. The computing platform 850 may include at least one processor 851 and a memory 852, and the processor 851 may execute instructions 853 stored in the memory 852.

[0133] The processor 851 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0134] The memory 852 may be implemented by any type of volatile or nonvolatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0135] In addition to instructions 853 , memory 852 may also store data, such as road maps, route information, vehicle location, direction, speed, etc. The data stored in memory 852 may be used by computing platform 850 .

[0136] In the embodiment of the present disclosure, the processor 851 can execute instruction 853 to complete all or part of the steps of the above-mentioned vehicle control method.

[0137] The present disclosure also provides a vehicle control system, including a control module, and the control module is used to implement the steps of the vehicle control method provided by the present disclosure.

[0138] The present disclosure also provides an electronic device, including a processor and a memory for storing a computer program that can be run on the processor, wherein the processor executes the steps of the vehicle control method provided by the present disclosure when running the computer program.

[0139] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, and the program instructions, when executed by a processor, implement the steps of the vehicle control method provided by the present disclosure.

[0140] In addition, the word "exemplary" is used herein to indicate serving as an example, instance, or diagram. Any aspect or design described as "exemplary" in this article is not necessarily understood to be advantageous compared to other aspects or designs. On the contrary, the use of the word exemplary is intended to present concepts in a specific way. As used herein, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to represent any one of the natural inclusive arrangements. That is, if X applies A; X applies B; or X applies both A and B, "X applies A or B" is satisfied under any of the aforementioned examples. In addition, unless otherwise specified or clearly pointed to a singular form from the context, the articles "one" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0141] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art after reading and understanding the specification and drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise noted, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if the structure is not equivalent to the disclosed structure. In addition, although the specific features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and conducive to any given or specific application. In addition, with respect to "including", "having", "having", "having", or variations thereof used in the specific embodiments or claims, such terms are intended to be inclusive in a manner similar to the term "comprising".

[0142] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0143] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

[0144] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0145] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0146] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present disclosure includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure belong.

[0147] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processing module, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (control method), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0148] It should be understood that the various parts of the embodiments of the present disclosure can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0149] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0150] In addition, each functional unit in each embodiment of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. The above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0151] Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present disclosure. A person skilled in the art may change, modify, substitute and vary the above embodiments within the scope of the present disclosure.

Claims

1. A vehicle control method, characterized in that: The method comprises: When the vehicle is in an unstable state, determining a failed wheel of the vehicle, and a hydraulic system corresponding to the failed wheel fails; The disabled wheel is controlled based on the recovery braking capability of the motor.

2. The method according to claim 1, characterized in that Determining the disabled wheel of the vehicle comprises: When the unstable state is understeering, the inner wheel of the vehicle when turning is determined as the target wheel, or when the unstable state is oversteering, the outer wheel of the vehicle when turning is determined as the target wheel; The target wheel having a hydraulic system failure and being controlled by a single motor is determined as the failed wheel.

3. The method according to claim 1, characterized in that The controlling of the disabled wheel based on the recovery braking capability of the motor includes: determining the wheel cylinder pressure of the failed wheel; converting the wheel cylinder pressure into a braking torque of a motor corresponding to the failed wheel; The motor corresponding to the disabled wheel is controlled to perform braking control on the disabled wheel according to the braking torque.

4. The method according to claim 3, characterized in that The step of converting the wheel cylinder pressure into the braking torque of the motor corresponding to the failed wheel comprises: Obtaining braking efficiency coefficient; The braking torque is determined based on the wheel cylinder pressure and the braking effectiveness coefficient.

5. The method according to claim 3, characterized in that: The controlling the motor corresponding to the disabled wheel to brake the disabled wheel according to the braking torque comprises: Determining the recovery power of the motor corresponding to the failed wheel; When the regenerative power meets a preset condition, the motor is controlled to apply the braking torque to the disabled wheel.

6. The method according to claim 5, characterized in that The method further comprises: In the case where the recovery power does not satisfy the preset condition, a fault prompt information is displayed on the display interface of the vehicle, and the fault prompt information is used to prompt that a fault exists in the hydraulic system and / or the motor of the vehicle.

7. A vehicle control device, characterized in that: include: Determine the module, control the module, The determination module is used to determine a failed wheel of the vehicle when the vehicle is in an unstable state, and the hydraulic system corresponding to the failed wheel is failed; The control module is used to control the disabled wheel based on the recovery braking capability of the motor.

8. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to implement the method according to any one of claims 1 to 6.

9. A vehicle control system, characterized in that: It comprises a control module, and the control module is used to implement the method according to any one of claims 1-6.

10. An electronic device, characterized in that: include: A processor and a memory for storing a computer program that can be run on the processor, wherein the processor executes the method according to any one of claims 1 to 6 when running the computer program.

11. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-6.

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