Vehicle stability control method and device, storage medium and electronic equipment

Abstract

The embodiment of the invention provides a vehicle stability control method and device, a storage medium and electronic equipment. The method comprises the steps that current operation parameters of all tires on a vehicle are obtained in response to a steering fault signal; determining the direction force deviation of the vehicle according to the current operation parameter and the expected operation parameter of the vehicle for each tire; determining a target braking force corresponding to each tire on the vehicle based on the direction force deviation; and controlling a braking system of the vehicle to brake each tire according to the target braking force corresponding to each tire so as to counteract the directional force deviation of the vehicle. According to the technical scheme, when the steering system of the vehicle breaks down, the driving direction of the vehicle is not prone to deviating from the expected driving direction of a driver, and therefore the driving safety of the vehicle is improved.

Description

Technical Field

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

[0002] With the continuous development of automobile technology, smart cars account for an increasingly larger share of the market.

[0003] In the related technology, in order to improve the maneuverability of the vehicle, the manufacturer usually installs a rear-wheel steering system in the vehicle, so that when the driver needs to control the vehicle to turn, the rear-wheel steering system can implement the rear-wheel follow-up steering technology, so that the steering angle of the rear wheel can change with the change of the steering angle of the front wheel, thereby improving the steering range of the vehicle, and then achieving the purpose of improving the maneuverability of the vehicle.

[0004] In order to adjust the steering angle of the rear wheels, the rear-wheel steering system usually uses a lead screw nut as a driving device for adjusting the steering angle of the rear wheels, thereby preventing the steering angle of the rear wheels of the vehicle from changing when they are reversely stimulated by the road surface based on the self-locking effect of the lead screw bolt itself, thereby improving the safety of the vehicle when using the rear-wheel steering system. However, when the rear-wheel steering system fails, the steering angle of the rear wheels of the vehicle will also be fixed due to the self-locking effect of the lead screw bolt, causing the vehicle's driving direction to easily deviate from the driver's expected driving direction due to the interference of the rear wheel steering angle, resulting in a decrease in the driving safety of the vehicle. Summary of the invention

[0005] To solve the above technical problems, embodiments of the present application provide a vehicle stability control method, device, computer-readable storage medium and electronic device.

[0006] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0007] According to one aspect of an embodiment of the present application, a vehicle stability control method is provided, comprising: acquiring current operating parameters of each tire on the vehicle in response to a steering fault signal; determining a directional force deviation of the vehicle based on the current operating parameters and expected operating parameters of the vehicle for each tire; determining a target braking force corresponding to each tire on the vehicle based on the directional force deviation; and controlling the braking system of the vehicle to brake each tire according to the target braking force corresponding to each tire to offset the directional force deviation of the vehicle.

[0008] In some embodiments of the present application, based on the aforementioned scheme, the directional force deviation includes a steering force deviation and / or a center of mass torque deviation; the determining the directional force deviation of the vehicle according to the current operating parameters and the expected operating parameters of the vehicle for each tire includes: calculating the steering force deviation according to the current operating parameters and the expected operating parameters; or; calculating the center of mass torque deviation according to the current operating parameters, the expected operating parameters and tire position information of each tire on the vehicle; wherein the tire position information represents the distance information between each tire on the vehicle and the center of mass of the vehicle; or; calculating the steering force deviation according to the current operating parameters and the expected operating parameters; calculating the center of mass torque deviation according to the current operating parameters, the expected operating parameters and tire position information of each tire on the vehicle.

[0009] In some embodiments of the present application, based on the aforementioned scheme, calculating the steering force deviation according to the current operating parameters and the expected operating parameters includes: matching a corresponding target steering force calculation model based on the expected driving direction of the vehicle; calculating the current steering force corresponding to the vehicle based on the current operating parameters through the target steering force calculation model; calculating the expected steering force corresponding to the vehicle based on the expected operating parameters through the target steering force calculation model; and taking the difference between the current steering force and the expected steering force as the steering force deviation.

[0010] In some embodiments of the present application, based on the aforementioned scheme, the target steering force calculation model includes a first calculation model and a second calculation model, and the target steering force calculation model corresponding to the expected driving direction of the vehicle is matched, including: if the expected driving direction of the vehicle is straight, then the first calculation model is matched as the target steering force calculation model; wherein the first calculation model is used to calculate the lateral force exerted on the vehicle; if the expected driving direction of the vehicle is turning, then the second calculation model is matched as the target steering force calculation model; wherein the second calculation model is used to calculate the longitudinal force and lateral force exerted on the vehicle.

[0011] In some embodiments of the present application, based on the aforementioned scheme, the calculation of the center of mass torque deviation based on the current operating parameters, the expected operating parameters and the tire position information of each tire on the vehicle includes: calculating the current center of mass torque corresponding to the vehicle based on the current operating parameters and the tire position information through a preset center of mass torque calculation model; wherein the preset center of mass torque calculation model is used to calculate the center of mass torque on the vehicle; calculating the expected center of mass torque corresponding to the vehicle based on the expected operating parameters and the tire position information through the preset center of mass torque calculation model; and using the difference between the current center of mass torque and the expected center of mass torque as the center of mass torque deviation.

[0012] In some embodiments of the present application, based on the aforementioned scheme, determining the target braking force corresponding to each tire on the vehicle based on the directional force deviation includes: matching the corresponding target braking force calculation model based on the expected driving direction of the vehicle; determining the braking force ratio of the vehicle on each tire according to the tire position information of each tire on the vehicle; and calculating the target braking force corresponding to each tire based on the braking force ratio and the directional force deviation through the target braking force calculation model.

[0013] In some embodiments of the present application, based on the aforementioned scheme, the vehicle stability control method also includes: acquiring the current driving condition of the vehicle in response to the steering fault signal; determining the target driving speed of the vehicle corresponding to the steering fault signal based on the current driving condition; and limiting the driving speed of the vehicle according to the target driving speed.

[0014] According to one aspect of an embodiment of the present application, a vehicle stability control device is provided, comprising: a data acquisition module, configured to acquire current operating parameters of each tire on the vehicle in response to a steering fault signal; a deviation calculation module, configured to determine a directional force deviation of the vehicle based on the current operating parameters and the expected operating parameters of the vehicle for each tire; a deviation correction module, configured to determine a target braking force corresponding to each tire on the vehicle based on the directional force deviation; and a control module, configured to control the braking system of the vehicle to brake each tire according to the target braking force corresponding to each tire to offset the directional force deviation of the vehicle.

[0015] In some embodiments of the present application, based on the aforementioned scheme, the directional force deviation includes a steering force deviation and / or a center of mass torque deviation, and the deviation calculation module is further configured to: calculate the steering force deviation based on the current operating parameters and the expected operating parameters; or; calculate the center of mass torque deviation based on the current operating parameters, the expected operating parameters and the tire position information of each tire on the vehicle; wherein the tire position information represents the distance information between each tire on the vehicle and the center of mass of the vehicle; or; calculate the steering force deviation based on the current operating parameters and the expected operating parameters; calculate the center of mass torque deviation based on the current operating parameters, the expected operating parameters and the tire position information of each tire on the vehicle.

[0016] In some embodiments of the present application, based on the aforementioned scheme, the deviation calculation module is also configured to: match the corresponding target steering force calculation model based on the expected driving direction of the vehicle; calculate the current steering force corresponding to the vehicle based on the current operating parameters through the target steering force calculation model; calculate the expected steering force corresponding to the vehicle based on the expected operating parameters through the target steering force calculation model; and use the difference between the current steering force and the expected steering force as the steering force deviation.

[0017] In some embodiments of the present application, based on the aforementioned scheme, the deviation calculation module is also configured as: if the desired driving direction of the vehicle is straight, then the first calculation model is matched as the target steering force calculation model; wherein the first calculation model is used to calculate the lateral force exerted on the vehicle; if the desired driving direction of the vehicle is turning, then the second calculation model is matched as the target steering force calculation model; wherein the second calculation model is used to calculate the longitudinal force and lateral force exerted on the vehicle.

[0018] In some embodiments of the present application, based on the aforementioned scheme, the deviation calculation module is further configured to: calculate the current center of mass torque corresponding to the vehicle based on the current operating parameters and the tire position information through a preset center of mass torque calculation model; wherein the preset center of mass torque calculation model is used to calculate the center of mass torque on the vehicle; calculate the expected center of mass torque corresponding to the vehicle based on the expected operating parameters and the tire position information through the preset center of mass torque calculation model; and use the difference between the current center of mass torque and the expected center of mass torque as the center of mass torque deviation.

[0019] In some embodiments of the present application, based on the aforementioned scheme, the deviation correction module is further configured to: match the corresponding target braking force calculation model based on the expected driving direction of the vehicle; determine the braking force ratio of the vehicle on each tire according to the tire position information of each tire on the vehicle; calculate the target braking force corresponding to each tire based on the braking force ratio and the directional force deviation through the target braking force calculation model.

[0020] In some embodiments of the present application, based on the aforementioned scheme, the vehicle stability control device also includes a safety module, and the safety module is configured to: obtain the current driving condition of the vehicle in response to the steering fault signal; determine the target driving speed of the vehicle corresponding to the steering fault signal based on the current driving condition; and limit the driving speed of the vehicle according to the target driving speed.

[0021] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer executes the vehicle stability control method described in the above embodiment.

[0022] According to one aspect of an embodiment of the present application, an electronic device is provided, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the vehicle stability control method as described in the above embodiments.

[0023] In the technical solution of the embodiment of the present application, the current operating parameters of each tire on the vehicle can be obtained in response to a steering fault signal, and then the directional force deviation of the vehicle can be determined based on the current operating parameters and the expected operating parameters of the vehicle for each tire, and the target braking force corresponding to each tire on the vehicle is determined based on the directional force deviation, so as to control the vehicle's braking system to brake each tire according to the target braking force corresponding to each tire, thereby offsetting the directional force deviation of the vehicle, avoiding the vehicle's driving direction deviating from the driver's expected driving direction when the vehicle's steering system fails and the steering angle of the vehicle's tires is fixed, thereby improving the vehicle's driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0025] Figure 1 is a flow chart of a vehicle stability control method shown in an exemplary embodiment of the present application;

[0026] Figure 2 is a flow chart showing a calculation of steering force deviation according to an exemplary embodiment of the present application;

[0027] Figure 3 is a flow chart showing a method of calculating a mass center torque deviation according to an exemplary embodiment of the present application;

[0028] Figure 4 is a flow chart showing a method of determining a target braking force according to an exemplary embodiment of the present application;

[0029] Figure 5 is a flow chart of a vehicle stability control method shown in another exemplary embodiment of the present application;

[0030] Figure 6 is a block diagram of a vehicle stability control device shown in an exemplary embodiment of the present application;

[0031] Figure 7 It is a schematic diagram of the structure of an electronic device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0032] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0033] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0034] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0035] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor do they have to be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0036] It should be noted that the "multiple" mentioned in this article refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0037] In the related technology, in order to improve the maneuverability of the vehicle, the manufacturer usually installs a rear-wheel steering system in the vehicle, so that when the driver needs to control the vehicle to turn, the rear-wheel steering system can implement the rear-wheel follow-up steering technology, that is, the steering angle of the rear wheel can change with the change of the steering angle of the front wheel, thereby increasing the steering range of the vehicle, and then achieving the purpose of improving the maneuverability of the vehicle.

[0038] In order to adjust the steering angle of the rear wheels, the rear-wheel steering system usually uses a lead screw nut as a driving device for adjusting the steering angle of the rear wheels, thereby preventing the steering angle of the rear wheels of the vehicle from changing when they are reversely stimulated by the road surface based on the self-locking effect of the lead screw bolt itself, thereby improving the safety of the vehicle when using the rear-wheel steering system. However, when the rear-wheel steering system fails, the steering angle of the rear wheels of the vehicle will also be fixed due to the self-locking effect of the lead screw bolt, causing the vehicle's driving direction to easily deviate from the driver's expected driving direction due to the interference of the rear wheel steering angle.

[0039] To solve the above problems, the technical solution of the embodiment of the present application proposes a vehicle stability control method, which is specifically referred to as Figure 1 The method may be executed by a control device in the vehicle, or by other devices in the vehicle, and is not limited here. The method includes at least steps S110 to S140, which are described in detail as follows:

[0040] In step S110 , the current operating parameters of each tire on the vehicle are acquired in response to the steering fault signal.

[0041] The steering fault signal indicates that the current driving direction of the vehicle deviates from the driver's expected driving direction.

[0042] In some embodiments of the present application, the generation method of the steering fault signal can be flexibly set as needed. In one example, the current driving direction of the vehicle can be determined according to the current steering angle of the vehicle, the expected driving direction of the vehicle can be determined according to the expected steering angle of the vehicle, and then the current driving direction of the vehicle and the expected driving direction can be detected to be the same, so that when the current driving direction of the vehicle is detected to be different from the expected driving direction, a steering fault signal is generated. That is, if it is detected that the current driving direction of the vehicle is different from the expected driving direction, it indicates that the current driving direction of the vehicle has deviated from the expected driving direction of the driver, and a steering fault signal can be generated to indicate that the current driving direction of the vehicle has deviated.

[0043] In the above process, the desired steering angle of the vehicle can be determined by the angle of rotation of the steering wheel on the vehicle, or by the driving route output by the intelligent driving device on the vehicle.

[0044] In another example, the target turning angle of each tire on the vehicle can be determined according to the expected steering angle of the vehicle, and then the current turning angle of each tire on the vehicle is detected to be the same as the target turning angle, so that when the current turning angle corresponding to any tire on the vehicle is detected to be different from the target turning angle, a steering fault signal is generated. That is, if it is detected that the current turning angle corresponding to any tire on the vehicle is different from the target turning angle, it indicates that after the vehicle is driven according to the current turning angles of each tire on the vehicle, the driving direction of the vehicle will deviate from the expected driving direction of the driver, and a steering fault signal can be generated to indicate that the current driving direction of the vehicle has deviated.

[0045] Secondly, based on the above example, in order to facilitate the determination of the location of the vehicle failure through the steering fault signal, the steering fault signal may include a front wheel steering fault signal and a rear wheel steering fault signal. In the process of detecting whether the current steering angle of each tire on the vehicle is the same as the target steering angle, if the current steering angle of the tire on the front axle of the vehicle is different from the corresponding target steering angle, a front wheel steering fault signal is generated to indicate that after the vehicle is driven according to the current steering angle of each tire on the vehicle, the driving direction of the vehicle will deviate from the driver's expected driving direction under the influence of the front axle tire. Correspondingly, if the current steering angle of the tire on the rear axle of the vehicle is different from the corresponding target steering angle, a rear wheel steering fault signal is generated to indicate that after the vehicle is driven according to the current steering angle of each tire on the vehicle, the driving direction of the vehicle will deviate from the driver's expected driving direction under the influence of the rear axle tire.

[0046] In addition, the steering fault signal can also be displayed on the multimedia device installed on the vehicle or the indicator light installed on the vehicle to alert the driver that the current driving direction of the vehicle has deviated, so that the driver can correct the current driving direction of the vehicle in time and reduce the chance of traffic accidents.

[0047] In an embodiment of the present application, in order to prevent the current driving direction of the vehicle from deviating from the driver's desired driving direction, the current operating parameters of each tire on the vehicle may be first acquired in response to a steering fault signal generated by the vehicle.

[0048] The operating parameters of each tire on the vehicle represent the operating parameters of each tire on the vehicle that affect the vehicle's driving direction. The current operating parameters of each tire of the vehicle represent the operating parameters of each tire when the vehicle is driving in the current driving direction.

[0049] In some embodiments of the present application, the current operating parameters of each tire on the vehicle may include the steering angle of each tire on the vehicle. Correspondingly, the method of obtaining the current operating parameters of each tire on the vehicle can directly obtain the steering angle of each tire as the current operating parameter of each tire on the vehicle through the steering angle sensor provided on the vehicle.

[0050] In some embodiments of the present application, the current operating parameters of each tire on the vehicle may include the force acting on each tire on the vehicle. Correspondingly, the method for obtaining the current operating parameters of each tire on the vehicle is to first obtain the operating power of the motor provided on the vehicle for driving the tires to rotate, and then determine the braking force of each tire as the current operating parameter of each tire on the vehicle based on the operating power.

[0051] In some embodiments of the present application, the current operating parameters of each tire on the vehicle may include the steering angle and braking force of each tire on the vehicle. Correspondingly, the method of obtaining the current operating parameters of each tire on the vehicle is to obtain the steering angle of each tire through a steering angle sensor provided on the vehicle, and determine the braking force of each tire through the operating power of the motor on the vehicle, thereby achieving the purpose of obtaining the current operating parameters of each tire on the vehicle.

[0052] In step S120 , the directional force deviation of the vehicle is determined according to the current operating parameters and the expected operating parameters of the vehicle for each tire.

[0053] In an embodiment of the present application, after obtaining the current operating parameters of each tire on the vehicle, the directional force deviation of the vehicle can be determined based on the current operating parameters and the vehicle's expected operating parameters for each tire, wherein the vehicle's expected operating parameters for each tire represent the operating parameters of each tire when the vehicle is traveling in the expected driving direction, and the vehicle's directional force deviation represents the deviation between the vehicle's current driving direction and the expected driving direction.

[0054] In some embodiments of the present application, the method of determining the directional force deviation of the vehicle based on the current operating parameters and the expected operating parameters of the vehicle for each tire can directly obtain the deviation value associated with the current operating parameters and the expected operating parameters from a preset memory as the directional force deviation of the vehicle.

[0055] In some embodiments of the present application, it is considered that the resultant force in a certain direction of the vehicle when it is driving is equal to all the forces in this direction, that is, the directional force corresponding to the current driving direction of the vehicle should be the same as the directional force corresponding to the expected driving direction of the vehicle. If there is a deviation between the directional forces of the two, it indicates that there is a deviation between the current driving direction of the vehicle and the expected driving direction.

[0056] Based on this, the directional force deviation of the vehicle may include a steering force deviation. Correspondingly, the method of determining the directional force deviation of the vehicle according to the current operating parameters and the expected operating parameters of the vehicle for each tire may be to calculate the steering force deviation according to the current operating parameters and the expected operating parameters to determine the deviation between the current driving direction of the vehicle and the expected driving direction. Specifically, the process of calculating the steering force deviation according to the current operating parameters and the expected operating parameters can refer to Figure 2 As shown. Figure 2 As shown, in order to calculate the steering force deviation, steps S210 to S240 may be included, which are described in detail as follows:

[0057] Step S210, matching a corresponding target steering force calculation model based on the expected driving direction of the vehicle;

[0058] Step S220, calculating the current steering force corresponding to the vehicle based on the current operating parameters by using the target steering force calculation model;

[0059] Step S230, calculating the expected steering force corresponding to the vehicle based on the expected operating parameters by using the target steering force calculation model;

[0060] Step S240: taking the difference between the current steering force and the expected steering force as the steering force deviation.

[0061] It should be noted that due to the different driving directions of the vehicle, the forces causing the vehicle to deviate from the driving direction are also different. In the above process, the corresponding target steering force calculation model can be matched based on the expected driving direction of the vehicle, wherein the target steering force calculation model is used to calculate the forces causing the vehicle to deviate from the expected driving direction.

[0062] For example, if the desired driving direction of the vehicle is straight, the force causing the vehicle to deviate from the desired driving direction is a lateral force, and the first calculation model can be matched as the target steering force calculation model, where the first calculation model is used to calculate the lateral force acting on the vehicle.

[0063] Specifically, the calculation formula of the lateral force in the first calculation model is:

[0064] F Y =(F xfl +F xfr )sinδ f +(F xrl +F xrr )sinδ r +(F yfl +F yfr )cosδ f +(F yrl +F yrr )cosδ r

[0065] Among them, F Y is the lateral force on the vehicle, F xfl is the force exerted by the left front wheel of the vehicle in the longitudinal direction of the vehicle, F xfr is the force exerted by the right front wheel of the vehicle in the longitudinal direction of the vehicle, F xrl is the force exerted by the left rear wheel of the vehicle in the longitudinal direction of the vehicle, F xrris the force exerted by the right rear wheel of the vehicle in the longitudinal direction of the vehicle, F yfl is the force exerted by the left front wheel of the vehicle in the lateral direction of the vehicle, F yfr is the force exerted by the right front wheel of the vehicle in the lateral direction of the vehicle, F yrl The force exerted by the left rear wheel of the vehicle in the lateral direction of the vehicle, F yrr is the force exerted by the right rear wheel of the vehicle in the lateral direction of the vehicle, δ f is the turning angle of the front wheel of the vehicle, δ r is the turning angle of the rear wheels of the vehicle.

[0066] If the vehicle's desired driving direction is turning, the force that causes the vehicle to deviate from the desired driving direction includes, in addition to the lateral force exerted by each tire of the vehicle, the longitudinal force exerted by each tire of the vehicle. The second calculation model can be matched as the target steering force calculation model, where the second calculation model is used to calculate the longitudinal force and lateral force exerted on the vehicle.

[0067] Specifically, the calculation formula of the longitudinal force in the second calculation model is:

[0068] F X =(F xfl +F xfr )cosδ f +(F xrl +F xrr )cosδ r +(F yfl +F yfr )sinδ f +(F yrl +F yrr )sinδ r

[0069] Among them, F X is the longitudinal force on the vehicle.

[0070] The calculation formula for the lateral force in the second calculation model may refer to the calculation formula for the lateral force in the first calculation model, and will not be elaborated herein.

[0071] In addition, in order to facilitate the determination of the driving direction of the vehicle based on the calculated longitudinal force and lateral force, the positive and negative values ​​of the forces applied by different tires in different directions when calculating the longitudinal force and lateral force can be adjusted as needed. For example, in the process of calculating the longitudinal force, if the force applied by the tires of the vehicle in the longitudinal direction of the vehicle causes the vehicle to move forward, the force is positive. On the contrary, if the force applied by the tires of the vehicle in the longitudinal direction of the vehicle causes the vehicle to move backward, the force is negative. In the process of calculating the lateral force, if the force applied by the tires of the vehicle in the lateral direction of the vehicle causes the vehicle to move to the left, the force is positive. On the contrary, if the force applied by the tires of the vehicle in the lateral direction of the vehicle causes the vehicle to move to the right, the force is negative.

[0072] In an embodiment of the present application, after matching the corresponding target steering force calculation model based on the expected driving direction of the vehicle, the current steering force corresponding to the vehicle can be calculated based on the current operating parameters through the target steering force calculation model, and then the expected steering force corresponding to the vehicle can be calculated based on the expected operating parameters through the target steering force calculation model. Thereafter, the difference between the current steering force and the expected steering force is used as the steering force deviation, thereby achieving the purpose of calculating the steering force deviation, and then determining the deviation between the current driving direction of the vehicle and the expected driving direction through the steering force deviation of the vehicle.

[0073] Referring to the above example, when the desired driving direction of the vehicle is straight ahead, the process of calculating the current steering force corresponding to the vehicle based on the current operating parameters by the target steering force calculation model can refer to the following formula:

[0074] F Y1 =(F xfl +F xfr )sinδ f1 +(F xrl +F xrr) sinδ r1 +(F yfl +F yfr )cosδ f1 +(F yrl +F yrr )cosδ r1

[0075] Among them, F Y1 is the steering force on the vehicle in the current driving direction; f1 is the current turning angle of the front wheel of the vehicle, δ r1 is the current steering angle of the vehicle's rear wheels.

[0076] The process of calculating the desired steering force corresponding to the vehicle based on the desired operating parameters through the target steering force calculation model can refer to the following formula:

[0077] F Y2=(F xfl +F xfr )sinδ f2 +(F xrl +F xrr )sinδ r2 +(F yfl +F yfr )cosδ f2 +(F yrl +F yrr )cosδ r2

[0078] Among them, F Y2 is the steering force on the vehicle in the desired driving direction; f2 is the turning angle of the front wheels when the vehicle is traveling based on the desired running direction, δ r2 It is the turning angle of the rear wheels when the vehicle is traveling based on the desired running direction.

[0079] The steering force deviation is ΔF Y =F Y2 -F Y1 Correspondingly, the deviation between the vehicle’s current driving direction and the desired driving direction is ΔF Y , that is, the directional force deviation of the vehicle is ΔF Y .

[0080] In some embodiments of the present application, it is considered that the rotation trajectory of the center of mass of the vehicle in the driving state will change with the change of the vehicle's driving direction. For example, when the vehicle is driving forward, the center of mass of the vehicle remains stationary; when the vehicle is driving to the right, the center of mass of the vehicle will rotate to the right from the current position according to the corresponding rotation amplitude to the right; correspondingly, when the vehicle is driving to the left, the center of mass of the vehicle will rotate to the left from the current position according to the corresponding rotation amplitude to the left. In other words, the center of mass torque corresponding to the vehicle in the current driving direction should be the same as the center of mass torque corresponding to the vehicle in the expected driving direction. If there is a deviation between the center of mass torques of the two, it indicates that there is a deviation between the current driving direction of the vehicle and the expected driving direction.

[0081] Based on this, the directional force deviation of the vehicle may include the mass center torque deviation. Correspondingly, the method of determining the directional force deviation of the vehicle according to the current operating parameters and the expected operating parameters of the vehicle for each tire may be to calculate the mass center torque deviation according to the current operating parameters and the expected operating parameters to determine the deviation between the current driving direction of the vehicle and the expected driving direction.

[0082] Secondly, based on the influence of the operating parameters of each tire on the vehicle's center of mass torque, the magnitude of the influence of each tire on the vehicle's center of mass torque under the same operating parameters is correlated with the distance between the position of each tire and the center of mass of the vehicle, that is, the closer the tire is to the center of mass of the vehicle, the greater the magnitude of the influence on the vehicle's center of mass torque under the same operating parameters. Therefore, in order to improve the accuracy of the calculated center of mass torque deviation, the method of calculating the center of mass torque deviation can also be to calculate the center of mass torque deviation based on the current operating parameters, the expected operating parameters and the tire position information of each tire on the vehicle to improve the accuracy of determining the vehicle's directional force deviation.

[0083] The tire position information represents the wheelbase between coaxial tires on the vehicle, and the distance between the rotation axis of each tire and the center of mass of the vehicle.

[0084] Specifically, the process of calculating the center of mass torque deviation according to the current operating parameters, the expected operating parameters and the tire position information of each tire on the vehicle can refer to Figure 3 As shown. Figure 3 As shown, in order to calculate the mass center torque deviation, steps S310 to S330 may be included, which are described in detail as follows:

[0085] Step S310, calculating the current center of mass torque corresponding to the vehicle based on the current operating parameters and tire position information by using a preset center of mass torque calculation model;

[0086] Step S320, calculating the expected center of mass torque corresponding to the vehicle based on the expected operating parameters and tire position information by using a preset center of mass torque calculation model;

[0087] Step S330: taking the difference between the current center-of-mass torque and the expected center-of-mass torque as the center-of-mass torque deviation.

[0088] The preset center of mass torque calculation model is used to calculate the center of mass torque of the vehicle. In one example of the present application, the calculation formula of the center of mass torque in the preset center of mass torque calculation model can be:

[0089] M Z = l f [(F xfl +F xfr )sinδ f +(F yfl +F yfr )cosδ f ]+l r [(F xrl +F xrr )sinδ r +(F yrl +F yrr )cosδ r ]+l / 2[(Fxfl +F xfr )cosδ f +(F yfl +F yfr )sinδ f ]+l / 2[(F xrl +F xrr )cosδ r +(F yrl +F yfr )sinδ f ]

[0090] Among them, M Z is the vehicle's center of mass torque, l f is the distance between the front wheel axis and the center of mass of the vehicle, l r is the distance between the rear wheel axle and the vehicle's center of mass, and l is the wheelbase between the coaxial tires on the vehicle.

[0091] In addition, in order to facilitate determining the driving direction of the vehicle according to the calculated center of mass torque, the positive and negative values ​​of the forces applied by different tires when calculating the center of mass torque can be adjusted as needed. For example, if the force applied by the tires of the vehicle causes the center of mass of the vehicle to move to the left, the force is positive. On the contrary, if the force applied by the tires of the vehicle causes the center of mass of the vehicle to move to the right, the force is negative.

[0092] In an embodiment of the present application, in order to calculate and determine the center of mass torque deviation, the current center of mass torque corresponding to the vehicle can be calculated based on the current operating parameters and tire position information through a preset center of mass torque calculation model, and then the expected center of mass torque corresponding to the vehicle can be calculated based on the expected operating parameters and tire position information through a preset center of mass torque calculation model. Thereafter, the difference between the current center of mass torque and the expected center of mass torque is used as the center of mass torque deviation, thereby achieving the purpose of calculating the center of mass torque deviation, and then determining the deviation between the current driving direction of the vehicle and the expected driving direction through the vehicle's center of mass torque deviation.

[0093] Referring to the above preset center of mass torque calculation model, the process of calculating the current center of mass torque corresponding to the vehicle based on the current operating parameters and tire position information through the preset center of mass torque calculation model can refer to the following formula:

[0094] M Z1 = l f [(F xfl +F xfr )sinδ f1 +(F yfl +F yfr )cosδ f1 ]+l r [(F xrl +F xrr )sinδr1 +(F yrl +F yrr )cosδ r1 ]+l / 2[(F xfl +F xfr )cosδ f1 +(F yfl +F yfr )sinδ f1 ]+l / 2[(F xrl +F xrr )cosδ r1 +(F yrl +F yfr )sinδ f1 ]

[0095] Among them, M Z1 It is the center-of-mass torque of the vehicle in the current driving direction, that is, the current center-of-mass torque of the vehicle.

[0096] The process of calculating the expected center of mass torque corresponding to the vehicle based on the expected operating parameters and tire position information by using the preset center of mass torque calculation model can refer to the following formula:

[0097] M Z2 = l f [(F xfl +F xfr )sinδ f2 +(F yfl +F yfr )cosδ f2 ]+l r [(F xrl +F xrr )sinδ r2 +(F yrl +F yrr )cosδ r2 ]+l / 2[(F xfl +F xfr )cosδ f2 +(F yfl +F yfr )sinδ f2 ]+l / 2[(F xrl +F xrr )cosδ r2 +(F yrl +F yfr )sinδ f2 ]

[0098] Among them, M Z2 It is the center-of-mass torque of the vehicle in the desired driving direction, that is, the desired center-of-mass torque of the vehicle.

[0099] The center of mass torque deviation is ΔMZ =M Z2 -M Z1 Correspondingly, the deviation between the vehicle’s current driving direction and the desired driving direction is ΔM Z , that is, the directional force deviation of the vehicle is ΔM Z .

[0100] In some embodiments of the present application, in order to further improve the accuracy of determining the deviation between the current driving direction of the vehicle and the expected driving direction, the directional force deviation may include a steering force deviation and a center of mass torque deviation, that is, the steering force deviation is calculated according to the current operating parameters and the expected operating parameters, and the center of mass torque deviation is calculated according to the current operating parameters, the expected operating parameters and the tire position information of each tire on the vehicle. The specific calculation process of the steering force deviation and the center of mass torque deviation can refer to the above records and will not be repeated here.

[0101] In step S130 , the target braking force corresponding to each tire on the vehicle is determined based on the directional force deviation.

[0102] Considering that during the braking process of the vehicle, when the braking force of each tire of the vehicle is different, the direction of the vehicle can be driven to change. For example, when the braking force of the right front wheel of the vehicle is greater than the braking force of the left front wheel of the vehicle, the direction of the vehicle will be driven to turn right. Correspondingly, when the braking force of the right front wheel of the vehicle is less than the braking force of the left front wheel of the vehicle, the direction of the vehicle will be driven to turn left.

[0103] Based on this, in an embodiment of the present application, after determining the directional force deviation of the vehicle, the target braking force corresponding to each tire on the vehicle can be determined based on the directional force deviation, wherein the target braking force represents the braking force required by each tire to offset the directional force deviation of the vehicle.

[0104] The method of determining the target braking force corresponding to each tire on the vehicle based on the directional force deviation can be flexibly set as needed. In one example, the braking force of each tire associated with the directional force deviation can be directly obtained from a preset memory as the target braking force of each tire, that is, different directional force deviations and the braking forces of each tire used to eliminate different directional force deviations can be stored in association in advance in the preset memory.

[0105] In another example, the process of determining the target braking force corresponding to each tire on the vehicle based on the directional force deviation can refer to Figure 4 As shown. Figure 4 As shown, in order to determine the target braking force corresponding to each tire on the vehicle, steps S410 to S430 may be included, which are described in detail as follows:

[0106] Step S410, matching a corresponding target braking force calculation model based on the expected driving direction of the vehicle;

[0107] Step S420, determining the braking force ratio of the vehicle on each tire according to the tire position information of each tire on the vehicle;

[0108] Step S430: Calculate the target braking force corresponding to each tire based on the braking force ratio and the directional force deviation through the target braking force calculation model.

[0109] First of all, it should be noted that due to the different driving directions of the vehicle, the direction of the force required to offset the vehicle's directional force deviation is also different. In the above process, the corresponding target braking force calculation model can be matched based on the expected driving direction of the vehicle, wherein the target braking force calculation model is used to calculate the force to offset the vehicle's directional force deviation.

[0110] For example, when the vehicle's desired driving direction is straight ahead and the vehicle has a directional force deviation, the method of restoring the vehicle to the desired driving direction may include adjusting the lateral force, so that the first braking force calculation model can be matched as the target braking force calculation model, wherein the first braking force calculation model is used to calculate the braking force of each tire required to offset the lateral force deviation of the vehicle.

[0111] Specifically, the calculation formula for the braking force of each tire in the first braking force calculation model is:

[0112] ΔF Y =(T fl / R+T fr / R)sinδ f +(T rl / R+T rr / R)sinδ r ;

[0113] Among them, T fl is the braking force applied by the left front wheel of the vehicle in the longitudinal direction of the vehicle, T fr is the braking force applied by the right front wheel of the vehicle in the longitudinal direction of the vehicle, T rl is the braking force applied by the left rear wheel of the vehicle in the longitudinal direction of the vehicle, T rr is the braking force applied by the right rear wheel of the vehicle in the longitudinal direction of the vehicle, and R is the radius of the tire on the vehicle.

[0114] Secondly, when the vehicle's desired driving direction is straight ahead and the vehicle has a directional force deviation, the method of restoring the vehicle to the desired driving direction can also include adjusting the torque. Correspondingly, the second braking force calculation model can be matched as the target braking force calculation model, wherein the second braking force calculation model is used to calculate the braking force of each tire required to offset the center of mass torque deviation.

[0115] Specifically, the calculation formula for the braking force of each tire in the second braking force calculation model is:

[0116] ΔM Z = l f (T fl / R+T fr / R)sinδ f +l r (T rl / R+T rr / R)sinδ r +l / 2(T fl / R+T fr / R)cosδ f +l / 2(T rl / R+T rr / R)cosδ r ;

[0117] In addition, when the vehicle has a directional force deviation when the desired driving direction of the vehicle is straight ahead, the vehicle can also be restored to the desired driving direction in combination with the lateral force and torque, that is, the third braking force calculation model can be matched as the target braking force calculation model, wherein the third braking force calculation model is used to calculate the braking force of each tire required to offset the lateral force deviation of the vehicle and the braking force of each tire required to offset the center of mass torque deviation, thereby improving the accuracy of the force calculated by the target braking force calculation model for offsetting the vehicle's directional force deviation.

[0118] The calculation formula for calculating the braking force of each tire required to offset the lateral force deviation of the vehicle in the third braking force calculation model can refer to the calculation formula in the above-mentioned first braking force calculation model, and the calculation formula for calculating the braking force of each tire required to offset the center of mass torque deviation in the third braking force calculation model can refer to the calculation formula in the above-mentioned second braking force calculation model, which will not be repeated here.

[0119] When the vehicle's desired driving direction is turning and the vehicle has a directional force deviation, the method of restoring the vehicle to the desired driving direction includes adjusting the longitudinal force and the lateral force, and the fourth braking force calculation model can be matched as the target braking force calculation model, wherein the fourth braking force calculation model is used to calculate the braking force of each tire required to offset the longitudinal force deviation of the vehicle and the braking force of each tire required to offset the lateral force deviation of the vehicle.

[0120] Specifically, the calculation formula of the braking force of each tire in the fourth braking force calculation model is:

[0121] ΔF X =(T fl / R+T fr / R)cosδ f +(Trl / R+T rr / R)cosδ r ;

[0122] The above formula is the calculation formula for calculating the braking force of each tire required to offset the longitudinal force deviation of the vehicle in the fourth braking force calculation model, and the calculation formula for calculating the braking force of each tire required to offset the lateral force deviation of the vehicle in the fourth braking force calculation model can refer to the calculation formula in the above-mentioned first braking force calculation model, which will not be repeated here.

[0123] Secondly, when the vehicle has a directional force deviation when the desired driving direction of the vehicle is turning, the vehicle can also be restored to the desired driving direction by combining the longitudinal force, lateral force and torque, that is, the fifth braking force calculation model can be matched as the target braking force calculation model, wherein the fifth braking force calculation model is used to calculate the braking force of each tire required to offset the longitudinal force deviation of the vehicle, the braking force of each tire required to offset the lateral force deviation of the vehicle, and the braking force of each tire required to offset the center of mass torque deviation.

[0124] The calculation formula for calculating the braking force of each tire required to offset the lateral force deviation of the vehicle in the fifth braking force calculation model can refer to the calculation formula in the above-mentioned first braking force calculation model; the calculation formula for calculating the braking force of each tire required to offset the center of mass torque deviation in the fifth braking force calculation model can refer to the calculation formula in the above-mentioned second braking force calculation model; the calculation formula for calculating the braking force of each tire required to offset the lateral force deviation of the vehicle in the fifth braking force calculation model can refer to the calculation formula in the above-mentioned fourth braking force calculation model, which will not be repeated here.

[0125] In the implementation of the present application, it is considered that the manufacturer will distribute the axle load of the vehicle in order to improve the driving experience of the vehicle, so as to optimize the dynamic performance, body stability and comfort of the vehicle by adjusting the loads corresponding to the front axle and the rear axle of the vehicle, but due to the difference in the loads corresponding to the front axle and the rear axle of the vehicle, the braking effect of the tires on the front axle of the vehicle and the tires on the rear axle of the vehicle on the vehicle is different under the same braking force. Therefore, after matching the corresponding target braking force calculation model based on the expected driving direction of the vehicle, the braking force ratio of the vehicle on each tire can be determined according to the tire position information of each tire on the vehicle, and then the target braking force corresponding to each tire is calculated based on the braking force ratio and the directional force deviation through the target braking force calculation model, so as to improve the accuracy of the determined target braking force through the braking force ratio under the premise of determining the target braking force.

[0126] The process of determining the braking force ratio of each tire of the vehicle based on the tire position information of each tire on the vehicle can refer to the following formula: fl = lf / l r T rl ; T fr = l f / l r T rr , l f / l r That is, the braking force ratio formulated for the tires on the front and rear axles of the vehicle; or, the braking force ratio of each tire is further determined by the tire pressure that affects the braking effect of the tire, that is, the tire pressure information of each tire on the vehicle is obtained, and then the braking force ratio of the vehicle on each tire is determined based on the tire position information and tire pressure information of each tire on the vehicle, thereby improving the accuracy of the determined braking force ratio.

[0127] Referring to the above example, when the vehicle's expected driving direction is straight ahead and the vehicle has a directional force deviation, the process of calculating the target braking force corresponding to each tire based on the braking force ratio and the directional force deviation by the target braking force calculation model can refer to the following formula:

[0128]

[0129] That is, based on the braking force ratio relationship, the target braking force of each tire on the axle to be converted is converted into the target braking force of each tire on the axle to be calculated, and then the braking force of each tire on the axle to be calculated is calculated through the target braking force calculation model, so that the calculated braking force is used as the target braking force of each tire on the axle to be calculated, and then the target braking force of each tire on the axle to be converted is calculated based on the braking force ratio relationship and the target braking force of each tire on the axle to be calculated, so as to obtain the target braking force of each tire on the vehicle.

[0130] Specifically, according to the above formula, ΔF Y , R, l f , l r ,δ f ,δ r and ΔM Z If both are known, the braking force T applied by the left rear wheel in the longitudinal direction of the vehicle can be determined. rl , that is, the braking force required by the left rear wheel to offset the directional force deviation of the vehicle; and the braking force T applied by the right front wheel in the longitudinal direction of the vehicle rr , that is, the braking force required by the right front wheel to offset the directional force deviation of the vehicle. Combined with the above braking force ratio, the braking force required by the left front wheel and the left rear wheel to offset the directional force deviation of the vehicle can be determined, that is, T fl and T fr , thus determining T rl , T rr , T fl and T fr .

[0131] In step S140 , the braking system of the vehicle is controlled to brake each tire according to the target braking force corresponding to each tire to offset the directional deviation of the vehicle.

[0132] In an embodiment of the present application, after the target braking force of each tire on the vehicle is determined based on the directional force deviation, the vehicle's braking system can be controlled to brake each tire according to the target braking force corresponding to each tire to offset the vehicle's directional force deviation, thereby preventing the vehicle's driving direction from deviating from the driver's desired driving direction when the vehicle's steering system fails and the steering angle of the vehicle's tires is fixed, thereby improving the vehicle's driving safety.

[0133] Among them, the way of controlling the vehicle's braking system to brake each tire according to the target braking force corresponding to each tire can be flexibly set as needed. In one example, the vehicle's braking system can be controlled to directly apply a deceleration force corresponding to the target braking force to each tire, so that each tire reaches the target braking force, thereby achieving the purpose of offsetting the vehicle's directional force deviation.

[0134] In another example, in the process of controlling the vehicle's braking system to directly apply a deceleration force to each tire, the target braking force can be first used as the feedforward quantity of the PID algorithm, and then the real-time braking force of each tire is obtained, and the real-time braking force is used as the feedback quantity of the PID algorithm, so that the deceleration force that the braking system currently needs to apply to each tire is output based on the target braking force and the real-time braking force through the PID algorithm. Therefore, while controlling the vehicle's braking system to brake each tire according to the target braking force corresponding to each tire, the time required for the braking system to make the braking force of each tire reach the target braking force is shortened, thereby shortening the time for the vehicle's driving direction to return to the driving direction expected by the driving user, thereby further improving the driving safety of the vehicle.

[0135] See also Figure 5 , Figure 5 A vehicle stability control method is shown according to another exemplary embodiment. Figure 5 As shown, in Figure 2 After step S110 in the illustrated embodiment, the method may further include steps S510 to S530, which are described in detail as follows:

[0136] In step S510, the current driving condition of the vehicle is acquired in response to the steering fault signal.

[0137] Among them, the current driving condition of the vehicle represents the road condition and weather condition at the current location of the vehicle.

[0138] In step S520, a target driving speed of the vehicle corresponding to a steering fault signal is determined based on the current driving condition of the vehicle.

[0139] Considering that after a vehicle's steering system fails, the faster the vehicle's driving speed, the lower the vehicle's driving safety, and the higher the possibility that the driver will cause a traffic accident while driving the vehicle. Based on this, in an embodiment of the present application, after a steering fault signal is generated in the vehicle, the vehicle's current driving condition can be obtained in response to the steering fault signal, and then the target driving speed corresponding to the vehicle under the steering fault signal is determined based on the vehicle's current driving condition, wherein the target driving speed represents the driving speed of the vehicle in the current driving condition that is not likely to cause a traffic accident when a steering system failure occurs.

[0140] The method of determining the target driving speed corresponding to the vehicle under a steering fault signal based on the vehicle's current driving condition can be flexibly set as needed. In one example, the driving speed associated with the vehicle's current driving condition can be directly obtained from a preset memory as the target driving speed corresponding to the vehicle under a steering fault. That is to say, different driving conditions and different driving speeds can be associated and stored in advance in the preset memory, so as to achieve the purpose of determining, through the vehicle's driving condition, a driving speed of the vehicle in the driving condition that is not likely to cause a traffic accident when a steering system failure occurs.

[0141] In another example, considering that the possibility of a vehicle with a steering system failure causing a traffic accident under different driving conditions is different, therefore, in the process of determining the target driving speed of the vehicle corresponding to a steering fault signal based on the vehicle's current driving condition, the corresponding target hazard level can be first determined from the hazard level list through the vehicle's current driving condition, and then the driving speed corresponding to the target hazard level can be used as the target driving speed of the vehicle under the steering fault signal. This reduces the amount of data used to determine the target driving speed of the vehicle under the steering fault signal through the current driving condition, while ensuring that the vehicle is not likely to cause a traffic accident when driving at the target driving speed.

[0142] In step S530, the vehicle speed is limited according to the target vehicle speed.

[0143] In an implementation manner of the present application, after determining the target driving speed corresponding to the vehicle under a steering fault signal, the vehicle's driving speed can be limited according to the target driving speed to avoid the vehicle's driving speed exceeding the target driving speed, thereby reducing the possibility of the vehicle causing a traffic accident when the steering system fails. At the same time, by limiting the vehicle's driving speed, the rotation of the tires can be forced to approach pure rolling, thereby avoiding the vehicle's load changing with the rotation of the tires.

[0144] The following describes an embodiment of the device of the present application, which can be used to execute the vehicle stability control method in the above embodiment of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the vehicle stability control method in the above embodiment of the present application.

[0145] Figure 6 A block diagram of a vehicle stability control device 600 according to an embodiment of the present application is shown.

[0146] Reference Figure 6 As shown, according to one aspect of an embodiment of the present application, a vehicle stability control device 600 is provided, including: a data acquisition module 610, configured to acquire current operating parameters of each tire on the vehicle in response to a steering fault signal; a deviation calculation module 620, configured to determine the directional force deviation of the vehicle based on the current operating parameters and the expected operating parameters of the vehicle for each tire; a deviation correction module 630, configured to determine the target braking force corresponding to each tire on the vehicle based on the directional force deviation; and a control module 640, configured to control the braking system of the vehicle to brake each tire according to the target braking force corresponding to each tire to offset the directional force deviation of the vehicle.

[0147] In some embodiments of the present application, based on the aforementioned scheme, the directional force deviation includes a steering force deviation and / or a center of mass torque deviation, and the deviation calculation module 620 is further configured to: calculate the steering force deviation based on current operating parameters and expected operating parameters; or; calculate the center of mass torque deviation based on current operating parameters, expected operating parameters and tire position information of each tire on the vehicle; wherein the tire position information represents the distance information between each tire on the vehicle and the center of mass of the vehicle; or; calculate the steering force deviation based on current operating parameters and expected operating parameters; calculate the center of mass torque deviation based on current operating parameters, expected operating parameters and tire position information of each tire on the vehicle.

[0148] In some embodiments of the present application, based on the aforementioned scheme, the deviation calculation module 620 is also configured to: match the corresponding target steering force calculation model based on the expected driving direction of the vehicle; calculate the current steering force corresponding to the vehicle based on the current operating parameters through the target steering force calculation model; calculate the expected steering force corresponding to the vehicle based on the expected operating parameters through the target steering force calculation model; and use the difference between the current steering force and the expected steering force as the steering force deviation.

[0149] In some embodiments of the present application, based on the aforementioned scheme, the deviation calculation module 620 is also configured as: if the desired driving direction of the vehicle is straight, the first calculation model is matched as the target steering force calculation model; wherein the first calculation model is used to calculate the lateral force exerted on the vehicle; if the desired driving direction of the vehicle is turning, the second calculation model is matched as the target steering force calculation model; wherein the second calculation model is used to calculate the longitudinal force and lateral force exerted on the vehicle.

[0150] In some embodiments of the present application, based on the aforementioned scheme, the deviation calculation module 620 is also configured to: calculate the current center of mass torque corresponding to the vehicle based on the current operating parameters and tire position information through a preset center of mass torque calculation model; wherein the preset center of mass torque calculation model is used to calculate the center of mass torque on the vehicle; calculate the expected center of mass torque corresponding to the vehicle based on the expected operating parameters and tire position information through a preset center of mass torque calculation model; and use the difference between the current center of mass torque and the expected center of mass torque as the center of mass torque deviation.

[0151] In some embodiments of the present application, based on the aforementioned scheme, the deviation correction module 630 is also configured to: match the corresponding target braking force calculation model based on the expected driving direction of the vehicle; determine the braking force ratio of the vehicle on each tire according to the tire position information of each tire on the vehicle; calculate the target braking force corresponding to each tire based on the braking force ratio and the directional force deviation through the target braking force calculation model.

[0152] In some embodiments of the present application, based on the aforementioned scheme, the vehicle stability control device 600 also includes a safety module, which is configured to: obtain the current driving condition of the vehicle in response to the steering fault signal; determine the target driving speed of the vehicle corresponding to the steering fault signal based on the current driving condition; and limit the vehicle's driving speed according to the target driving speed.

[0153] It should be noted that the vehicle stability control device 600 provided in the above embodiment and the vehicle stability control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs operations has been described in detail in the method embodiment and will not be repeated here.

[0154] An embodiment of the present application further provides an electronic device, including a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the vehicle stability control method as described above is implemented.

[0155] Figure 7 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown.

[0156] It should be noted that Figure 7 The computer system 700 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0157] like Figure 7As shown, computer system 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes according to the program stored in read-only memory (ROM) 702 or the program loaded from storage part 708 to random access memory (RAM) 703, such as executing the method described in the above embodiment. In RAM 703, various programs and data required for system operation are also stored. CPU 701, ROM 702 and RAM 703 are connected to each other through bus 704. Input / output (I / O) interface 705 is also connected to bus 704.

[0158] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed so that a computer program read therefrom is installed into the storage section 708 as needed.

[0159] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 709, and / or installed from a removable medium 711. When the computer program is executed by a central processing unit (CPU) 701, various functions defined in the system of the present application are executed.

[0160] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0161] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0162] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0163] As another aspect, the present application also provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiment; or may exist independently without being assembled into the electronic device. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the method described in the above embodiment.

[0164] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0165] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the implementation methods of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the implementation methods of the present application.

[0166] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0167] It should be understood that the present application is not limited to the precise 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 application is limited only by the appended claims.

Claims

1. A vehicle stability control method, characterized in that: The method comprises: acquiring current operating parameters of each tire on the vehicle in response to a steering fault signal; determining a directional force deviation of the vehicle according to the current operating parameters and an expected operating parameter of the vehicle for each tire; Determining a target braking force corresponding to each tire on the vehicle based on the directional force deviation; The braking system of the vehicle is controlled to brake each tire according to the target braking force corresponding to each tire to offset the direction deviation of the vehicle.

2. The method according to claim 1, characterized in that The directional force deviation includes a steering force deviation and / or a center of mass torque deviation; Determining the directional force deviation of the vehicle according to the current operating parameters and the expected operating parameters of the vehicle for each tire includes: calculating the steering force deviation according to the current operating parameter and the expected operating parameter; or; Calculating the mass center torque deviation according to the current operating parameters, the expected operating parameters and tire position information of each tire on the vehicle; wherein the tire position information represents the distance information between each tire on the vehicle and the mass center of the vehicle; or; calculating the steering force deviation according to the current operating parameter and the expected operating parameter; The mass center torque deviation is calculated according to the current operating parameter, the expected operating parameter and tire position information of each tire on the vehicle.

3. The method according to claim 2, characterized in that The calculating the steering force deviation according to the current operating parameter and the expected operating parameter includes: Matching a corresponding target steering force calculation model based on the desired driving direction of the vehicle; Calculating a current steering force corresponding to the vehicle based on the current operating parameters by using the target steering force calculation model; Calculating the desired steering force corresponding to the vehicle based on the desired operating parameters by using the target steering force calculation model; The difference between the current steering force and the expected steering force is taken as the steering force deviation.

4. The method according to claim 3, characterized in that The target steering force calculation model includes a first calculation model and a second calculation model, and the target steering force calculation model corresponding to the expected driving direction of the vehicle is matched, including: If the desired driving direction of the vehicle is straight ahead, matching a first calculation model as the target steering force calculation model; wherein the first calculation model is used to calculate the lateral force applied to the vehicle; If the desired driving direction of the vehicle is turning, a second calculation model is matched as the target steering force calculation model; wherein the second calculation model is used to calculate the longitudinal force and lateral force acting on the vehicle.

5. The method according to claim 2, characterized in that: The calculating the mass center torque deviation according to the current operating parameter, the expected operating parameter and tire position information of each tire on the vehicle includes: Calculating the current center of mass torque corresponding to the vehicle based on the current operating parameters and the tire position information by using a preset center of mass torque calculation model; wherein the preset center of mass torque calculation model is used to calculate the center of mass torque on the vehicle; Calculating the expected center of mass torque corresponding to the vehicle based on the expected operating parameters and the tire position information by using the preset center of mass torque calculation model; The difference between the current center-of-mass torque and the expected center-of-mass torque is taken as the center-of-mass torque deviation.

6. The method according to claim 1, characterized in that The determining the target braking force corresponding to each tire on the vehicle based on the directional force deviation includes: Matching a corresponding target braking force calculation model based on the expected driving direction of the vehicle; Determining a braking force distribution ratio of the vehicle on each tire according to tire position information of each tire on the vehicle; The target braking force corresponding to each tire is calculated by the target braking force calculation model based on the braking force ratio and the directional force deviation.

7. The method according to claim 1, characterized in that The method further comprises: acquiring a current driving condition of the vehicle in response to the steering fault signal; Determining a target driving speed of the vehicle corresponding to the steering fault signal based on the current driving condition; The traveling speed of the vehicle is limited according to the target traveling speed.

8. A vehicle stability control device, characterized in that: include: a data acquisition module, configured to acquire current operating parameters of each tire on the vehicle in response to the steering fault signal; a deviation calculation module configured to determine a directional force deviation of the vehicle according to the current operating parameters and an expected operating parameter of the vehicle for each tire; a deviation correction module, configured to determine a target braking force corresponding to each tire on the vehicle based on the directional force deviation; The control module is configured to control the braking system of the vehicle to brake each tire according to the target braking force corresponding to each tire to offset the direction deviation of the vehicle.

9. A computer-readable storage medium, characterized in that: Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the vehicle stability control method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enables the electronic device to implement the vehicle stability control method as described in any one of claims 1 to 7.

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