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

Abstract

The invention provides a vehicle control method, a vehicle control device, a vehicle and a storage medium, and the method comprises the steps: obtaining the current vehicle speed, the current driving mode and a target steering control curve of the vehicle if a starting instruction of a target driving mode is detected in the steering process of the vehicle; wherein the target steering control curve is an envelope line of rear wheel steering control from the current driving mode to the target driving mode; based on the current vehicle speed, the current driving mode and the target driving mode, obtaining an initial front and rear wheel turning angle ratio of the vehicle; based on the initial front-rear wheel steering angle ratio and the target steering control curve, obtaining a target front-rear wheel steering angle ratio; and controlling rear wheels of the vehicle to steer based on the target front-rear wheel steering angle ratio. According to the method, the vehicle driving safety can be improved if the starting instruction of the target driving mode is detected in the vehicle steering process.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a vehicle control method, a vehicle control device, a vehicle, and a storage medium. Background Art

[0002] With the popularization of automobiles, vehicles have become an important means of transportation for people, and people are paying more and more attention to the convenience of vehicle travel.

[0003] In the related art, when the driving mode is switched during the driving process of the vehicle, the rear wheel steering angle needs to be centered or the vehicle speed needs to be controlled to zero; however, this adjustment method will reduce the safety of the vehicle. Therefore, if the activation command of the target driving mode is detected during the vehicle steering process, how to improve the safety of the vehicle driving becomes an urgent problem to be solved. Summary of the invention

[0004] The present application provides a vehicle control method, a vehicle control device, a vehicle and a storage medium. The method can improve the driving safety of the vehicle if an instruction to turn on a target driving mode is detected during the vehicle steering process.

[0005] In a first aspect, a vehicle control method is provided, the method comprising:

[0006] If a start instruction of the target driving mode is detected during the vehicle is in the process of steering, the current vehicle speed, the current driving mode and the target steering control curve of the vehicle are obtained; wherein the target steering control curve is an envelope of the rear wheel steering control from the current driving mode to the target driving mode;

[0007] Based on the current vehicle speed, the current driving mode and the target driving mode, obtaining an initial front and rear wheel steering angle ratio of the vehicle;

[0008] Based on the initial front and rear wheel steering angle ratio and the target steering control curve, a target front and rear wheel steering angle ratio is obtained;

[0009] The rear wheels of the vehicle are controlled to steer based on the target front-rear wheel steering angle ratio.

[0010] According to the above technical solution, if a target driving mode activation instruction is detected when the vehicle is in the process of turning, the current vehicle speed, the current driving mode and the target steering control curve of the vehicle are obtained, and based on the current vehicle speed, the current driving mode and the target driving mode, the initial front and rear wheel steering angle ratio of the vehicle is obtained, and based on the initial front and rear wheel steering angle ratio and the target steering control curve, the target front and rear wheel steering angle ratio is obtained, and then the rear wheels of the vehicle are controlled to steer based on the target front and rear wheel steering angle ratio; compared with the prior art in which the rear wheel steering angle of the vehicle needs to be centered or the vehicle speed is controlled to be zero when switching the driving mode, the present application can ensure the safety of the target front and rear wheel steering angle ratio and control the rear wheels of the vehicle to steer through the initial front and rear wheel steering angle ratio and the target steering control curve; further, as the current vehicle speed or the front wheel steering angle of the vehicle changes, the steering angle of the rear wheels of the vehicle is adjusted in real time, so that the target driving mode of the vehicle can be activated without controlling the rear wheel steering angle of the vehicle to be centered or the vehicle speed to be zero, thereby improving the driving convenience and the driving safety of the vehicle.

[0011] In combination with the first aspect, in some possible implementations, obtaining a target front and rear wheel steering angle ratio based on the initial front and rear wheel steering angle ratio and the target steering control curve includes:

[0012] Determine a reference front and rear wheel steering angle ratio corresponding to the current vehicle speed in the target steering control curve;

[0013] The target front-rear wheel turning angle ratio is determined based on the reference front-rear wheel turning angle ratio and the initial front-rear wheel turning angle ratio.

[0014] The above technical scheme determines the reference front and rear wheel turning angle ratio corresponding to the current vehicle speed in the target steering control curve, and determines the target front and rear wheel turning angle ratio based on the reference front and rear wheel turning angle ratio and the initial front and rear wheel turning angle ratio; since the target front and rear wheel turning angle ratio is determined by the reference front and rear wheel turning angle ratio in the target steering control curve, the safety of the target front and rear wheel turning angle ratio can be ensured.

[0015] In combination with the first aspect and the above implementation manner, in some possible implementation manners, determining the target front and rear wheel turning angle ratio based on the reference front and rear wheel turning angle ratio and the initial front and rear wheel turning angle ratio includes:

[0016] determining a target difference between each reference front and rear wheel turning angle ratio in the reference front and rear wheel turning angle ratios and the initial front and rear wheel turning angle ratio;

[0017] Based on the target difference, the target front and rear wheel turning angle ratio is selected from the reference front and rear wheel turning angle ratios.

[0018] The above technical scheme determines the target difference between each reference front and rear wheel turning angle ratio in the reference front and rear wheel turning angle ratios and the initial front and rear wheel turning angle ratio, and based on the target difference, selects the target front and rear wheel turning angle ratio from the reference front and rear wheel turning angle ratios; since the target front and rear wheel turning angle ratio is determined by the target difference between the reference front and rear wheel turning angle ratio and the initial front and rear wheel turning angle ratio, the safety of the target front and rear wheel turning angle can be ensured, thereby controlling the steering of the rear wheels of the vehicle based on the target front and rear wheel turning angle ratio, thereby ensuring driving safety.

[0019] In combination with the first aspect and the above implementation manner, in some possible implementation manners, obtaining the initial front and rear wheel steering angle ratio of the vehicle based on the current vehicle speed, the current driving mode and the target driving mode includes:

[0020] Determine an absolute value of a difference between a first front-rear wheel steering angle ratio and a second front-rear wheel steering angle ratio; wherein the first front-rear wheel steering angle is a front-rear wheel steering angle ratio corresponding to the current driving mode at the current vehicle speed, and the second front-rear wheel steering angle is a front-rear wheel steering angle ratio corresponding to the current driving mode at the current vehicle speed;

[0021] Based on the absolute value of the difference, the target number and the correction coefficient, the initial front and rear wheel steering angle ratio is obtained; wherein the target number is the number of curves in the target steering control curve, and the correction coefficient is greater than the ratio of the target number to the absolute value of the difference.

[0022] In combination with the first aspect and the above implementations, in some possible implementations, the method further includes: obtaining a change in the front and rear wheel angle ratio of the previous cycle and the front and rear wheel angle ratio of the previous cycle;

[0023] The obtaining of the initial front and rear wheel turning angle ratio based on the absolute value of the difference, the target number and the correction coefficient comprises:

[0024] Based on the absolute value of the difference, the target number, the correction coefficient and the change in the front and rear wheel angle ratio of the previous cycle, obtaining the change in the front and rear wheel angle ratio of the current cycle;

[0025] The sum of the change in the front and rear wheel turning angle ratio of the current cycle and the front and rear wheel turning angle ratio of the previous cycle is determined as the initial front and rear wheel turning angle ratio.

[0026] The above technical scheme obtains the change in the ratio of the front and rear wheel angles in the current cycle based on the absolute value of the difference, the target number, the correction coefficient and the change in the ratio of the front and rear wheel angles in the previous cycle. Since the correction coefficient is greater than the ratio of the target number to the absolute value of the difference, it can ensure that the change in the ratio of the front and rear wheel angles in the current cycle is greater than the change in the ratio of the front and rear wheel angles in the previous cycle, and the sum of the change in the ratio of the front and rear wheel angles in the current cycle and the ratio of the front and rear wheel angles in the previous cycle is determined as the initial front and rear wheel angle ratio, and then as the vehicle speed changes, the initial front and rear wheel angle ratio can be made to better fit the different rear wheel steering control curves in the target steering control curve, thereby ensuring that the vehicle can slide safely from the current driving mode to the target driving mode.

[0027] In combination with the first aspect and the above implementations, in some possible implementations, the method further includes: obtaining a historical vehicle speed of a previous cycle;

[0028] Determining a current vehicle speed change rate based on the current vehicle speed and the historical vehicle speed of the previous cycle;

[0029] The correction parameter is determined based on the current vehicle speed parameter and the preset correction relationship; wherein the preset correction relationship is used to indicate the corresponding relationship between the preset vehicle speed parameter and the preset correction parameter; the current vehicle speed parameter includes the current vehicle speed change rate and the current vehicle speed.

[0030] The above technical solution determines the current vehicle speed change rate through the historical vehicle speed of the previous cycle and the current vehicle speed, and determines the correction parameter based on the current vehicle speed parameter and the preset correction relationship; since the preset correction relationship indicates the corresponding relationship between the preset vehicle speed parameter and the preset correction parameter, the current vehicle speed parameter includes the current vehicle speed change rate and the current vehicle speed, and a unique correction parameter can be determined through the current vehicle speed parameter and the preset correction relationship, thereby ensuring the accuracy of the correction parameter.

[0031] In combination with the first aspect and the above implementations, in some possible implementations, the method further includes: obtaining a steering wheel angle of the vehicle;

[0032] Determining a front wheel angle of the vehicle based on the steering wheel angle;

[0033] The controlling the rear wheels of the vehicle to steer based on the target front and rear wheel steering angle ratio comprises:

[0034] Determining the ratio of the front wheel turning angle to the target front and rear wheel turning angle ratio as the rear wheel turning angle of the vehicle;

[0035] The rear wheels of the vehicle are controlled to steer at the rear wheel turning angle.

[0036] The above technical scheme determines the front wheel angle of the vehicle through the steering wheel angle of the vehicle, determines the ratio of the front wheel angle to the target front and rear wheel angle ratio as the rear wheel angle of the vehicle, and controls the rear wheels of the vehicle to steer with the rear wheel angle; since the front wheel angle of the vehicle is determined by the steering wheel angle, the accuracy of the front wheel angle of the vehicle can be ensured, and on this basis, the safety and accuracy of the rear wheel angle of the vehicle can be ensured through the ratio of the front wheel angle to the target front and rear wheel angles, thereby improving the safety of the vehicle switching driving modes.

[0037] In a second aspect, a vehicle control device is provided, the vehicle control device comprising:

[0038] an acquisition module, configured to acquire the current vehicle speed, the current driving mode and a target steering control curve of the vehicle if an instruction to start the target driving mode is detected when the vehicle is in a steering process; wherein the target steering control curve is an envelope of rear wheel steering control from the current driving mode to the target driving mode;

[0039] a calculation module, configured to obtain an initial front and rear wheel steering angle ratio of the vehicle based on the current vehicle speed, the current driving mode and the target driving mode;

[0040] A determination module, configured to obtain a target front and rear wheel steering angle ratio based on the initial front and rear wheel steering angle ratio and the target steering control curve;

[0041] A control module is used to control the rear wheels of the vehicle to steer based on the target front and rear wheel steering angle ratio.

[0042] In a third aspect, a vehicle is provided, comprising a memory and a processor, wherein the memory is used to store executable program code; the processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0043] In a fourth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0044] In a fifth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1is a schematic diagram of a scenario of a vehicle control method provided in an embodiment of the present application;

[0046] Figure 2 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0047] Figure 3 is a schematic diagram of a target steering control curve provided in an embodiment of the present application;

[0048] Figure 4 is a schematic flow chart of another vehicle control method provided in an embodiment of the present application;

[0049] Figure 5 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0050] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of 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. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0052] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0053] In the related art, when a driving mode switching command is detected, the rear wheel steering angle of the vehicle needs to be centered (driving in a straight line) or the vehicle speed needs to be zero before the vehicle's driving mode can be switched. Since the difference between the front and rear wheel steering angle ratios corresponding to different driving modes is large after the vehicle's driving mode is switched, if the vehicle is switched directly during the steering process, it may cause a dangerous accident.

[0054] It should be noted that when switching driving modes during vehicle driving, it is necessary to first center the rear wheel steering angle or control the vehicle speed to zero; however, this adjustment method not only affects the user's driving experience, but also reduces the safety of vehicle driving. In view of this, the present application provides a vehicle control method, a vehicle control device, a vehicle and a storage medium, which can improve the safety of vehicle driving if an instruction to turn on the target driving mode is detected during the vehicle steering process.

[0055] Figure 1 It is a scenario schematic diagram of a vehicle control method provided in an embodiment of the present application.

[0056] For example, Figure 1 As shown, when the vehicle 100 is traveling on a curved road, when a driving mode switching instruction of the vehicle 100 is detected, the rear wheel steering angle of the vehicle 100 needs to be centered (driving in a straight line) or the vehicle speed needs to be controlled to zero (parking) before the driving mode of the vehicle 100 can be switched. Since the difference between the front and rear wheel steering angle ratios corresponding to different driving modes is large after the driving mode of the vehicle 100 is switched, if the vehicle 100 is switched directly during the turning process, a dangerous accident may occur.

[0057] It should be noted that when switching driving modes during vehicle driving, it is necessary to first center the rear wheel steering angle or control the vehicle speed to zero; however, this adjustment method not only affects the user's driving experience, but also reduces the safety of vehicle driving. In view of this, the present application provides a vehicle control method, a vehicle control device, a vehicle and a storage medium, which can improve the safety of vehicle driving if an instruction to turn on the target driving mode is detected during the vehicle steering process.

[0058] Figure 2 It is a schematic flow chart of a vehicle control method provided in an embodiment of the present application.

[0059] For example, Figure 2 The method shown can be executed by a vehicle controller or chip of the vehicle.

[0060] For example, Figure 2 As shown, the method 200 includes the following processes:

[0061] S210, if a start instruction of the target driving mode is detected while the vehicle is in the process of turning, the current speed of the vehicle, the current driving mode and the target steering control curve are obtained.

[0062] Exemplarily, the target steering control curve is the envelope of the rear-wheel steering control from the current driving mode to the target driving mode, that is, there are multiple calibrated rear-wheel steering control curves between the current driving mode and the target driving mode; the horizontal axis of the target steering control curve is the vehicle speed, and the vertical axis is the calibrated front and rear wheel steering angle ratio, so that the corresponding front and rear wheel steering angle ratio can be determined through the current vehicle speed.

[0063] It can be understood that the current driving mode corresponds to a calibrated rear-wheel steering angle control curve, and the target driving mode corresponds to a calibrated rear-wheel steering angle control curve; however, if a target driving mode activation command is detected while the vehicle is in the process of turning, if the calibrated rear-wheel steering angle control curve corresponding to the current driving mode is directly switched to the calibrated rear-wheel steering angle control curve corresponding to the target driving mode, driving safety may exist due to the large span of the calibrated front and rear wheel steering angle ratio corresponding to the calibrated rear-wheel steering angle control curve; therefore, if a target driving mode activation command is detected while the vehicle is in the process of turning, driving safety may be ensured by gradually switching from the current driving mode to the target driving mode through the envelope of the rear-wheel steering control from the current driving mode to the target driving mode.

[0064] For example, the vehicle being in the process of turning indicates that the steering wheel angle of the vehicle is not zero, and the front wheel angle of the vehicle is not zero. In addition, the vehicle being in the process of turning indicates that the vehicle is turning, and turning indicates that the current driving trajectory of the vehicle is curved; however, the vehicle being in the process of turning does not mean that the vehicle is on a curved road. It can be understood that the road where the vehicle is in the process of turning can be a straight road or a curved road, which is not specifically limited here.

[0065] Exemplarily, the driving mode of the vehicle may include but is not limited to: standard mode, sports mode, snow mode, etc. For example, if the current driving mode of the vehicle is the sports mode and the target driving mode of the vehicle is the standard mode, then if an on instruction of the target driving mode is detected, it is determined that the vehicle needs to switch from the sports mode to the standard mode.

[0066] Optionally, the target driving mode may be turned on by a target control button; or, the target driving mode turn-on voice may be detected to determine the target driving mode turn-on instruction; for example, "Hello, Xiao A, turn on the target driving mode of the vehicle". The target driving mode turn-on method may be determined according to actual conditions and is not specifically limited here.

[0067] Exemplarily, if a command to turn on the target driving mode is detected while the vehicle is in the process of turning, the vehicle's current speed, current driving mode and target steering control curve are obtained, and the current driving mode is used to indicate the vehicle's driving mode when the vehicle has not switched to the target driving mode.

[0068] It should be noted that the detection of the target driving mode activation instruction may refer to the entire process in which the vehicle does not switch to the target driving mode after the target driving mode activation instruction is triggered. For example, at the first moment, the vehicle triggers the target driving mode activation instruction, and at the third moment, the vehicle's driving mode has not yet switched to the target driving mode, and the target driving mode activation instruction is also detected at this time.

[0069] S220, obtaining an initial front and rear wheel steering angle ratio of the vehicle based on the current vehicle speed, the current driving mode and the target driving mode.

[0070] Exemplarily, based on the current vehicle speed, the current driving mode and the target driving mode of the vehicle, an initial front and rear wheel turning angle ratio of the vehicle is obtained. Specifically, the front and rear wheel turning angle ratio corresponding to the current driving mode at the current vehicle speed is determined as the first front and rear wheel turning angle ratio, the front and rear wheel turning angle ratio corresponding to the target driving mode at the current vehicle speed is determined as the second front and rear wheel turning angle ratio, and the initial front and rear wheel turning angle ratio is determined by the first front and rear wheel turning angle ratio and the second front and rear wheel turning angle ratio.

[0071] Exemplarily, the absolute value of the difference between the first front and rear wheel steering angle ratio and the second front and rear wheel steering angle ratio is determined, and an initial front and rear wheel steering angle ratio is obtained based on the absolute value of the difference, a target number and a correction coefficient, wherein the target number is the number of curves in the target steering control curve, and the correction coefficient is greater than the ratio of the target number to the absolute value of the difference.

[0072] For example, the initial front and rear wheel angle ratio can be determined by looking up a table according to the absolute value of the difference between the first front and rear wheel angle ratio and the first front and rear wheel angle ratio, the target number of curves in the target steering control curve, and the correction coefficient. It is understandable that the corresponding relationship between the preset front and rear wheel angle ratio and the vehicle parameters is pre-stored, and the initial front and rear wheel angle ratio can be directly determined by looking up the table.

[0073] Exemplarily, the historical vehicle speed of the previous cycle is obtained, and the current vehicle speed change rate is determined based on the current vehicle speed and the historical vehicle speed of the previous cycle. The correction parameter is determined based on the current vehicle speed parameter and the preset correction relationship. The preset correction relationship is used to indicate the correspondence between the preset vehicle speed parameter and the preset correction parameter; the current vehicle speed parameter includes the current vehicle speed change rate and the current vehicle speed.

[0074] Specifically, the speed difference between the current vehicle speed and the historical vehicle speed is determined, and the ratio of the speed difference to the historical vehicle speed is determined as the current vehicle speed change rate; since the preset correction relationship indicates the corresponding relationship between the preset vehicle speed parameters and the preset correction parameters, and the preset vehicle speed parameters include the preset vehicle speed change rate and the preset vehicle speed, the correction parameters can be determined based on the current vehicle speed parameters (the current vehicle speed and the current vehicle speed change rate) and the preset correction relationship, and when both the current vehicle speed and the current vehicle speed change rate increase, the correction parameters increase accordingly.

[0075] Optionally, the vehicle parameter collection period may be 2 seconds / time, 1 second / time, etc. The collection period may be determined according to actual conditions and is not specifically limited here.

[0076] The above technical solution determines the current vehicle speed change rate through the historical vehicle speed of the previous cycle and the current vehicle speed, and determines the correction parameter based on the current vehicle speed parameter and the preset correction relationship; since the preset correction relationship indicates the corresponding relationship between the preset vehicle speed parameter and the preset correction parameter, the current vehicle speed parameter includes the current vehicle speed change rate and the current vehicle speed, and a unique correction parameter can be determined through the current vehicle speed parameter and the preset correction relationship, thereby ensuring the accuracy of the correction parameter.

[0077] Exemplarily, the target number is the number of curves in the target steering control curve, that is, the number of rear-wheel steering control curves from the current driving mode to the target driving mode.

[0078] In order to improve the accuracy of the initial front and rear wheel steering angle ratio, the initial front and rear wheel steering angle ratio may be determined by vehicle parameters that change in real time.

[0079] Exemplarily, the absolute value of the difference between the ratio of the first front and rear wheel angle ratio and the second front and rear wheel angle ratio, the target number of curves in the target steering control curve, the correction parameter, the change in the front and rear wheel angle ratio of the previous cycle and the front and rear wheel angle ratio of the previous cycle are obtained, and based on the absolute value of the difference, the target number, the correction coefficient and the change in the front and rear wheel angle ratio of the previous cycle, the change in the front and rear wheel angle ratio of the current cycle is obtained; the sum of the change in the front and rear wheel angle ratio of the current cycle and the front and rear wheel angle ratio of the previous cycle is determined as the initial front and rear wheel angle ratio.

[0080] For example, the expression of the change in the front and rear wheel angle ratio in the current cycle can be expressed as follows:

[0081] dR2=(|R1-R2| / N)*K*dR1

[0082] Wherein, dR2 represents the change in the front and rear wheel angle ratio in the current cycle, R1 represents the first front and rear wheel angle ratio, R2 represents the second front and rear wheel angle ratio, N represents the target number, K represents the correction coefficient, and dR1 represents the front and rear wheel angle ratio in the previous cycle. The ratio of the absolute value of the difference |R1-R2| to the target number N is determined as the component of the angle ratio |R1-R2| / N, and the product of the component of the angle ratio |R1-R2| / N, the correction coefficient K and the change in the front and rear wheel angle ratio dR1 in the previous cycle is determined as the change in the front and rear wheel angle ratio dR2 in the current cycle.

[0083] Furthermore, the sum of the change in the front and rear wheel turning angle ratio of the current cycle and the front and rear wheel turning angle ratio of the previous cycle is determined as the initial front and rear wheel turning angle ratio.

[0084] The above technical scheme obtains the change in the ratio of the front and rear wheel angles in the current cycle based on the absolute value of the difference, the target number, the correction coefficient and the change in the ratio of the front and rear wheel angles in the previous cycle. Since the correction coefficient is greater than the ratio of the target number to the absolute value of the difference, it can ensure that the change in the ratio of the front and rear wheel angles in the current cycle is greater than the change in the ratio of the front and rear wheel angles in the previous cycle, and the sum of the change in the ratio of the front and rear wheel angles in the current cycle and the ratio of the front and rear wheel angles in the previous cycle is determined as the initial front and rear wheel angle ratio, and then as the vehicle speed changes, the initial front and rear wheel angle ratio can be made to better fit the different rear wheel steering control curves in the target steering control curve, thereby ensuring that the vehicle can slide safely from the current driving mode to the target driving mode.

[0085] S230: Obtain a target front and rear wheel steering angle ratio based on the initial front and rear wheel steering angle ratio and the target steering control curve.

[0086] Exemplarily, based on determining the initial front and rear wheel steering angle ratio, the target front and rear wheel steering angle ratio is determined by comparing the initial front and rear wheel steering angle ratio with each rear wheel steering control curve in the target steering control curve.

[0087] Exemplarily, a reference front and rear wheel turning angle ratio corresponding to the current vehicle speed in the target steering control curve is determined, and a target front and rear wheel turning angle ratio is determined based on the reference front and rear wheel turning angle ratio and the initial front and rear wheel turning angle ratio.

[0088] Exemplarily, the reference front and rear wheel steering angle ratio is used to indicate the calibrated front and rear wheel steering angle ratio corresponding to the current vehicle speed in the target steering control curve. For example, the target steering control curve includes five rear wheel steering control curves, and the current vehicle speed is v, then the current vehicle speed v corresponds to five reference front and rear wheel steering angle ratios.

[0089] The above technical scheme determines the reference front and rear wheel turning angle ratio corresponding to the current vehicle speed in the target steering control curve, and determines the target front and rear wheel turning angle ratio based on the reference front and rear wheel turning angle ratio and the initial front and rear wheel turning angle ratio; since the target front and rear wheel turning angle ratio is determined by the reference front and rear wheel turning angle ratio in the target steering control curve, the safety of the target front and rear wheel turning angle ratio can be ensured.

[0090] Exemplarily, based on the initial front and rear wheel steering angle ratio and the target steering control curve, a target front and rear wheel steering angle ratio is obtained. Specifically, a reference front and rear wheel steering angle ratio corresponding to the current vehicle speed in the target steering control curve is determined, a target difference between each reference front and rear wheel steering angle ratio in the reference front and rear wheel steering angle ratio and the initial front and rear wheel steering angle ratio is determined, and based on the target difference, the target front and rear wheel steering angle ratio is selected from the reference front and rear wheel steering angle ratios to obtain the target front and rear wheel steering angle ratio.

[0091] Specifically, when determining the target differences between each reference front and rear wheel turning angle ratio and the initial front and rear wheel turning angle ratio, the reference front and rear wheel turning angle ratio corresponding to the minimum difference among the target differences is determined as the target front and rear wheel turning angle ratio.

[0092] In addition, if there are at least two minimum differences in the target difference, the distance between the rear wheel control curve corresponding to the minimum difference and the rear wheel steering angle curve corresponding to the target driving mode is determined, and the reference front and rear wheel steering angle ratio corresponding to the one with the smallest distance is determined as the target front and rear wheel steering angle ratio.

[0093] The above technical scheme determines the target difference between each reference front and rear wheel turning angle ratio in the reference front and rear wheel turning angle ratios and the initial front and rear wheel turning angle ratio, and based on the target difference, selects the target front and rear wheel turning angle ratio from the reference front and rear wheel turning angle ratios; since the target front and rear wheel turning angle ratio is determined by the target difference between the reference front and rear wheel turning angle ratio and the initial front and rear wheel turning angle ratio, the safety of the target front and rear wheel turning angle can be ensured, thereby controlling the steering of the rear wheels of the vehicle based on the target front and rear wheel turning angle ratio, thereby ensuring driving safety.

[0094] S240: Controlling the rear wheels of the vehicle to steer based on the target front and rear wheel steering angle ratio.

[0095] Exemplarily, when the target front-rear wheel turning angle ratio is determined, the rear wheels of the vehicle are controlled to steer based on the front wheel turning angle of the vehicle and the target front-rear wheel turning angle ratio.

[0096] Specifically, the steering wheel angle of the vehicle is obtained, and based on the steering wheel angle, the front wheel angle of the vehicle is determined, the ratio of the front wheel angle to the target front and rear wheel angle ratio is determined as the rear wheel angle of the vehicle, and the rear wheels of the vehicle are controlled to steer at the rear wheel angle.

[0097] The above technical scheme determines the front wheel angle of the vehicle through the steering wheel angle of the vehicle, determines the ratio of the front wheel angle to the target front and rear wheel angle ratio as the rear wheel angle of the vehicle, and controls the rear wheels of the vehicle to steer with the rear wheel angle; since the front wheel angle of the vehicle is determined by the steering wheel angle, the accuracy of the front wheel angle of the vehicle can be ensured, and on this basis, the safety and accuracy of the rear wheel angle of the vehicle can be ensured through the ratio of the front wheel angle to the target front and rear wheel angles, thereby improving the safety of the vehicle switching driving modes.

[0098] Exemplarily, the front and rear wheel angle ratio is used to indicate the ratio of the front wheel angle to the rear wheel angle of the vehicle, so that the rear wheel angle of the vehicle can be determined when the target front and rear wheel angle ratio and the front wheel angle of the vehicle are determined.

[0099] It can be understood that when the rear wheels of the vehicle are controlled to steer based on the target front-rear wheel steering angle ratio, the front wheel steering angle and the vehicle speed of the vehicle are detected in real time, and when the front wheel steering angle or the vehicle speed of the vehicle changes, the target front-rear wheel steering angle ratio is updated and the rear wheels of the vehicle are controlled to steer until the vehicle's driving mode is switched from the current driving mode to the target driving mode.

[0100] According to the above technical solution, if a target driving mode activation instruction is detected when the vehicle is in the process of turning, the current vehicle speed, the current driving mode and the target steering control curve of the vehicle are obtained, and based on the current vehicle speed, the current driving mode and the target driving mode, the initial front and rear wheel steering angle ratio of the vehicle is obtained, and based on the initial front and rear wheel steering angle ratio and the target steering control curve, the target front and rear wheel steering angle ratio is obtained, and then the rear wheels of the vehicle are controlled to steer based on the target front and rear wheel steering angle ratio; compared with the prior art in which the rear wheel steering angle of the vehicle needs to be centered or the vehicle speed is controlled to be zero when switching the driving mode, the present application can ensure the safety of the target front and rear wheel steering angle ratio and control the rear wheels of the vehicle to steer through the initial front and rear wheel steering angle ratio and the target steering control curve; further, as the current vehicle speed or the front wheel steering angle of the vehicle changes, the steering angle of the rear wheels of the vehicle is adjusted in real time, so that the target driving mode of the vehicle can be activated without controlling the rear wheel steering angle of the vehicle to be centered or the vehicle speed to be zero, thereby improving the driving convenience and the driving safety of the vehicle.

[0101] Figure 3 It is a schematic diagram of a target steering control curve provided in an embodiment of the present application.

[0102] For example, Figure 3 As shown, the target steering control curve is the envelope of the rear-wheel steering control from the current driving mode to the target driving mode, that is, there are multiple rear-wheel steering control curves L1 to L8 between the rear-wheel steering control curve corresponding to the current driving mode and the rear-wheel steering control curve corresponding to the target driving mode. The horizontal axis of the rear-wheel steering control curve represents the preset vehicle speed, and the vertical axis represents the calibrated front and rear wheel steering angle ratio.

[0103] In one example, if a command to turn on a target driving mode is detected while the vehicle is in the process of turning, the current vehicle speed V of the vehicle is obtained, a first front and rear wheel steering angle ratio corresponding to the current driving mode at the current vehicle speed (V) (a calibrated front and rear wheel steering angle ratio of the rear wheel steering angle control curve corresponding to the current driving mode) and a second front and rear wheel steering angle ratio corresponding to the target driving mode at the current vehicle speed (V) are determined, the absolute value of the difference between the first front and rear wheel steering angle ratio and the second front and rear wheel steering angle ratio is determined, the ratio of the absolute value of the difference to the target number of curves in the target steering control curve is determined as a component of the steering angle ratio, and the product of the component of the steering angle ratio, the correction coefficient and the change in the front and rear wheel steering angle ratio in the previous cycle is determined as the change in the front and rear wheel steering angle ratio in the current cycle.

[0104] Further, the sum of the change in the front and rear wheel angle ratio of the current cycle and the front and rear wheel angle ratio of the previous cycle is determined as the initial front and rear wheel angle ratio c2, and the target difference between each reference front and rear wheel angle ratio of the 8 reference front and rear wheel angle ratios corresponding to the current speed V in L1 to L8 and the initial front and rear wheel angle ratio c2 is determined, and the minimum difference among the target differences is determined, and the minimum difference is the reference front and rear wheel angle ratio in L6 and the reference front and rear wheel angle ratio in L7. However, since the rear wheel steering control curve of the target driving mode is close to L6, the reference front and rear wheel angle ratio in L6 is determined to be the target front and rear wheel angle ratio. On this basis, the front wheel angle of the vehicle is determined by the steering wheel angle, and the ratio of the front wheel angle of the vehicle to the target front and rear wheel angle ratio is determined as the rear wheel angle of the vehicle, and the rear wheels of the vehicle are controlled to steer at the rear wheel angle.

[0105] In another example, if a command to turn on the target driving mode is detected while the vehicle is in the process of turning, the absolute value of the difference between a first front and rear wheel angle ratio corresponding to the current driving mode at the current speed (V) and a second front and rear wheel angle ratio corresponding to the target driving mode at the current speed (V) is determined, and based on the absolute value of the difference, the target number, the correction coefficient and the change in the front and rear wheel angle ratio of the previous cycle, the change in the front and rear wheel angle ratio of the current cycle is obtained, and the sum of the change in the front and rear wheel angle ratio of the current cycle and the front and rear wheel angle ratio of the previous cycle is determined as the initial front and rear wheel angle ratio c1.

[0106] Further, target differences between each of the eight reference front and rear wheel angle ratios corresponding to the current speed V in L1 to L8 and the initial front and rear wheel angle ratio c1 are determined, and the minimum difference among the target differences is determined. The minimum difference is the reference front and rear wheel angle ratio in L4, and the reference front and rear wheel angle ratio in L4 is determined to be the target front and rear wheel angle ratio, and the rear wheels of the vehicle are controlled to steer based on the target front and rear wheel angle ratio.

[0107] In addition, when the rear wheels of the vehicle are controlled to steer based on the target front and rear wheel steering angles, the front wheel steering angle and vehicle speed of the vehicle are detected in real time, and it is determined whether the front wheel steering angle of the vehicle has changed and whether the vehicle speed has changed; when the front wheel steering angle of the vehicle has not changed and the vehicle speed has not changed, the rear wheels of the vehicle are continuously controlled to steer based on the target front and rear wheel steering angles; when the front wheel steering angle of the vehicle has changed or the vehicle speed has changed, the target front and rear wheel steering angle ratio is updated and the rear wheels of the vehicle are controlled to steer until the driving mode of the vehicle is switched from the current driving mode to the target driving mode.

[0108] It is understandable that if a command to start the target driving mode is detected, before the vehicle's driving mode is switched to the target driving mode, the vehicle is only in the start-up stage of the target driving mode, but the vehicle has not switched to the target driving mode, that is, it is necessary to detect the vehicle's front wheel angle and vehicle speed to determine the target front and rear wheel angle ratio until the vehicle is switched to the target driving mode.

[0109] The above technical scheme obtains the change in the ratio of the front and rear wheel angles in the current cycle through the absolute value of the difference, the target number, the correction coefficient and the change in the ratio of the front and rear wheel angles in the previous cycle. Since the correction coefficient is greater than the ratio of the target number to the absolute value of the difference, it can ensure that the change in the ratio of the front and rear wheel angles in the current cycle is greater than the change in the ratio of the front and rear wheel angles in the previous cycle, and the sum of the change in the ratio of the front and rear wheel angles in the current cycle and the ratio of the front and rear wheel angles in the previous cycle is determined as the initial front and rear wheel angle ratio, and then as the vehicle speed changes, the initial front and rear wheel angle ratio can be made to better fit the different rear wheel steering control curves in the target steering control curve, thereby ensuring that the vehicle can slide safely from the current driving mode to the target driving mode.

[0110] Furthermore, through the initial front and rear wheel angle ratio and the target steering control curve, the safety of the target front and rear wheel angle ratio can be ensured, and the rear wheels of the vehicle can be controlled to steer; as the current speed of the vehicle or the front wheel angle of the vehicle changes, the steering angle of the rear wheels of the vehicle is adjusted in real time, so there is no need to control the rear wheel angle of the vehicle to be centered or the speed to be zero, and the target driving mode of the vehicle can be turned on, thereby improving driving convenience and vehicle driving safety.

[0111] Figure 4 It is a schematic flow chart of another vehicle control method provided in an embodiment of the present application.

[0112] For example, Figure 4 The method shown can be executed by a vehicle controller or chip in the vehicle.

[0113] For example, Figure 4 As shown, the method 400 includes the following processes:

[0114] S401, when the vehicle is in the process of turning, if a start instruction of the target driving mode is detected, the current speed of the vehicle, the current driving mode and the target steering control curve are obtained.

[0115] Exemplarily, the target steering control curve is the envelope of the rear-wheel steering control from the current driving mode to the target driving mode, that is, there are multiple calibrated rear-wheel steering control curves between the current driving mode and the target driving mode; the horizontal axis of the target steering control curve is the vehicle speed, and the vertical axis is the calibrated front and rear wheel steering angle ratio, so that the corresponding front and rear wheel steering angle ratio can be determined through the current vehicle speed.

[0116] Exemplarily, the vehicle being in the process of turning indicates that the steering wheel angle of the vehicle is not zero, and the front wheel angle of the vehicle is not zero. In addition, the vehicle being in the process of turning indicates that the vehicle is turning, and turning indicates that the current driving trajectory of the vehicle is curved; however, the vehicle being in the process of turning does not mean that the vehicle is on a curved road.

[0117] Exemplarily, if a command to turn on the target driving mode is detected while the vehicle is in the process of turning, the vehicle's current speed, current driving mode and target steering control curve are obtained, and the current driving mode is used to indicate the vehicle's driving mode when the vehicle has not switched to the target driving mode.

[0118] S402, determining a first front-rear wheel steering angle ratio based on the current speed and the current driving mode, and determining a second front-rear wheel steering angle ratio based on the current speed and the target driving mode.

[0119] Exemplarily, based on the vehicle's current speed and current driving mode, a first front and rear wheel steering angle ratio corresponding to the current driving mode at the current speed is determined, and based on the vehicle's current speed and target driving mode, a second front and rear wheel steering angle ratio corresponding to the target driving mode at the current speed is determined.

[0120] S403: Determine the absolute value of the difference between the first front-rear wheel turning angle ratio and the second front-rear wheel turning angle ratio.

[0121] Exemplarily, when determining the first front-rear wheel turning angle ratio and the second front-rear wheel turning angle ratio, the ratio difference between the first front-rear wheel turning angle ratio and the second front-rear wheel turning angle ratio is determined, and the absolute value of the ratio difference is determined.

[0122] S404, obtaining a change in the front and rear wheel angle ratio of the current cycle based on the absolute value of the difference, the target number of the target steering control curve, the correction coefficient and the change in the front and rear wheel angle ratio of the previous cycle.

[0123] Exemplarily, the absolute value of the difference between the ratio of the first front and rear wheel angle ratio and the second front and rear wheel angle ratio, the target number of curves in the target steering control curve, the correction parameter, the change in the front and rear wheel angle ratio of the previous cycle and the front and rear wheel angle ratio of the previous cycle are obtained, and based on the absolute value of the difference, the target number, the correction coefficient and the change in the front and rear wheel angle ratio of the previous cycle, the change in the front and rear wheel angle ratio of the current cycle is obtained.

[0124] Specifically, the ratio of the absolute value of the difference to the target number is determined as the component of the angle ratio, and the product of the component of the angle ratio, the correction coefficient and the change in the front and rear wheel angle ratio in the previous cycle is determined as the change in the front and rear wheel angle ratio in the current cycle.

[0125] S405: Determine the sum of the change in the front and rear wheel turning angle ratio of the current cycle and the front and rear wheel turning angle ratio of the previous cycle as the initial front and rear wheel turning angle ratio.

[0126] Exemplarily, the sum of the change in the front and rear wheel turning angle ratio of the current cycle and the front and rear wheel turning angle ratio of the previous cycle is determined as the initial front and rear wheel turning angle ratio.

[0127] S406, determining a reference front and rear wheel steering angle ratio corresponding to the current vehicle speed in the target steering control curve.

[0128] Exemplarily, the target steering control curve is the envelope of the rear-wheel steering control from the current driving mode to the target driving mode, that is, the rear-wheel steering control curve, the horizontal coordinate of the rear-wheel steering control curve is the preset vehicle speed, and the vertical coordinate is the calibrated front and rear wheel steering angle ratio; when the current vehicle speed is determined, the reference front and rear wheel steering angle ratio corresponding to the current vehicle speed in the target steering control curve is determined.

[0129] Optionally, the reference front and rear wheel turning angle ratio may include 2, 3, etc., which is not specifically limited here.

[0130] S407, determining a target difference between each reference front and rear wheel turning angle ratio in the reference front and rear wheel turning angle ratios and the initial front and rear wheel turning angle ratio.

[0131] Exemplarily, target differences between each reference front and rear wheel turning angle ratio in the reference front and rear wheel turning angle ratios and the initial front and rear wheel turning angle ratio are determined, and the number of target differences is the same as the number of reference front and rear wheel turning angle ratios.

[0132] S408, based on the target difference, select a target front and rear wheel turning angle ratio from the reference front and rear wheel turning angle ratios.

[0133] Exemplarily, a reference front and rear wheel turning angle ratio corresponding to the current vehicle speed in the target steering control curve is determined, a target difference between each reference front and rear wheel turning angle ratio and the initial front and rear wheel turning angle ratio in the reference front and rear wheel turning angle ratio is determined, and based on the target difference, a target front and rear wheel turning angle ratio is selected from the reference front and rear wheel turning angle ratios to obtain the target front and rear wheel turning angle ratio.

[0134] Specifically, when determining the target differences between each reference front and rear wheel turning angle ratio and the initial front and rear wheel turning angle ratio, the reference front and rear wheel turning angle ratio corresponding to the minimum difference among the target differences is determined as the target front and rear wheel turning angle ratio.

[0135] In addition, if there are at least two minimum differences in the target difference, the distance between the rear wheel control curve corresponding to the minimum difference and the rear wheel steering angle curve corresponding to the target driving mode is determined, and the reference front and rear wheel steering angle ratio corresponding to the one with the smallest distance is determined as the target front and rear wheel steering angle ratio.

[0136] S409: Determine the ratio of the front wheel turning angle to the target front and rear wheel turning angle ratio as the rear wheel turning angle of the vehicle.

[0137] Exemplarily, the front and rear wheel angle ratio is used to indicate the ratio of the front wheel angle to the rear wheel angle of the vehicle, so that the rear wheel angle of the vehicle can be determined when the target front and rear wheel angle ratio and the front wheel angle of the vehicle are determined.

[0138] Specifically, the steering wheel angle of the vehicle is obtained, and based on the steering wheel angle, the front wheel angle of the vehicle is determined, the ratio of the front wheel angle to the target front and rear wheel angle ratio is determined as the rear wheel angle of the vehicle, and the rear wheels of the vehicle are controlled to steer at the rear wheel angle.

[0139] S410, controlling the rear wheels of the vehicle to steer according to the rear wheel turning angle.

[0140] Exemplarily, based on the steering wheel angle, the front wheel angle of the vehicle is determined, the ratio of the front wheel angle to the target front and rear wheel angle ratio is determined as the rear wheel angle of the vehicle, and the rear wheels of the vehicle are controlled to steer at the rear wheel angle.

[0141] The above technical scheme obtains the change in the ratio of the front and rear wheel angles in the current cycle through the absolute value of the difference, the target number, the correction coefficient and the change in the ratio of the front and rear wheel angles in the previous cycle. Since the correction coefficient is greater than the ratio of the target number to the absolute value of the difference, it can ensure that the change in the ratio of the front and rear wheel angles in the current cycle is greater than the change in the ratio of the front and rear wheel angles in the previous cycle, and the sum of the change in the ratio of the front and rear wheel angles in the current cycle and the ratio of the front and rear wheel angles in the previous cycle is determined as the initial front and rear wheel angle ratio, and then as the vehicle speed changes, the initial front and rear wheel angle ratio can be made to better fit the different rear wheel steering control curves in the target steering control curve, thereby ensuring that the vehicle can slide safely from the current driving mode to the target driving mode.

[0142] Furthermore, through the initial front and rear wheel angle ratio and the target steering control curve, the safety of the target front and rear wheel angle ratio can be ensured, and the rear wheels of the vehicle can be controlled to steer; as the current speed of the vehicle or the front wheel angle of the vehicle changes, the steering angle of the rear wheels of the vehicle is adjusted in real time, so there is no need to control the rear wheel angle of the vehicle to be centered or the speed to be zero, and the target driving mode of the vehicle can be turned on, thereby improving driving convenience and vehicle driving safety.

[0143] It should be understood that the above examples are intended to help those skilled in the art understand the embodiments of the present application, rather than to limit the embodiments of the present application to the specific numerical values ​​or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the above examples, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0144] Combination of the above Figures 1 to 4 The vehicle control method provided by the embodiment of the present application is described in detail; Figure 5 and Figure 6 The device embodiments of the present application are described in detail. It should be understood that the device in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0145] Figure 5 It is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application.

[0146] For example, Figure 5 As shown, the vehicle control device 500 includes:

[0147] The acquisition module 510 is used to acquire the current vehicle speed, the current driving mode and the target steering control curve of the vehicle if an instruction to start the target driving mode is detected during the vehicle is in the process of steering; wherein the target steering control curve is an envelope of the rear wheel steering control from the current driving mode to the target driving mode;

[0148] A calculation module 520, for obtaining an initial front and rear wheel steering angle ratio of the vehicle based on the current vehicle speed, the current driving mode and the target driving mode;

[0149] A determination module 530, configured to obtain a target front and rear wheel steering angle ratio based on the initial front and rear wheel steering angle ratio and the target steering control curve;

[0150] The control module 540 is used to control the rear wheels of the vehicle to steer based on the target front and rear wheel steering angle ratio.

[0151] Optionally, as an embodiment, the determination module 530 is specifically configured to:

[0152] Determine the reference front and rear wheel steering angle ratio corresponding to the current vehicle speed in the target steering control curve;

[0153] A target front-rear wheel turning angle ratio is determined based on the reference front-rear wheel turning angle ratio and the initial front-rear wheel turning angle ratio.

[0154] Optionally, as an embodiment, the determination module 530 is specifically configured to:

[0155] determining a target difference between each reference front and rear wheel turning angle ratio in the reference front and rear wheel turning angle ratios and the initial front and rear wheel turning angle ratio;

[0156] Based on the target difference, a target front and rear wheel turning angle ratio is selected from reference front and rear wheel turning angle ratios.

[0157] Optionally, as an embodiment, the calculation module 520 is specifically configured to:

[0158] Determine the absolute value of the difference between the first front-to-rear wheel turning angle ratio and the second front-to-rear wheel turning angle ratio; wherein the first front-to-rear wheel turning angle ratio is the front-to-rear wheel turning angle ratio corresponding to the current driving mode at the current vehicle speed, and the second front-to-rear wheel turning angle ratio is the front-to-rear wheel turning angle ratio corresponding to the current driving mode at the current vehicle speed;

[0159] Based on the absolute value of the difference, the target number and the correction coefficient, the initial front and rear wheel angle ratio is obtained; wherein the target number is the number of curves in the target steering control curve, and the correction coefficient is greater than the ratio of the target number to the absolute value of the difference.

[0160] Optionally, as an embodiment, the calculation module 520 is specifically configured to:

[0161] Obtaining the change in the ratio of the front and rear wheel angles in the previous cycle and the ratio of the front and rear wheel angles in the previous cycle;

[0162] Based on the absolute value of the difference, the target number, the correction coefficient and the change in the ratio of the front and rear wheel angles in the previous cycle, the change in the ratio of the front and rear wheel angles in the current cycle is obtained;

[0163] The sum of the change in the front and rear wheel turning angle ratio of the current cycle and the front and rear wheel turning angle ratio of the previous cycle is determined as the initial front and rear wheel turning angle ratio.

[0164] Optionally, as an embodiment, the calculation module 520 is specifically configured to:

[0165] Get the historical vehicle speed of the previous cycle;

[0166] Determine the current vehicle speed change rate based on the current vehicle speed and the historical vehicle speed of the previous cycle;

[0167] Based on the current vehicle speed parameter and the preset correction relationship, the correction parameter is determined; wherein the preset correction relationship is used to indicate the corresponding relationship between the preset vehicle speed parameter and the preset correction parameter; the current vehicle speed parameter includes the current vehicle speed change rate and the current vehicle speed.

[0168] Optionally, as an embodiment, the control module 540 is specifically configured to:

[0169] Get the vehicle's steering wheel angle;

[0170] Based on the steering wheel angle, determine the front wheel angle of the vehicle;

[0171] The ratio of the front wheel turning angle to the target front and rear wheel turning angle ratio is determined as the rear wheel turning angle of the vehicle;

[0172] Control the rear wheels of the vehicle to steer according to the rear wheel turning angle.

[0173] It should be noted that the vehicle control device 500 is implemented in the form of a functional unit. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0174] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0175] Therefore, the units of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0176] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0177] For example, the vehicle 600 and Figure 1 The vehicle 100 in FIG. 1 represents the same vehicle.

[0178] For example, Figure 6As shown, the vehicle 600 includes: a memory 610 and a processor 620, wherein the memory 610 stores an executable program code 630, and the processor 620 is used to call and execute the executable program code 630 to perform a vehicle control method.

[0179] Exemplarily, the memory 610 can be used to store relevant programs of the vehicle control method provided in the embodiments of the present application; the processor 620 can call the relevant programs of the vehicle control method stored in the memory 610 to execute the vehicle control method of the embodiments of the present application; for example, if a command to turn on the target driving mode is detected while the vehicle is in the steering process, the current vehicle speed, current driving mode and target steering control curve of the vehicle are obtained; wherein the target steering control curve is the envelope of the rear wheel steering control from the current driving mode to the target driving mode; based on the current vehicle speed, the current driving mode and the target driving mode, the initial front and rear wheel steering angle ratio of the vehicle is obtained; based on the initial front and rear wheel steering angle ratio and the target steering control curve, the target front and rear wheel steering angle ratio is obtained; and the rear wheels of the vehicle are controlled to steer based on the target front and rear wheel steering angle ratio.

[0180] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0181] In the case of dividing each functional module according to each function, the device may also include an acquisition module, a calculation module, a determination module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0182] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0183] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing related program codes, etc.

[0184] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0185] In addition, the device provided in the embodiments of the present application may specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiments.

[0186] The present application also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided by the above-mentioned embodiment. Among them, computer-readable storage media may include but are not limited to any type of disk, including floppy disks, optical disks, digital versatile disks (DVD), compact disc read-only memory (CD-ROM), microdrives and magneto-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read only memory (EEPROM), dynamic random access memory (DRAM), video random access memory (VRAM), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0187] The present application also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0188] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0189] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0190] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0191] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: If a start instruction of the target driving mode is detected during the vehicle is in the process of steering, the current vehicle speed, the current driving mode and the target steering control curve of the vehicle are obtained; wherein the target steering control curve is an envelope of the rear wheel steering control from the current driving mode to the target driving mode; Based on the current vehicle speed, the current driving mode and the target driving mode, obtaining an initial front and rear wheel steering angle ratio of the vehicle; Based on the initial front and rear wheel steering angle ratio and the target steering control curve, a target front and rear wheel steering angle ratio is obtained; The rear wheels of the vehicle are controlled to steer based on the target front-rear wheel steering angle ratio.

2. The method according to claim 1, characterized in that The obtaining a target front and rear wheel steering angle ratio based on the initial front and rear wheel steering angle ratio and the target steering control curve comprises: Determine a reference front and rear wheel steering angle ratio corresponding to the current vehicle speed in the target steering control curve; The target front-rear wheel turning angle ratio is determined based on the reference front-rear wheel turning angle ratio and the initial front-rear wheel turning angle ratio.

3. The method according to claim 2, characterized in that The determining the target front-rear wheel turning angle ratio based on the reference front-rear wheel turning angle ratio and the initial front-rear wheel turning angle ratio comprises: determining a target difference between each reference front and rear wheel turning angle ratio in the reference front and rear wheel turning angle ratios and the initial front and rear wheel turning angle ratio; Based on the target difference, the target front-rear wheel turning angle ratio is selected from the reference front-rear wheel turning angle ratios.

4. The method according to claim 1, characterized in that: The obtaining of the initial front and rear wheel steering angle ratio of the vehicle based on the current vehicle speed, the current driving mode and the target driving mode includes: Determine an absolute value of a difference between a first front-to-rear wheel turning angle ratio and a second front-to-rear wheel turning angle ratio; wherein the first front-to-rear wheel turning angle ratio is a front-to-rear wheel turning angle ratio corresponding to the current driving mode at the current vehicle speed, and the second front-to-rear wheel turning angle ratio is a front-to-rear wheel turning angle ratio corresponding to the current driving mode at the current vehicle speed; Based on the absolute value of the difference, the target number and the correction coefficient, the initial front and rear wheel steering angle ratio is obtained; wherein the target number is the number of curves in the target steering control curve, and the correction coefficient is greater than the ratio of the target number to the absolute value of the difference.

5. The method according to claim 4, characterized in that The method further comprises: Obtaining the change in the ratio of the front and rear wheel angles in the previous cycle and the ratio of the front and rear wheel angles in the previous cycle; The obtaining of the initial front and rear wheel turning angle ratio based on the absolute value of the difference, the target number and the correction coefficient comprises: Based on the absolute value of the difference, the target number, the correction coefficient and the change in the front and rear wheel angle ratio of the previous cycle, obtaining the change in the front and rear wheel angle ratio of the current cycle; The sum of the change in the front and rear wheel turning angle ratio of the current cycle and the front and rear wheel turning angle ratio of the previous cycle is determined as the initial front and rear wheel turning angle ratio.

6. The method according to claim 4 or 5, characterized in that: The method further comprises: Get the historical vehicle speed of the previous cycle; Determining a current vehicle speed change rate based on the current vehicle speed and the historical vehicle speed of the previous cycle; The correction parameter is determined based on the current vehicle speed parameter and the preset correction relationship; wherein the preset correction relationship is used to indicate the corresponding relationship between the preset vehicle speed parameter and the preset correction parameter; the current vehicle speed parameter includes the current vehicle speed change rate and the current vehicle speed.

7. The method according to claim 1, characterized in that The method further comprises: Obtaining a steering wheel angle of the vehicle; Determining a front wheel angle of the vehicle based on the steering wheel angle; The controlling the rear wheels of the vehicle to steer based on the target front and rear wheel steering angle ratio comprises: Determining the ratio of the front wheel turning angle to the target front and rear wheel turning angle ratio as the rear wheel turning angle of the vehicle; The rear wheels of the vehicle are controlled to steer at the rear wheel turning angle.

8. A vehicle control device, characterized in that: The device comprises: an acquisition module, configured to acquire the current vehicle speed, the current driving mode and a target steering control curve of the vehicle if an instruction to start the target driving mode is detected when the vehicle is in a steering process; wherein the target steering control curve is an envelope of rear wheel steering control from the current driving mode to the target driving mode; a calculation module, configured to obtain an initial front and rear wheel steering angle ratio of the vehicle based on the current vehicle speed, the current driving mode and the target driving mode; A determination module, configured to obtain a target front and rear wheel steering angle ratio based on the initial front and rear wheel steering angle ratio and the target steering control curve; A control module is used to control the rear wheels of the vehicle to steer based on the target front and rear wheel steering angle ratio.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory so that the vehicle executes the vehicle control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the vehicle control method according to any one of claims 1 to 7 is implemented.

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