Drifting method, vehicle and storage medium

Abstract

The invention provides a drifting method, a vehicle and a storage medium, the vehicle performs independent control on each wheel based on an electronic mechanical braking system, and the drifting method comprises the following steps: acquiring a current state, a current vehicle speed and a current steering wheel angle of the vehicle, and if the current state is a driving state and the current vehicle speed is in a preset vehicle speed interval, starting a drifting mode; if yes, when the vehicle is in a drifting preparation mode, the target drifting angle of the vehicle is determined according to the current steering wheel rotating angle, the independent braking force corresponding to each wheel is calculated according to the target drifting angle, and an electronic mechanical braking system is driven to control a caliper motor corresponding to each wheel to apply the corresponding independent braking force to each wheel; and the vehicle begins to drift. Therefore, according to the method, the vehicle can quickly respond to operation of a driver, rear wheel braking can be more accurately and quickly achieved, meanwhile, vibration and noise influences caused by work of a motor of a vehicle body electronic stabilization system in traditional drifting control can be effectively avoided, and comfortable driving experience is provided for the driver.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a drift method, a vehicle and a storage medium in the field of vehicle technology. Background Art

[0002] As EMB (Electromechanical Brake System) gradually replaces traditional hydraulic brakes and is used for main brakes, its application scope has been expanded. EMB is a device that uses a motor-driven actuator installed on the brake caliper to brake the vehicle directly with the motor driving force without using media such as brake fluid. The current EPB is braked by EMB. EPB (Electrical Park Brake) realizes parking brakes through electronic circuits. One-touch parking can be achieved through the EPB switch to replace the traditional mechanical handbrake. The CDP (Controller Deceleration Parking) function is added to the original parking function. That is, during driving, the CDP control system can achieve simultaneous braking of four wheels by long pulling the EPB switch and the ESP (Electronic Stability Program) actively pressurizing the wheel brake cylinders. During the braking process, if any of the four wheels locks, ESP (Electronic Stability Program) will hydraulically adjust the wheel brake cylinder to prevent the wheel from locking and causing vehicle instability. However, it is precisely based on the anti-lock design that makes it difficult for cars with EMB / EPB to drift.

[0003] In the related art, in order to enable a car with EPB to drift smoothly, the EPB switch is generally pulled for a long time to control the ESP system motor to work, deliver brake fluid to the two rear brake wheel cylinders, and transmit brake pressure through the brake fluid to lock the two rear wheels, thereby achieving drifting operation.

[0004] However, this method has the following problems:

[0005] (1) When the driver is drifting, ESP transmits brake pressure by delivering brake fluid to lock the two rear wheels. The system's response time for braking is long, which cannot meet the driver's grasp of the drifting timing;

[0006] (2) When the driver is drifting, the vibration generated by the ESP motor will cause the brake pedal to follow the vibration, which is not conducive to the driver's drifting operation. At the same time, the motor noise will be transmitted to the cab, resulting in a poor driving experience, which needs to be solved urgently. Summary of the invention

[0007] The present application provides a drift method, a vehicle and a storage medium. The method enables the vehicle to respond quickly to the driver's operation and achieve rear wheel braking more accurately and quickly. At the same time, it can effectively avoid the vibration and noise caused by the operation of the motor of the vehicle body electronic stability system in traditional drift control, providing the driver with a comfortable driving experience.

[0008] In a first aspect, a drift method is provided, wherein a vehicle independently controls each wheel based on an electromechanical braking system, wherein the method comprises the following steps:

[0009] Obtaining the current state, current speed and current steering wheel angle of the vehicle;

[0010] Determining whether the current state is a driving state and whether the current vehicle speed is within a preset vehicle speed range; and

[0011] If the current state is the driving state, and the current vehicle speed is in the preset vehicle speed range, then when the vehicle is in the drift preparation mode, the target drift angle of the vehicle is determined according to the current steering wheel angle, and the corresponding individual braking force of each wheel is calculated according to the target drift angle, and the electronic mechanical braking system is driven to control the caliper motor corresponding to each wheel to apply the corresponding individual braking force to each wheel, so that the vehicle starts to drift.

[0012] Through the above technical solution, when the current state and current speed of the vehicle meet the corresponding conditions, the braking force of each wheel can be determined according to the drift command triggered by the electronic mechanical braking system, so that the corresponding individual braking force can be applied to the wheel through the caliper motors corresponding to different wheels, thereby controlling the drift of the vehicle and providing the driver with a more comfortable driving experience.

[0013] In combination with the first aspect, in some possible implementations, determining the target drift angle of the vehicle according to the current steering wheel angle, and calculating the individual braking force corresponding to each wheel according to the target drift angle includes:

[0014] Obtaining the current vehicle mass of the vehicle;

[0015] Matching the target drift angle according to the current steering wheel angle and the current vehicle mass;

[0016] A target slip ratio corresponding to each wheel is determined according to the target drift angle, and an individual braking force corresponding to each wheel is calculated according to the target slip ratio corresponding to each wheel.

[0017] Through the above technical solution, the appropriate vehicle target drift angle can be matched according to the vehicle's overall mass and the current steering wheel angle, and then the target slip rate corresponding to each wheel can be determined to assist the driver in drifting operations, thereby improving the vehicle's operability and the user's driving pleasure.

[0018] In combination with the first aspect and the above implementation manner, in some possible implementation manners, calculating the individual braking force corresponding to each wheel according to the target slip rate corresponding to each wheel includes:

[0019] Calculating a target wheel speed corresponding to each wheel according to the target slip rate corresponding to each wheel;

[0020] The target deceleration corresponding to each wheel is calculated according to the target wheel speed of each wheel, and the individual braking force corresponding to each wheel when the vehicle drifts is obtained according to the target deceleration corresponding to each wheel.

[0021] Through the above technical scheme, the target wheel speed of the corresponding wheel can be obtained according to the target slip rate of each wheel, and then the target deceleration of the corresponding wheel can be obtained according to the target wheel speed of each wheel. Finally, the braking force required for the corresponding wheel during drifting can be calculated according to the target deceleration of each wheel, so as to better realize vehicle drifting and meet user needs.

[0022] In combination with the first aspect and the above implementation manner, in some possible implementation manners, calculating the target deceleration corresponding to each wheel according to the target wheel speed of each wheel includes:

[0023] Obtaining the current wheel speed corresponding to each wheel;

[0024] The target deceleration corresponding to each wheel is calculated according to the current wheel speed corresponding to each wheel and the target wheel speed of each wheel.

[0025] Through the above technical solution, the target deceleration corresponding to each wheel can be calculated according to the current wheel speed and the target wheel speed corresponding to each wheel, so as to obtain the individual braking force corresponding to each wheel.

[0026] In combination with the first aspect and the above implementations, in some possible implementations, before obtaining the current state, current speed, and current steering wheel angle of the vehicle, the method further includes:

[0027] Determining whether a drift preparation mode switch of the vehicle is triggered;

[0028] If the drift preparation mode switch is triggered, the vehicle is controlled to enter the drift preparation mode.

[0029] The above technical solution can avoid misoperation and improve driving safety.

[0030] In combination with the first aspect and the above implementations, in some possible implementations, after controlling the vehicle to enter the drift preparation mode, the method further includes:

[0031] generating drift warning information based on the drift preparation mode;

[0032] The vehicle is controlled to perform an audible and visual alarm based on the drift warning information.

[0033] Through the above technical solution, a drift warning can be given to the driver after the vehicle enters the drift preparation mode to remind the driver that the vehicle is in a drifting state, and the following vehicle can also be warned to maintain a safe distance.

[0034] In combination with the first aspect and the above implementations, in some possible implementations, after controlling the vehicle to enter the drift preparation mode, the method further includes:

[0035] If the current speed of the vehicle is less than the minimum speed value of the preset speed range, then when the electronic parking brake switch of the vehicle is triggered, the parking braking force of each wheel is sent to the electronic mechanical braking system, and the electronic mechanical braking system is driven to control the caliper motor corresponding to each wheel to apply the parking braking force to each wheel.

[0036] Through the above technical solution, the parking demand of the vehicle entering the drift preparation mode at a low speed can be met, thereby improving the driver's driving experience.

[0037] In combination with the first aspect and the above implementations, in some possible implementations, after controlling the vehicle to enter the drift preparation mode, the method further includes:

[0038] If the current state is not the driving state, or the current vehicle speed is not within the preset vehicle speed range, it is determined that the vehicle cannot drift, and the vehicle is controlled to issue a drift failure reminder.

[0039] Through the above technical solution, when the user has the intention to drift but the vehicle status does not meet the drift conditions at this time, the user can be reminded that the drift cannot be carried out, so that the user can make timely adjustments to improve the user experience.

[0040] In a second aspect, a drift device is provided, wherein a vehicle independently controls each wheel based on an electronic mechanical braking system, wherein the device comprises:

[0041] An acquisition module, used to acquire the current state, current speed and current steering wheel angle of the vehicle;

[0042] a judging module, used to judge whether the current state is a driving state, and whether the current vehicle speed is within a preset vehicle speed range; and

[0043] A drive module is used for determining a target drift angle of the vehicle according to the current steering wheel angle when the current state is the driving state and the current vehicle speed is in the preset vehicle speed range, and calculating a corresponding individual braking force for each wheel according to the target drift angle when the vehicle is in a drift preparation mode, and driving the electronic mechanical braking system to control the caliper motor corresponding to each wheel to apply a corresponding individual braking force to each wheel, so that the vehicle starts to drift.

[0044] In combination with the second aspect and the above implementations, in some possible implementations, the driving module includes:

[0045] An acquisition unit, used for acquiring the current vehicle mass of the vehicle;

[0046] A matching unit, configured to match the target drift angle according to the current steering wheel angle and the current vehicle mass;

[0047] A calculation unit is used to determine a target slip ratio corresponding to each wheel according to the target drift angle, and calculate the individual braking force corresponding to each wheel according to the target slip ratio corresponding to each wheel.

[0048] In combination with the second aspect and the foregoing implementation manner, in some possible implementation manners, the computing unit includes:

[0049] A first calculation subunit, configured to calculate a target wheel speed corresponding to each wheel according to a target slip rate corresponding to each wheel;

[0050] The second calculation subunit is used to calculate the target deceleration corresponding to each wheel according to the target wheel speed of each wheel, and obtain the individual braking force corresponding to each wheel when the vehicle drifts according to the target deceleration corresponding to each wheel.

[0051] In combination with the second aspect and the foregoing implementation manner, in some possible implementation manners, the second computing subunit is specifically configured to:

[0052] Obtaining the current wheel speed corresponding to each wheel;

[0053] The target deceleration corresponding to each wheel is calculated according to the current wheel speed corresponding to each wheel and the target wheel speed of each wheel.

[0054] In combination with the second aspect and the above implementations, in some possible implementations, before obtaining the current state, current vehicle speed, and current steering wheel angle of the vehicle, the acquisition module is further used to:

[0055] Determining whether a drift preparation mode switch of the vehicle is triggered;

[0056] If the drift preparation mode switch is triggered, the vehicle is controlled to enter the drift preparation mode.

[0057] In combination with the second aspect and the above implementations, in some possible implementations, after controlling the vehicle to enter the drift preparation mode, the acquisition module is further used to:

[0058] generating drift warning information based on the drift preparation mode;

[0059] The vehicle is controlled to perform an audible and visual alarm based on the drift warning information.

[0060] In combination with the second aspect and the above implementations, in some possible implementations, after controlling the vehicle to enter the drift preparation mode, the acquisition module is further used to:

[0061] When the current speed of the vehicle is less than the minimum speed value of the preset speed range and the electronic parking brake switch of the vehicle is triggered, the parking braking force of each wheel is sent to the electronic mechanical braking system, and the electronic mechanical braking system is driven to control the caliper motor corresponding to each wheel to apply the parking braking force to each wheel.

[0062] In combination with the second aspect and the above implementations, in some possible implementations,

[0063] After controlling the vehicle to enter the drift preparation mode, the acquisition module is further used to:

[0064] When the current state is not the driving state, or the current vehicle speed is not within the preset vehicle speed range, it is determined that the vehicle cannot drift, and the vehicle is controlled to provide a drift failure reminder.

[0065] In a third aspect, a vehicle is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method in the first aspect or any possible implementation of the first aspect.

[0066] 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 method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 is a schematic structural diagram of a vehicle's control-by-wire chassis according to an embodiment of the present application;

[0068] Figure 2 is a schematic flow chart of a drift method provided according to an embodiment of the present application;

[0069] Figure 3 is a schematic structural diagram of a drift device according to an embodiment of the present application;

[0070] Figure 4 It is a schematic diagram of the structure of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0071] 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.

[0072] 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.

[0073] The traditional method of making a vehicle drift is generally to pull the EPB switch for a long time to control the ESP system motor to supply brake fluid to the two rear brake wheel cylinders. The brake pressure is transmitted through the brake fluid to lock the two rear wheels, thereby achieving drifting operation.

[0074] However, the traditional drift method has the following problems:

[0075] (1) When the driver is drifting, ESP transmits brake pressure by delivering brake fluid to lock the two rear wheels. The system's response time for braking is long, which cannot meet the driver's grasp of the drifting timing;

[0076] (2) When the driver is performing drifting operations, the vibration generated by the ESP motor will cause the brake pedal to follow the vibration, which is not conducive to the driver's drifting operations. At the same time, the ESP motor noise will be transmitted to the cab, resulting in a poor driving experience.

[0077] The drift method proposed in this application can solve the problems of long operation response time and poor driving experience when the car is drifting, so that the vehicle can respond quickly to the driver's operation and achieve rear wheel braking more accurately and quickly. At the same time, it can effectively avoid the vibration and noise caused by the operation of the ESP motor in traditional drift control, providing the driver with a comfortable driving experience.

[0078] Before explaining the drift method provided in the embodiment of the present application, the chassis structure of the vehicle involved in the embodiment of the present application is first explained.

[0079] like Figure 1 As shown, in this embodiment, the chassis structure of the vehicle includes: four EMB (Electromechanical Brake System, electronic mechanical brake system) actuators, which can independently control the four wheels; two power supplies (such as Figure 1 Power supply 1 and power supply 2) in the vehicle are used to realize power redundancy; the domain controller with redundant effect enables the vehicle to have the capabilities of multi-sensor fusion, positioning, path planning and decision control; the two controllers, namely the front controller and the rear controller, can both be EMB controllers, wherein the front controller includes two chips, namely Figure 1 Chip 1 and chip 2 in the rear controller, chip 1 realizes the control of the right front wheel, and chip 2 realizes the control of the left front wheel; the rear controller includes two chips, namely Figure 1 Chip 3 and chip 4 in the vehicle are used to control the right rear wheel, and chip 4 to control the left rear wheel. The four chips can be traditional MCU (Microcontroller Unit) or SOC (System on Chip), which are very important components of the vehicle computer.

[0080] Figure 2 It is a schematic flow chart of a drift method provided in an embodiment of the present application, in which the vehicle independently controls each wheel based on an electronic mechanical braking system.

[0081] For example, Figure 2 As shown, the drift method includes the following steps:

[0082] Step S201, obtaining the current state, current speed and current steering wheel angle of the vehicle.

[0083] Among them, the current state of the vehicle may include a stationary state and a driving state; the current speed of the vehicle can be obtained by first obtaining the wheel speed through a speed sensor (such as a Hall sensor), and then the current speed can be obtained by calculating through a built-in formula; the current steering wheel angle can be obtained through a steering wheel angle sensor.

[0084] Step S202, determining whether the current state is a driving state, and whether the current vehicle speed is within a preset vehicle speed range.

[0085] The preset vehicle speed range may be pre-set by a person skilled in the art, or may be obtained through a limited number of experiments, or may be obtained through a limited number of computer simulations, and is not specifically limited here.

[0086] It can be understood that in order to further improve the safety of the vehicle during drifting, after controlling the vehicle to enter the drift preparation mode, it can be determined whether the vehicle is in a driving state and whether it has entered a preset speed range. Preferably, the preset speed range can be set to 60kph~150kph, that is, after the vehicle enters the drift preparation mode, the vehicle is allowed to drift only when the current speed of the vehicle reaches 60kph but does not exceed 150kph, so as to avoid safety hazards caused by excessive speed during drifting.

[0087] It should be noted that after controlling the vehicle to enter the drift preparation mode, it is necessary to control the vehicle to automatically enter the sports mode to ensure that the vehicle has sufficient power to meet the speed requirements for drifting.

[0088] Step S203, if the current state is the driving state, and the current vehicle speed is in the preset speed range, then when the vehicle is in the drift preparation mode, the target drift angle of the vehicle is determined according to the current steering wheel angle, and the corresponding individual braking force of each wheel is calculated according to the target drift angle, and the electronic mechanical braking system is driven to control the caliper motor corresponding to each wheel to apply the corresponding individual braking force to each wheel, so that the vehicle starts to drift.

[0089] Among them, the target drift angle is the angle between the vehicle body and the sliding direction. In the embodiment of the present application, the target drift angle is a calibrated value (fixed value), that is, when the current vehicle mass remains unchanged, each steering wheel angle corresponds to a unique target drift angle.

[0090] Specifically, when the current state of the vehicle is a driving state, and the current speed is in a preset speed range, it means that the vehicle meets the drifting conditions. When the vehicle is in a drift preparation mode, the corresponding individual braking force of each wheel is calculated according to the target drift angle determined by the steering wheel angle, and applied to the corresponding wheel, so that the vehicle can start drifting. Among them, the target drift angle of the vehicle can be determined according to the current steering wheel angle. For example, the embodiment of the present application can be calibrated in advance, and each steering wheel angle corresponds to a target drift angle. For example, when the steering wheel angle is 90 degrees, the corresponding target drift angle can be matched to 10 degrees; the embodiment of the present application can also set multiple steering wheel angle intervals, and each steering wheel angle interval corresponds to a target drift angle. For example, when the steering wheel angle is 85 degrees-95 degrees, the corresponding target drift angle can be matched to 10 degrees. After the current steering wheel angle is collected, the target drift angle of the vehicle can be determined by matching the angle interval corresponding to the current steering wheel angle.

[0091] Furthermore, in order to reduce the influence of the vehicle mass on the target drift angle, the embodiment of the present application can also take the vehicle mass into consideration when calibrating the target drift angle, thereby calculating the individual braking force corresponding to each wheel based on the target drift angle obtained by considering the vehicle mass, thereby improving the drift effect of the vehicle.

[0092] Furthermore, in some embodiments, a target drift angle of the vehicle is determined based on a current steering wheel angle, and an individual braking force corresponding to each wheel is calculated based on the target drift angle, including: obtaining a current vehicle mass; matching the target drift angle based on the current steering wheel angle and the current vehicle mass; determining a target slip rate corresponding to each wheel based on the target drift angle, and calculating an individual braking force corresponding to each wheel based on the target slip rate corresponding to each wheel.

[0093] Among them, the slip rate is also called the sliding rate. When the tire exerts traction or braking force, relative movement occurs between the tire and the ground. The slip rate is the proportion of the sliding component in the wheel movement. The larger the wheel slip rate, the greater the proportion of the sliding component in the wheel movement.

[0094] It should be understood that the embodiments of the present application can pre-calibrate the correspondence between the steering wheel angle, the vehicle mass and the target drift angle, that is, each set of steering wheel angle and vehicle mass will correspond to a target drift angle, and its specific calibration strategy can adopt some commonly used calibration strategies currently. To avoid redundancy, it will not be described in detail here.

[0095] Furthermore, after determining the target drift angle of the vehicle, the embodiment of the present application can look up a table to obtain a unique set of four-wheel target slip rates (fixed value) corresponding to the target drift angle. For example, when the steering wheel angle is 90 degrees, the corresponding target drift angle can be matched to 10 degrees. The target drift angle (10 degrees) at this time corresponds to a set of four-wheel target slip rates: 100% for the rear wheels, 20% for the inner front wheels, and 15% for the outer front wheels. Therefore, the individual braking force corresponding to each wheel can be calculated according to the target slip rate corresponding to each wheel.

[0096] It should be noted that the target drift angle and the unique set of target slip rates corresponding to each wheel can also be obtained in advance through actual measurements. A table is generated using the measured data. After the target drift angle of the vehicle is determined, the corresponding target slip rate of each wheel can be obtained by querying the table.

[0097] Further, in some embodiments, the individual braking force corresponding to each wheel is calculated based on the target slip rate corresponding to each wheel, including: calculating the target wheel speed corresponding to each wheel based on the target slip rate corresponding to each wheel; calculating the target deceleration corresponding to each wheel based on the target wheel speed of each wheel, and obtaining the individual braking force corresponding to each wheel when the vehicle drifts based on the target deceleration corresponding to each wheel.

[0098] In some embodiments, the target deceleration corresponding to each wheel is calculated according to the target wheel speed of each wheel, including: obtaining the current wheel speed corresponding to each wheel; and calculating the target deceleration corresponding to each wheel according to the current wheel speed corresponding to each wheel and the target wheel speed of each wheel.

[0099] It should be understood that after obtaining the target slip rate corresponding to each wheel, the present application can calculate the target wheel speed corresponding to each wheel according to formula (1), and calculate the target deceleration corresponding to each wheel through the target wheel speed of each wheel, so as to obtain the individual braking force corresponding to each wheel when the vehicle drifts according to the target deceleration corresponding to each wheel.

[0100] in:

[0101] S = (v-v0) / v×100%; (1)

[0102] Among them, S is the target slip rate corresponding to each wheel, v is the current wheel speed corresponding to each wheel, and v0 is the target wheel speed corresponding to each wheel.

[0103] Furthermore, the embodiment of the present application can directly obtain the current wheel speed corresponding to each wheel through the wheel speed sensor, or after obtaining the current speed of the vehicle through the vehicle speed sensor, the current wheel speed corresponding to each wheel is calculated based on the corresponding relationship between the current vehicle speed and the wheel speed corresponding to each wheel, so as to calculate the target deceleration corresponding to each wheel according to the current wheel speed corresponding to each wheel and the target wheel speed corresponding to each wheel, and then based on the calculation method in the relevant technology, for example, the individual braking force corresponding to each wheel when the vehicle drifts can be calculated based on the product of the vehicle body mass and the target deceleration corresponding to each wheel. Since the corresponding individual braking force applied by the caliper motor to each wheel increases as the current of the caliper motor increases, the corresponding individual braking force can be applied to each wheel of the vehicle by adjusting the current of the caliper motor corresponding to each wheel through the electronic mechanical braking system, so as to achieve the corresponding control of each wheel of the vehicle and achieve the effect of locking the vehicle wheel (the vehicle's anti-lock braking system needs to be turned off at this time). In order to prevent drift failure caused by forgetting to turn off the anti-lock braking system, when the vehicle is drifting, the embodiment of the present application can make both rear wheels of the vehicle be on the edge of locking and non-locking when braking the rear wheels of the vehicle.

[0104] In addition, in some embodiments, before obtaining the current state, current speed and current steering wheel angle of the vehicle, it also includes: determining whether the drift preparation mode switch of the vehicle is triggered; if the drift preparation mode switch is triggered, controlling the vehicle to enter the drift preparation mode.

[0105] In an embodiment of the present application, the drift preparation mode switch of the vehicle can be a physical button arranged on a vehicle steering wheel or other position suitable for the driver to control, or it can be a virtual button arranged on a vehicle display screen, or it can be user voice control, etc., which is not specifically limited here.

[0106] Furthermore, in some embodiments, after controlling the vehicle to enter the drift preparation mode, it also includes: generating drift warning information based on the drift preparation mode; and controlling the vehicle to perform sound and light alarms based on the drift warning information.

[0107] Specifically, after the vehicle enters the drift preparation mode, drift warning information can be generated based on the drift preparation mode, and the vehicle can be controlled to give sound and light alarms, that is, the warning horn can emit a beeping warning sound or voice to remind the driver "you have entered the drift preparation mode, pay attention to driving safety", and the warning lights can emit flashing lights, thereby achieving the purpose of multi-directional reminders.

[0108] Furthermore, in some embodiments, after controlling the vehicle to enter the drift preparation mode, it also includes: if the current speed of the vehicle is less than the minimum speed value of the preset speed range, then when the electronic parking brake switch of the vehicle is triggered, the parking braking force of each wheel is sent to the electronic mechanical braking system, and the electronic mechanical braking system is driven to control the caliper motor corresponding to each wheel to apply parking braking force to each wheel.

[0109] It is understandable that in special circumstances, the user may accidentally touch the drift preparation mode switch of the vehicle, and the vehicle enters the drift preparation mode. However, when the user needs to park, the vehicle speed will be lower, and the vehicle can still be controlled to stop. That is, the vehicle entering the drift preparation mode may also have the need to park when driving at a lower speed. Therefore, after the vehicle enters the drift preparation mode and the current drift speed is less than the minimum speed value of the preset speed range, such as when the current speed is lower than 60kph, the user triggers the electronic parking brake switch to form a parking command, and based on the parking command, the parking braking force of each wheel is sent to the electronic mechanical brake system, and the electronic mechanical brake system is driven to control the caliper motor corresponding to each wheel to apply the parking braking force to each wheel, so that the vehicle can respond quickly and park the vehicle.

[0110] In addition, in some embodiments, after controlling the vehicle to enter the drift preparation mode, it also includes: if the current state is not a driving state, or the current vehicle speed is not in a preset vehicle speed range, it is determined that the vehicle cannot drift, and the vehicle is controlled to give a drift inability reminder.

[0111] That is to say, when the user has the intention to drift and triggers the drift preparation mode switch, if the current state of the vehicle is not in a driving state or the current speed is not in the preset speed range, it means that the vehicle does not meet the drift conditions at this time and cannot drift. The vehicle can be controlled to remind the user that drift is not possible, so that the user can adjust the current state or current speed of the vehicle in time to improve the user experience.

[0112] In summary, this application obtains the current state and current speed of the vehicle, and determines that the current state is the driving state, and when the current speed is in the preset speed range, when the vehicle is in the drift preparation mode, the individual braking force of each wheel is calculated, and the electronic mechanical braking system is driven to control the caliper motor corresponding to each wheel to apply the corresponding individual braking force to each wheel, so that the vehicle starts to drift. As a result, this method enables the vehicle to quickly respond to the driver's operation, and achieve rear wheel braking more accurately and quickly. At the same time, it can effectively avoid the vibration and noise caused by the operation of the motor of the vehicle body electronic stability system in traditional drift control, and provide the driver with a comfortable driving experience.

[0113] Figure 3It is a structural schematic diagram of a drift device provided in an embodiment of the present application, wherein the vehicle independently controls each wheel based on an electronic mechanical braking system.

[0114] For example, Figure 3 As shown, the drift device 10 of the vehicle may include: an acquisition module 100, a judgment module 200 and a driving module 300.

[0115] The acquisition module 100 is used to acquire the current state, current speed and current steering wheel angle of the vehicle;

[0116] The judging module 200 is used to judge whether the current state is a driving state and whether the current vehicle speed is within a preset vehicle speed range;

[0117] The drive module 300 is used to determine the target drift angle of the vehicle according to the current steering wheel angle when the current state is the driving state and the current vehicle speed is in a preset vehicle speed range, and calculate the corresponding individual braking force of each wheel according to the target drift angle when the vehicle is in a drift preparation mode, and drive the electronic mechanical braking system to control the caliper motor corresponding to each wheel to apply the corresponding individual braking force to each wheel, so that the vehicle starts to drift.

[0118] Optionally, in some embodiments, the driving module 300 includes:

[0119] An acquisition unit, used to acquire the current vehicle mass of the vehicle;

[0120] A matching unit, used to match the target drift angle according to the current steering wheel angle and the current vehicle mass;

[0121] The calculation unit is used to determine the target slip rate corresponding to each wheel according to the target drift angle, and calculate the individual braking force corresponding to each wheel according to the target slip rate corresponding to each wheel.

[0122] Optionally, in some embodiments, the computing unit includes:

[0123] A first calculation subunit, configured to calculate a target wheel speed corresponding to each wheel according to a target slip rate corresponding to each wheel;

[0124] The second calculation subunit is used to calculate the target deceleration corresponding to each wheel according to the target wheel speed of each wheel, and obtain the individual braking force corresponding to each wheel when the vehicle drifts according to the target deceleration corresponding to each wheel.

[0125] Optionally, in some embodiments, the second computing subunit is specifically configured to:

[0126] Get the current wheel speed corresponding to each wheel;

[0127] The target deceleration corresponding to each wheel is calculated according to the current wheel speed corresponding to each wheel and the target wheel speed of each wheel.

[0128] Optionally, in some embodiments, before obtaining the current state, current vehicle speed and current steering wheel angle of the vehicle, the obtaining module 100 is further used to:

[0129] Determine whether the drift preparation mode switch of the vehicle is triggered;

[0130] If the drift preparation mode switch is triggered, the vehicle is controlled to enter the drift preparation mode.

[0131] Optionally, in some embodiments, after controlling the vehicle to enter the drift preparation mode, the acquisition module 100 is further configured to:

[0132] Generate drift warning information based on drift preparation mode;

[0133] Control the vehicle to give out sound and light alarms based on drift warning information.

[0134] Optionally, in some embodiments, after controlling the vehicle to enter the drift preparation mode, the acquisition module 100 is further configured to:

[0135] When the vehicle's current speed is less than the minimum speed value of the preset speed range and when the vehicle's electronic parking brake switch is triggered, the parking braking force of each wheel is sent to the electronic mechanical braking system, and the electronic mechanical braking system is driven to control the caliper motor corresponding to each wheel to apply parking braking force to each wheel.

[0136] Optionally, in some embodiments, after controlling the vehicle to enter the drift preparation mode, the acquisition module 100 is further configured to:

[0137] When the current state is not a driving state, or the current vehicle speed is not within a preset vehicle speed range, it is determined that the vehicle cannot drift, and the vehicle is controlled to give a drift-unable reminder.

[0138] In summary, this application obtains the current state and current speed of the vehicle, and determines that the current state is the driving state, and when the current speed is in the preset speed range, when the vehicle is in the drift preparation mode, the individual braking force of each wheel is calculated, and the electronic mechanical braking system is driven to control the caliper motor corresponding to each wheel to apply the corresponding individual braking force to each wheel, so that the vehicle starts to drift. As a result, this method enables the vehicle to quickly respond to the driver's operation, and achieve rear wheel braking more accurately and quickly. At the same time, it can effectively avoid the vibration and noise caused by the operation of the motor of the vehicle body electronic stability system in traditional drift control, and provide the driver with a comfortable driving experience.

[0139] Figure 4A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0140] Memory 401 , processor 402 , and a computer program stored in the memory 401 and executable on the processor 402 .

[0141] When the processor 402 executes the program, the drift method provided in the above embodiment is implemented.

[0142] Furthermore, the vehicle also includes:

[0143] The communication interface 403 is used for communication between the memory 401 and the processor 402 .

[0144] The memory 401 is used to store computer programs that can be executed on the processor 402 .

[0145] The memory 401 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0146] If the memory 401, the processor 402 and the communication interface 403 are implemented independently, the communication interface 403, the memory 401 and the processor 402 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0147] Optionally, in a specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on a chip, the memory 401, the processor 402 and the communication interface 403 can communicate with each other through an internal interface.

[0148] The processor 402 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0149] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the above drift method is implemented.

[0150] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0151] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0152] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A drift method, characterized in that: The vehicle independently controls each wheel based on an electromechanical braking system, wherein the method comprises the following steps: Obtaining the current state, current speed and current steering wheel angle of the vehicle; Determining whether the current state is a driving state and whether the current vehicle speed is within a preset vehicle speed range; and If the current state is the driving state, and the current vehicle speed is in the preset vehicle speed range, then when the vehicle is in the drift preparation mode, the target drift angle of the vehicle is determined according to the current steering wheel angle, and the corresponding individual braking force of each wheel is calculated according to the target drift angle, and the electronic mechanical braking system is driven to control the caliper motor corresponding to each wheel to apply the corresponding individual braking force to each wheel, so that the vehicle starts to drift.

2. The method according to claim 1, characterized in that Determining the target drift angle of the vehicle according to the current steering wheel angle, and calculating the individual braking force corresponding to each wheel according to the target drift angle, includes: Obtaining the current vehicle mass of the vehicle; Matching the target drift angle according to the current steering wheel angle and the current vehicle mass; A target slip ratio corresponding to each wheel is determined according to the target drift angle, and an individual braking force corresponding to each wheel is calculated according to the target slip ratio corresponding to each wheel.

3. The method according to claim 2, characterized in that The calculating the individual braking force corresponding to each wheel according to the target slip rate corresponding to each wheel includes: Calculating a target wheel speed corresponding to each wheel according to the target slip rate corresponding to each wheel; The target deceleration corresponding to each wheel is calculated according to the target wheel speed of each wheel, and the individual braking force corresponding to each wheel when the vehicle drifts is obtained according to the target deceleration corresponding to each wheel.

4. The method according to claim 3, characterized in that Calculating the target deceleration corresponding to each wheel according to the target wheel speed of each wheel includes: Obtaining the current wheel speed corresponding to each wheel; The target deceleration corresponding to each wheel is calculated according to the current wheel speed corresponding to each wheel and the target wheel speed of each wheel.

5. The method according to claim 1, characterized in that Before obtaining the current state, current speed and current steering wheel angle of the vehicle, the method further includes: Determining whether a drift preparation mode switch of the vehicle is triggered; If the drift preparation mode switch is triggered, the vehicle is controlled to enter the drift preparation mode.

6. The method according to claim 5, characterized in that After controlling the vehicle to enter the drift preparation mode, the method further includes: generating drift warning information based on the drift preparation mode; The vehicle is controlled to perform an audible and visual alarm based on the drift warning information.

7. The method according to claim 5, characterized in that After controlling the vehicle to enter the drift preparation mode, the method further includes: If the current speed of the vehicle is less than the minimum speed value of the preset speed range, then when the electronic parking brake switch of the vehicle is triggered, the parking braking force of each wheel is sent to the electronic mechanical braking system, and the electronic mechanical braking system is driven to control the caliper motor corresponding to each wheel to apply the parking braking force to each wheel.

8. The method according to claim 5, characterized in that After controlling the vehicle to enter the drift preparation mode, the method further includes: If the current state is not the driving state, or the current vehicle speed is not within the preset vehicle speed range, it is determined that the vehicle cannot drift, and the vehicle is controlled to issue a drift failure reminder.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the drift method according to any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the drift method as described in any one of claims 1 to 8.

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