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

Abstract

The invention relates to a vehicle control method and device, a storage medium, a program product and a vehicle, and the method comprises the steps that the maximum rack stroke value of a steering gear is determined according to a suspension height value, and the maximum rack stroke value is the maximum value in rack stroke values corresponding to the suspension height value.

Description

Technical Field

[0001] The present disclosure relates to vehicle transmission technology, and more specifically, to a vehicle control method, device, storage medium, program product and vehicle. Background Art

[0002] The power transmission device between the car engine and the driving wheels is called the car's transmission system. The transmission system includes the clutch, transmission, drive shaft, final reducer, differential and half shafts. The function of the drive shaft is to transmit the power of the engine to the wheels together with the gearbox and drive axle to generate driving force for the car.

[0003] The travel range of the steering rack of a vehicle is very important to vehicle safety. In the prior art, it is not clear how to determine the travel range of the steering rack. Summary of the invention

[0004] An object of the present invention is to provide a new technical solution for a vehicle control method.

[0005] According to a first aspect of the present invention, there is provided a vehicle control method, comprising:

[0006] According to the suspension height value, a maximum rack stroke value of the steering gear is determined, wherein the maximum rack stroke value is the maximum value among the rack stroke values ​​corresponding to the suspension height value.

[0007] Optionally, the steering gear rack stroke value is less than or equal to the maximum rack stroke value.

[0008] Optionally, the method further includes:

[0009] When the suspension height value is not within the first numerical range, the steering rack stroke value is made less than or equal to the maximum rack stroke value, wherein the upper boundary value of the first numerical range is less than the upper suspension stroke limit value, and the lower boundary value of the first numerical range is less than the lower suspension stroke limit value.

[0010] Optionally, the method further includes:

[0011] When the suspension height value is not within the first value range and the steering gear rack stroke value is greater than the maximum rack stroke value, the steering gear rack stroke value is made less than or equal to the maximum rack stroke value.

[0012] Optionally, the method further includes:

[0013] The maximum rack travel value of the steering gear is determined according to the suspension height value and the steering of the vehicle.

[0014] Optionally, when the suspension height value is not within the first value range, the maximum rack travel value includes a first left travel maximum value and a first right travel maximum value, wherein:

[0015] The first left stroke maximum value is the maximum value of the rack stroke values ​​corresponding to the suspension height values ​​under left steering,

[0016] The first right stroke maximum value is the maximum value of the rack stroke values ​​corresponding to the suspension height values ​​when turning right.

[0017] Optionally, when the suspension height value is within the first value range, the maximum rack travel value includes a second left travel maximum value and a second right travel maximum value,

[0018] The second left stroke maximum value is the maximum rack stroke value corresponding to left turning, and the second left stroke maximum value is greater than or equal to the maximum value among the plurality of first left stroke maximum values;

[0019] The second right stroke maximum value is a maximum rack stroke value corresponding to right steering, and the second right stroke maximum value is greater than or equal to the maximum value among multiple first right stroke maximum values.

[0020] Optionally, when the suspension height value is within the first value range, the maximum rack travel value includes a second left travel maximum value and a second right travel maximum value,

[0021] The second left stroke maximum value is the maximum rack stroke value corresponding to left turn, and the second right stroke maximum value is the maximum rack stroke value corresponding to right turn,

[0022] The second left stroke maximum value and the second right stroke maximum value are both determined based on the structure of the steering gear rack.

[0023] Optionally, the method further comprises:

[0024] Adjust the steering gear rack stroke so that the steering gear rack stroke value is less than or equal to the maximum rack stroke value.

[0025] Optionally, the method further includes:

[0026] During the process of adjusting the steering gear rack travel, determining whether the adjusted steering gear rack travel value is less than the maximum rack travel value, and if so, stopping adjusting the steering gear rack travel; or,

[0027] Adjust the steering gear rack stroke until the adjusted steering gear rack stroke value reaches the target stroke value; wherein the target stroke value is less than the maximum rack stroke value.

[0028] Optionally, the target stroke value is determined based on the maximum rack stroke value.

[0029] Optionally, when the suspension height value is greater than the upper boundary value, the maximum rack travel value decreases as the suspension height value increases; or,

[0030] When the suspension height value is less than the lower limit value, the maximum rack travel value decreases as the suspension height value decreases.

[0031] Optionally, the method further includes:

[0032] When the suspension height value is not within the first numerical range, the maximum rack stroke value corresponding to the suspension height value is determined according to a relationship equation corresponding to the suspension lifting direction and the steering gear direction; wherein the relationship equation reflects the corresponding relationship between the suspension height value and the maximum rack stroke value.

[0033] Optionally, the relationship equation corresponding to the suspension lifting direction and the steering gear direction includes the relationship equation corresponding to the suspension lifting direction being upward and the steering gear direction being leftward, the relationship equation corresponding to the suspension lifting direction being upward and the steering gear direction being rightward, the relationship equation corresponding to the suspension lifting direction being downward and the steering gear direction being leftward, and the relationship equation corresponding to the suspension lifting direction being downward and the steering gear direction being rightward.

[0034] Optionally, the relationship corresponding to the upward lifting direction of the suspension and the leftward steering direction is one of a linear relationship, a quadratic relationship and a trigonometric function relationship;

[0035] The relationship corresponding to the upward lifting direction of the suspension and the rightward steering direction is one of a linear relationship, a quadratic relationship and a trigonometric function relationship;

[0036] The relationship corresponding to the suspension lifting direction being downward and the steering gear direction being leftward is one of a linear relationship, a quadratic relationship and a trigonometric function relationship;

[0037] The relationship expression corresponding to the downward lifting direction of the suspension and the rightward steering direction is one of a linear relationship expression, a quadratic relationship expression and a trigonometric function relationship expression.

[0038] According to a second aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the vehicle control method as described in any one of the first aspects is implemented.

[0039] According to a third aspect of the present invention, a computer program product is provided. When instructions in the computer program product are executed by a processor, the vehicle control method as described in any one of the first aspects is implemented.

[0040] According to a fourth aspect of the present invention, there is provided a vehicle control device, comprising:

[0041] The maximum rack travel value determination module is used to determine the maximum rack travel value of the steering gear according to the suspension height value, wherein the maximum rack travel value is the maximum value of the rack travel values ​​corresponding to the suspension height value.

[0042] According to a fifth aspect of the present invention, a vehicle control device is provided, comprising a memory and a processor, wherein the memory stores a computer program for controlling the processor to operate to execute the vehicle control method according to any one of the first aspects of the present invention.

[0043] According to a sixth aspect of the present invention, a vehicle is provided, comprising the vehicle control device and steering gear as described in the fourth aspect or the fifth aspect of the present invention.

[0044] The vehicle control method provided by the present invention can determine a maximum rack travel value based on any suspension height value in the travel range determined by the suspension structure. Compared with the prior art, when the travel range of the suspension is expanded, since the maximum rack travel value of the steering gear can be determined according to the suspension height value, the travel range of the rack can be expanded according to the travel range of the suspension, thereby expanding the working range of the transmission shaft swing angle. The expanded working range of the transmission shaft swing angle can reduce the turning diameter when the wheel is turned, improve the vehicle's cornering ability and handling, and at the same time increase the Ackerman rate when the vehicle is turned, reduce tire wear, and in addition, increase the initial angle of the transmission shaft arrangement, which is beneficial to increase the powertrain arrangement space and improve the vehicle's dynamics.

[0045] Features and advantages of the embodiments of the present specification will become apparent from the following detailed description of exemplary embodiments of the present specification with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the specification and, together with the description, serve to explain the principles of the embodiments of the specification.

[0047] Figure 1 A schematic diagram of a vehicle according to an embodiment of the present invention is shown.

[0048] Figure 2 Shown based on Figure 1 The schematic diagram shows that the transmission shaft swing angle is the initial swing angle from the perspective of the x-axis direction.

[0049] Figure 3 Shown based on Figure 1 The schematic diagram shows that the transmission shaft swing angle is the initial swing angle from the perspective of the z-axis direction.

[0050] Figure 4 It shows that only when the suspension produces upward travel, based on Figure 1 A schematic diagram of the transmission shaft swing angle from the perspective of the x-axis direction is shown.

[0051] Figure 5 It shows that only when the wheel turns left, based on Figure 1 A schematic diagram showing the swing angle of the transmission shaft from the perspective of the z-axis direction.

[0052] Figure 6 A processing flow chart of a vehicle control method according to an embodiment of the present invention is shown.

[0053] Figure 7 A schematic diagram showing the corresponding relationship between the suspension height value and the steering rack travel value is shown.

[0054] Figure 8 A processing flow chart of a vehicle control method according to an embodiment of the present invention is shown.

[0055] Fig. 9 A functional block diagram of a vehicle control device according to an embodiment of the present invention is shown.

[0056] Fig.10 A schematic diagram of the hardware structure of a vehicle control device according to an embodiment of the present invention is shown.

[0057] Fig.11 A functional block diagram of a vehicle according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0058] Various exemplary embodiments of the present specification will now be described in detail with reference to the accompanying drawings.

[0059] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the embodiments of the present specification and its application or uses.

[0060] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0061] The embodiment of the present disclosure provides a vehicle control method. In order to facilitate understanding of the vehicle control method provided by the embodiment of the present disclosure, the factors affecting the swing angle of the drive shaft are first briefly described. The swing angle of the drive shaft of the vehicle is limited by a maximum swing angle. The maximum swing angle is usually an angle value between 45° and 50°. When the suspension has no stroke and the wheel has not rotated, the drive shaft is in an initial state and the swing angle of the drive shaft is the initial swing angle. When the suspension has a stroke and / or the wheel rotates, the swing angle of the drive shaft increases. The greater the stroke generated by the suspension, the greater the swing angle of the drive shaft. The greater the wheel steering angle, the greater the swing angle of the drive shaft.

[0062] Figure 1 shows the location of the drive shaft in the vehicle. Figure 1 The three coordinate axes shown in form a three-dimensional coordinate system.

[0063] Figure 2 Shown based on Figure 1 The schematic diagram shows that the transmission shaft swing angle is the initial swing angle from the perspective of the x-axis direction. Figure 3 Shown based on Figure 1 The schematic diagram of the transmission shaft swing angle being the initial swing angle from the perspective of the z-axis direction is shown. Figure 2 and Figure 3 , the suspension has no travel and the wheels have not rotated. At this time, the drive shaft swing angle is the minimum swing angle.

[0064] Figure 4 It shows that only when the suspension produces upward travel, based on Figure 1 A schematic diagram of the transmission shaft swing angle from the perspective of the x-axis direction is shown. Figure 5 It shows that only when the wheel turns left, based on Figure 1 Schematic diagram showing the transmission shaft swing angle from the perspective of the z-axis direction. Figure 4 and Figure 5 , compared with the initial swing angle, the swing angle of the transmission shaft becomes larger.

[0065] When the swing angle of the transmission shaft exceeds the maximum swing angle, the transmission shaft ball cage may come out, affecting driving safety. In the prior art, although the travel generated by the suspension and the wheel steering angle both have corresponding extreme values, in order to avoid the problem of the transmission shaft ball cage coming out during actual driving, the travel generated by the suspension and the wheel steering angle are both limited, so that the swing angle of the transmission shaft cannot reach the maximum swing angle, that is, the actual working range of the swing angle of the transmission shaft is limited to a smaller range.

[0066] In order to expand the working range of the transmission shaft swing angle, such as Figure 6 As shown, the vehicle control method of this embodiment may include the following step S610.

[0067] Step S610, determining a maximum rack travel value of the steering gear according to the suspension height value, wherein the maximum rack travel value is the maximum value of the rack travel values ​​corresponding to the suspension height value.

[0068] When a suspension height value corresponds to a rack travel value, the rack travel value is the maximum rack travel value. For example, the suspension height value is H1, and the rack travel value corresponding to the suspension height value H1 is one, that is, S1, then S1 is the maximum rack travel value.

[0069] When a suspension height value corresponds to multiple rack travel values, the maximum rack travel value is the maximum value of the multiple rack travel values. For example, the suspension height value is H1, and the suspension height value H1 corresponds to multiple rack travel values, namely S1, S2, S3, S4, and S5. The maximum value of the five rack travel values ​​is S3, so S3 is the maximum rack travel value.

[0070] When a suspension height value corresponds to multiple rack travel values, the maximum rack travel value is the maximum value of the multiple rack travel values. For example, the suspension height value is H1, and the suspension height value H1 corresponds to multiple rack travel values, namely S1, S2, S3, S4, and S5. S4 and S5 are the same and are both maximum values. The maximum value of the five rack travel values ​​is one of S4 and S5, so S5 is the maximum rack travel value.

[0071] The maximum rack travel value is used to determine the safe travel range of the steering gear rack. The above maximum rack travel value is used to characterize the maximum travel of the rack. For example, the maximum rack travel value -A and the maximum rack travel value +A both indicate that the travel of the rack is A.

[0072] The vehicle control method provided by the embodiment of the present invention can determine a maximum rack travel value based on any suspension height value in the travel range determined by the suspension structure. Compared with the prior art, when the travel range of the suspension is expanded, since the maximum rack travel value of the steering gear can be determined according to the suspension height value, the travel range of the rack can be expanded according to the travel range of the suspension, thereby expanding the working range of the transmission shaft swing angle. The expanded working range of the transmission shaft swing angle can reduce the turning diameter when the wheel is turned, improve the vehicle's cornering ability and handling, and at the same time increase the Ackerman rate when the vehicle is turned, reduce tire wear, and in addition, increase the initial angle of the transmission shaft arrangement, which is beneficial to increase the powertrain arrangement space and improve the vehicle's dynamics.

[0073] In some embodiments, the steering rack travel value is less than or equal to the maximum rack travel value. During vehicle operation, based on each suspension height value, the steering rack travel value is less than or equal to the maximum rack travel value, so that the transmission shaft swing angle is less than the maximum swing angle, thereby avoiding the problem of the transmission shaft ball cage coming out and affecting driving safety.

[0074] In some embodiments, the method further includes: when the steering gear rack stroke value is greater than the maximum rack stroke value, adjusting the steering gear rack stroke so that the steering gear rack stroke value is less than or equal to the maximum rack stroke value.

[0075] The steering rack travel value can be acquired by the rack travel sensor. When a new steering rack travel value is obtained, the new steering rack travel value is compared with the maximum rack travel value corresponding to the suspension height value to obtain a comparison result. When the comparison result shows that the steering rack travel value is greater than the maximum rack travel value, the steering rack travel is adjusted so that the steering rack travel value is less than or equal to the maximum rack travel value.

[0076] In some embodiments, during the process of adjusting the steering gear rack stroke, it is determined whether the adjusted steering gear rack stroke value is less than the maximum rack stroke value. If so, the adjustment of the steering gear rack stroke is stopped.

[0077] When the latest steering rack travel value collected by the rack travel sensor is obtained, determine whether the latest steering rack travel value is less than the maximum rack travel value. When the latest steering rack travel value is less than the maximum rack travel value, stop adjusting the steering rack travel. When the latest steering rack travel value is greater than the maximum rack travel value, continue to adjust the steering rack travel until the latest steering rack travel value obtained is less than or equal to the maximum rack travel value.

[0078] In some embodiments, the steering gear rack stroke is adjusted until the adjusted steering gear rack stroke value reaches a target stroke value; wherein the target stroke value is less than the maximum rack stroke value.

[0079] In some embodiments, the target travel value is determined based on the maximum rack travel value. For example, the target travel value is determined based on the correspondence between the maximum rack travel value and the target travel value. The correspondence between the maximum rack travel value and the target travel value can be represented by a functional relationship or a mapping table.

[0080] In some embodiments, when the suspension height value is not within a first numerical range, the steering rack stroke value is made less than or equal to the maximum rack stroke value, wherein the first numerical range is the height range in which the suspension can move up and down, the upper boundary value of the first numerical range is less than the upper stroke limit value of the suspension, and the lower boundary value of the first numerical range is less than the lower stroke limit value of the suspension.

[0081] The amplitude of the first numerical range is the maximum absolute value of the numerical values ​​in the range. The amplitude of the first numerical range is less than the suspension travel limit. When the suspension produces an upward stroke, the amplitude of the first numerical range is an upper boundary value, and the upper boundary value is less than the suspension upper travel limit. When the suspension produces an upward stroke, the amplitude of the first numerical range is a lower boundary value, and the lower boundary value is less than the suspension lower travel limit.

[0082] In some embodiments, when the suspension height value is not within the first value range and the steering gear rack stroke value is greater than the maximum rack stroke value, the steering gear rack stroke value is made less than or equal to the maximum rack stroke value. Specifically, the steering gear rack stroke is adjusted so that the steering gear rack stroke value is less than or equal to the maximum rack stroke value. The adjustment process of the steering gear rack stroke can be referred to the above description, and no further elaboration is given here.

[0083] In some embodiments, the method further comprises: determining a maximum rack travel value of the steering gear according to a suspension height value and a steering direction of the steering gear.

[0084] In some embodiments, when the suspension height value is not within the first numerical range, the maximum rack travel value includes a first left travel maximum value and a first right travel maximum value. The first left travel maximum value is the maximum value among the rack travel values ​​corresponding to the suspension height value for the left turn. The first right travel maximum value is the maximum value among the rack travel values ​​corresponding to the suspension height value for the right turn.

[0085] When turning left and one suspension height value corresponds to one rack stroke value, the first left stroke maximum value is the rack stroke value; when one suspension height value corresponds to multiple rack stroke values, the first left stroke maximum value is the maximum value of the multiple rack stroke values.

[0086] When turning right downward, when one suspension height value corresponds to one rack stroke value, the first right stroke maximum value is the rack stroke value; when one suspension height value corresponds to multiple rack stroke values, the first right stroke maximum value is the maximum value of multiple rack stroke values.

[0087] In some embodiments, when the suspension height value is greater than the upper boundary value, the maximum rack travel value decreases as the suspension height value increases; or, when the suspension height value is less than the lower boundary value, the maximum rack travel value decreases as the suspension height value decreases. The maximum rack travel value involved here includes the first left travel maximum value and the first right travel maximum value.

[0088] Taking the above-mentioned first numerical range [a, b] as an example, the suspension height value is H. When the suspension height value H is greater than the upper boundary value a, the first left stroke maximum value decreases as the suspension height value H increases, and the first right stroke maximum value decreases as the suspension height value H increases. When the suspension height value H is less than the lower boundary value b, the first left stroke maximum value decreases as the suspension height value H decreases, and the first left stroke maximum value decreases as the suspension height value H decreases.

[0089] In some embodiments, when the suspension height value is not within the first numerical range, the maximum rack stroke value corresponding to the suspension height value is determined according to a relationship equation corresponding to the suspension lifting direction and the steering gear direction; wherein the relationship equation reflects the correspondence between the suspension height value and the maximum rack stroke value.

[0090] The relationship formula corresponding to the suspension lifting direction and the steering gear direction includes four relationship formulas, namely, the relationship formula corresponding to the suspension generating upward stroke and left steering, the relationship formula corresponding to the suspension generating upward stroke and right steering, the relationship formula corresponding to the suspension generating downward stroke and left steering, and the relationship formula corresponding to the suspension generating downward stroke and right steering. According to the suspension lifting direction and the steering gear direction, the relationship formula used to calculate the maximum rack travel value is determined from the four relationship formulas.

[0091] The relationship corresponding to the upward direction of the suspension lifting and the leftward direction of the steering gear is one of a linear relationship, a quadratic relationship, and a trigonometric function relationship. The relationship corresponding to the upward direction of the suspension lifting and the rightward direction of the steering gear is one of a linear relationship, a quadratic relationship, and a trigonometric function relationship. The relationship corresponding to the downward direction of the suspension lifting and the leftward direction of the steering gear is one of a linear relationship, a quadratic relationship, and a trigonometric function relationship. The relationship corresponding to the downward direction of the suspension lifting and the rightward direction of the steering gear is one of a linear relationship, a quadratic relationship, and a trigonometric function relationship.

[0092] For example, the relationship corresponding to the upward lifting direction of the suspension and the rightward steering direction is a linear relationship, that is, H = kS + b, H is the suspension height value, S is the steering rack travel value, k and b are known coefficients. According to the suspension height value and the above linear relationship, the maximum rack travel value corresponding to the suspension height value is calculated.

[0093] In some embodiments, the method further includes: when the suspension height value is within the first numerical range, the maximum rack travel value includes a second left travel maximum value and a second right travel maximum value. The second left travel maximum value is the maximum rack travel value corresponding to left steering, and the second left travel maximum value is greater than or equal to the maximum value among the multiple first left travel maximum values. The second right travel maximum value is the maximum rack travel value corresponding to right steering, and the second right travel maximum value is greater than or equal to the maximum value among the multiple first right travel maximum values.

[0094] In the case where the suspension height value is not within the first numerical range, each suspension height value corresponds to a first left stroke maximum value and a first right stroke maximum value. The suspension height value that is not within the first numerical range is not limited to one, and therefore corresponds to multiple first left stroke maximum values ​​and multiple first right stroke maximum values. There is a maximum value among the multiple first left stroke maximum values, and there is also a maximum value among the multiple first right stroke maximum values. In the case where the suspension height value is within the first numerical range, the second left stroke maximum value is greater than or equal to the maximum value among the multiple first left stroke maximum values, and the second right stroke maximum value is greater than or equal to the maximum value among the multiple first right stroke maximum values. Therefore, in the case where the suspension height value is within the first numerical range, the travel range of the steering gear rack is greater than the corresponding travel range when the suspension height value is not within the first numerical range.

[0095] When the suspension height is H l2 When H l2 In the first value range [H l , H h ], the maximum value of the second left stroke is S' lmax， The second right stroke maximum value S' rmax . S' lmax Greater than or equal to not in the first value range [H l , H h ] corresponds to the first left travel maximum value of any suspension height value. S' rmax Greater than or equal to not in the first value range [H l , H h ]The first right travel maximum value corresponding to any suspension height value.

[0096] In some embodiments, the method further comprises: when the suspension height value is within the first value range, the maximum rack travel value comprises a second left travel maximum value and a second right travel maximum value, wherein the second left travel maximum value and the second right travel maximum value are determined based on the structure of the steering gear rack.

[0097] When the suspension height is H l2 When H l2 In the first value range [H l , H h ], the maximum value of the second left stroke is S' lmax， The second right stroke maximum value S' rmax . S' lmax is the maximum left travel value determined based on the structure of the steering rack, S' rmax It is the maximum right travel value determined based on the structure of the steering rack.

[0098] Figure 7 This is a schematic diagram of the corresponding relationship between the suspension height value and the steering rack travel value. Figure 7 As shown, the origin is O, the horizontal axis represents the steering rack travel value, and the vertical axis represents the suspension height value. When the suspension height value and the steering rack travel value are within the black area, the transmission shaft swing angle is greater than the maximum swing angle. When the suspension height value and the steering rack travel value are not within the black area, the transmission shaft swing angle is less than the maximum swing angle.

[0099] In the prior art, in order to avoid the above-mentioned problem of the transmission shaft ball cage coming out, as Figure 7 As shown, the suspension height value is limited to a first value range [H l , H h ], so that the maximum height of the suspension travel is H h , which is less than the maximum height value H corresponding to the upper travel determined based on the suspension structure itself hmax The maximum height of the suspension downward travel is H l The absolute value of is less than the maximum height value H corresponding to the downstroke determined based on the suspension structure itself. lmax The steering rack travel value is limited to [S l , S r ], so that the maximum value of the steering rack travel when turning right is S r , which is less than the maximum value S determined based on the structure of the steering rack when turning right rmax， The maximum value of the steering rack travel when turning left is S l The absolute value of is less than the maximum value S determined based on the structure of the steering rack when turning left. lmax This makes the actual working range of the transmission shaft swing angle smaller.

[0100] Compared with the prior art, the vehicle control method provided in this embodiment has an expanded practical range of the suspension height value and the steering rack travel value ( Figure 7 The area remaining after removing the black area is shown), so that the actual working maximum value of the drive shaft swing angle is increased without exceeding the maximum swing angle. This can reduce the turning diameter when the wheel is turning, improve the vehicle's cornering ability and handling, and at the same time increase the Ackerman rate when the vehicle is turning, reduce tire wear, and increase the initial angle of the drive shaft arrangement, which is beneficial to increase the powertrain layout space and improve the vehicle's dynamics.

[0101] The vehicle control method provided by the present invention is described below with a specific embodiment. Figure 8 As shown, the vehicle control method includes steps S801 to S806.

[0102] Step S801, obtaining the suspension height value and the steering rack travel value.

[0103] Step S802: determining whether the suspension height value is within a first value range according to the suspension height value.

[0104] If the result of executing step S802 is yes, step S803 is executed, and the travel range of the steering gear rack is the second travel range; the maximum left travel value and the maximum right travel value of the second travel range are determined based on the structure of the steering gear rack.

[0105] If the result of executing step S802 is no, step S804 is executed to determine the maximum rack travel value corresponding to the suspension height value according to the relationship between the suspension lifting direction and the steering gear direction.

[0106] Step S805, determining whether the steering rack travel value is greater than the maximum rack travel value corresponding to the suspension height value.

[0107] If the execution result of step S805 is yes, step S806 is executed to adjust the steering gear rack stroke until the adjusted steering gear rack stroke value reaches the target stroke value; wherein the target stroke value is less than the maximum rack stroke value and is determined based on the maximum rack stroke value.

[0108] If the execution result of step S805 is No, step S801 is executed.

[0109] One embodiment of the present invention provides a vehicle control device, such as Fig. 9 The vehicle control device 900 includes a maximum rack travel value determination module 910 .

[0110] The maximum rack travel value determination module 910 is used to determine the maximum rack travel value of the steering gear according to the suspension height value, wherein the maximum rack travel value is the maximum value of the rack travel values ​​corresponding to the suspension height value.

[0111] In some embodiments, the steering rack travel value is less than or equal to the maximum rack travel value.

[0112] In some embodiments, when the suspension height value is not within the first numerical range, the steering rack stroke value is made less than or equal to the maximum rack stroke value, wherein the upper boundary value of the first numerical range is less than the upper stroke limit value of the suspension, and the lower boundary value of the first numerical range is less than the lower stroke limit value of the suspension.

[0113] In some embodiments, when the suspension height value is not within the first value range and the steering gear rack travel value is greater than the maximum rack travel value, the steering gear rack travel value is made less than or equal to the maximum rack travel value.

[0114] In some embodiments, the maximum rack travel value determination module is further used to determine the maximum rack travel value of the steering gear according to the suspension height value and the steering of the vehicle.

[0115] In some embodiments, when the suspension height value is not within the first numerical range, the maximum rack stroke value includes a first left stroke maximum value and a first right stroke maximum value, wherein the first left stroke maximum value is the maximum value of the rack stroke values ​​corresponding to the left-turn lower suspension height value, and the first right stroke maximum value is the maximum value of the rack stroke values ​​corresponding to the right-turn lower suspension height value.

[0116] In some embodiments, when the suspension height value is within the first numerical range, the maximum rack stroke value includes a second left stroke maximum value and a second right stroke maximum value, the second left stroke maximum value being the maximum rack stroke value corresponding to left turning, and the second left stroke maximum value being greater than or equal to the maximum value among the multiple first left stroke maximum values; the second right stroke maximum value is the maximum rack stroke value corresponding to right turning, and the second right stroke maximum value being greater than or equal to the maximum value among the multiple first right stroke maximum values.

[0117] In some embodiments, when the suspension height value is within a first numerical range, the maximum rack stroke value includes a second left stroke maximum value and a second right stroke maximum value, the second left stroke maximum value being the maximum rack stroke value corresponding to left steering, and the second right stroke maximum value being the maximum rack stroke value corresponding to right steering, and both the second left stroke maximum value and the second right stroke maximum value are determined based on the structure of the steering gear rack.

[0118] In some embodiments, the device further comprises a rack travel adjustment module, which is further used to adjust the steering gear rack travel so that the steering gear rack travel value is less than or equal to the maximum rack travel value.

[0119] In some embodiments, the rack stroke adjustment module is used to determine whether the adjusted steering gear rack stroke value is less than the maximum rack stroke value during the process of adjusting the steering gear rack stroke. If so, stop adjusting the steering gear rack stroke; or, adjust the steering gear rack stroke until the adjusted steering gear rack stroke value is the target stroke value; wherein the target stroke value is less than the maximum rack stroke value.

[0120] In some embodiments, the target travel value is determined based on a maximum rack travel value.

[0121] In some embodiments, when the suspension height value is greater than the upper boundary value, the maximum rack travel value decreases as the suspension height value increases; or, when the suspension height value is less than the lower boundary value, the maximum rack travel value decreases as the suspension height value decreases.

[0122] In some embodiments, the maximum rack travel value determination module is also used to determine the maximum rack travel value corresponding to the suspension height value according to a relationship equation corresponding to the suspension lifting direction and the steering gear direction when the suspension height value is not within the first numerical range; wherein the relationship equation reflects the correspondence between the suspension height value and the maximum rack travel value.

[0123] In some embodiments, the relationship equation corresponding to the suspension lifting direction and the steering gear direction includes the relationship equation corresponding to the suspension lifting direction upward and the steering gear direction leftward, the relationship equation corresponding to the suspension lifting direction upward and the steering gear direction rightward, the relationship equation corresponding to the suspension lifting direction downward and the steering gear direction leftward, and the relationship equation corresponding to the suspension lifting direction downward and the steering gear direction rightward.

[0124] In some embodiments, the relationship corresponding to the upward lifting direction of the suspension and the leftward steering gear direction is one of a linear relationship, a quadratic relationship, and a trigonometric function relationship; the relationship corresponding to the upward lifting direction of the suspension and the rightward steering gear direction is one of a linear relationship, a quadratic relationship, and a trigonometric function relationship; the relationship corresponding to the downward lifting direction of the suspension and the leftward steering gear direction is one of a linear relationship, a quadratic relationship, and a trigonometric function relationship; the relationship corresponding to the downward lifting direction of the suspension and the rightward steering gear direction is one of a linear relationship, a quadratic relationship, and a trigonometric function relationship.

[0125] One embodiment of the present invention provides a vehicle control device, such as Fig.10 The vehicle control device 1000 includes a memory 1020 and a processor 1010. The memory 1020 stores a computer program, and the computer program is used to control the processor 1010 to operate so as to execute the vehicle control method in any of the above embodiments.

[0126] One embodiment of the present invention provides a vehicle, including a vehicle control device and a steering device as described in any of the above embodiments, see Fig.11 .

[0127] The steering gear of this embodiment is a rack and pinion steering gear. After receiving the instruction to adjust the travel value of the steering rack, the steering gear performs the operation of adjusting the travel value of the steering rack.

[0128] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For the device embodiment, its related parts can be referred to the partial description of the method embodiment.

[0129] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0130] The embodiments of the present specification may be systems, methods and / or computer program products. The computer program product may include a computer-readable storage medium carrying computer instructions for causing a processor to implement various aspects of the embodiments of the present specification.

[0131] A computer-readable storage medium may be a tangible device that can hold and store computer instructions used by a computer instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which computer instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0132] The computer instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device through a network layer, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network layer may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network layer adapter card or network layer interface in each computing / processing device receives the computer instructions from the network layer and forwards the computer instructions for storage in a computer-readable storage medium in each computing / processing device.

[0133] The flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to the multiple embodiments of this specification. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a computer instruction, and a part of a module, a program segment or a computer instruction contains one or more executable computer instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0134] The embodiments of the present specification have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art without departing from the scope of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A vehicle control method, characterized in that: include: According to the suspension height value, a maximum rack stroke value of the steering gear is determined, wherein the maximum rack stroke value is the maximum value among the rack stroke values ​​corresponding to the suspension height value.

2. The method according to claim 1, characterized in that Control the steering gear rack stroke value to be less than or equal to the maximum rack stroke value.

3. The method according to claim 1 or 2, characterized in that: The method further comprises: When the suspension height value is not within the first numerical range, the steering rack stroke value is made less than or equal to the maximum rack stroke value, wherein the upper boundary value of the first numerical range is less than the upper suspension stroke limit value, and the lower boundary value of the first numerical range is less than the lower suspension stroke limit value.

4. The method according to claim 3, characterized in that The method further comprises: When the suspension height value is not within the first value range and the steering gear rack stroke value is greater than the maximum rack stroke value, the steering gear rack stroke value is made less than or equal to the maximum rack stroke value.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: The maximum rack travel value of the steering gear is determined according to the suspension height value and the steering of the vehicle.

6. The method according to claim 5, characterized in that When the suspension height value is not within the first value range, the maximum rack travel value includes a first left travel maximum value and a first right travel maximum value, wherein: The first left stroke maximum value is the maximum value of the rack stroke values ​​corresponding to the suspension height values ​​under left steering, The first right stroke maximum value is the maximum value of the rack stroke values ​​corresponding to the suspension height values ​​when turning right.

7. The method according to claim 6, characterized in that When the suspension height value is within the first value range, the maximum rack travel value includes a second left travel maximum value and a second right travel maximum value. The second left stroke maximum value is the maximum rack stroke value corresponding to left turning, and the second left stroke maximum value is greater than or equal to the maximum value among the plurality of first left stroke maximum values; The second right stroke maximum value is a maximum rack stroke value corresponding to right steering, and the second right stroke maximum value is greater than or equal to the maximum value among multiple first right stroke maximum values.

8. The method according to claim 6, characterized in that When the suspension height value is within the first value range, the maximum rack travel value includes a second left travel maximum value and a second right travel maximum value. The second left stroke maximum value is the maximum rack stroke value corresponding to left turn, and the second right stroke maximum value is the maximum rack stroke value corresponding to right turn, The second left stroke maximum value and the second right stroke maximum value are both determined based on the structure of the steering gear rack.

9. The method according to claim 1, characterized in that: The method further comprises: When the steering gear rack stroke value is greater than the maximum rack stroke value, the steering gear rack stroke is adjusted so that the steering gear rack stroke value is less than or equal to the maximum rack stroke value.

10. The method according to claim 9, characterized in that The method further comprises: During the process of adjusting the steering gear rack travel, determining whether the adjusted steering gear rack travel value is less than the maximum rack travel value, and if so, stopping adjusting the steering gear rack travel; or, Adjust the steering gear rack stroke until the adjusted steering gear rack stroke value reaches the target stroke value; wherein the target stroke value is less than the maximum rack stroke value.

11. The method according to claim 10, characterized in that The target stroke value is determined based on the maximum rack stroke value.

12. The method according to claim 3, characterized in that In the case where the suspension height value is greater than the upper limit value, the maximum rack travel value decreases as the suspension height value increases; or, When the suspension height value is less than the lower limit value, the maximum rack travel value decreases as the suspension height value decreases.

13. The method according to claim 3, characterized in that The method further comprises: When the suspension height value is not within the first numerical range, the maximum rack stroke value corresponding to the suspension height value is determined according to a relationship equation corresponding to the suspension lifting direction and the steering gear direction; wherein the relationship equation reflects the corresponding relationship between the suspension height value and the maximum rack stroke value.

14. The method according to claim 13, characterized in that The relationship formula corresponding to the suspension lifting direction and the steering gear direction includes the relationship formula corresponding to the suspension lifting direction upward and the steering gear direction leftward, the relationship formula corresponding to the suspension lifting direction upward and the steering gear direction rightward, the relationship formula corresponding to the suspension lifting direction downward and the steering gear direction leftward, and the relationship formula corresponding to the suspension lifting direction downward and the steering gear direction rightward.

15. The method according to claim 14, characterized in that The relationship corresponding to the upward lifting direction of the suspension and the leftward steering direction is one of a linear relationship, a quadratic relationship and a trigonometric function relationship; The relationship corresponding to the upward lifting direction of the suspension and the rightward steering direction is one of a linear relationship, a quadratic relationship and a trigonometric function relationship; The relationship corresponding to the suspension lifting direction being downward and the steering gear direction being leftward is one of a linear relationship, a quadratic relationship and a trigonometric function relationship; The relationship expression corresponding to the downward lifting direction of the suspension and the rightward steering direction is one of a linear relationship expression, a quadratic relationship expression and a trigonometric function relationship expression.

16. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 15 is implemented.

17. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor, the vehicle control method according to any one of claims 1 to 15 is implemented.

18. A vehicle control device, characterized in that: include: The maximum rack travel value determination module is used to determine the maximum rack travel value of the steering gear according to the suspension height value, wherein the maximum rack travel value is the maximum value of the rack travel values ​​corresponding to the suspension height value.

19. A vehicle control device, characterized in that: The vehicle control method comprises a memory and a processor, wherein the memory stores a computer program, and the computer program is used to control the processor to operate so as to execute the vehicle control method according to any one of claims 1 to 15.

20. A vehicle, characterized in that: The vehicle comprises a vehicle control device and a steering gear as claimed in claim 18 or 19.

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