Vehicle control method, controller and vehicle

Abstract

The invention relates to a vehicle control method, a controller and a vehicle, and relates to the technical field of vehicles, and the method comprises the steps that it is determined that a transverse stability fault of the vehicle occurs, and the transverse stability fault comprises tire burst and / or wheel control failure; acquiring driving state information of the vehicle; and according to the driving state information, steering control is at least carried out on rear wheels of the vehicle so as to avoid transverse deviation of the vehicle. By using the vehicle control method provided by the invention, the transverse stability and the path following capability of the vehicle can be improved when the wheels break down, so that the driving safety of the vehicle is improved, and the possibility of road accidents is reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, and in particular, to a vehicle control method, a controller and a vehicle. Background Art

[0002] If a tire bursts or fails suddenly while the vehicle is driving, it will cause the vehicle to yaw unexpectedly, which will have a huge impact on vehicle stability control and vehicle safety. Therefore, the lateral stability and path following ability of the vehicle after a tire burst or tire failure are key issues in vehicle stability control. Summary of the invention

[0003] The purpose of the present disclosure is to provide a vehicle control method, a controller and a vehicle.

[0004] In order to achieve the above object, the present disclosure provides a vehicle control method, comprising: Determining that a lateral stability fault occurs in the vehicle, wherein the lateral stability fault includes a tire blowout and / or a wheel control failure; Acquiring driving status information of the vehicle; According to the driving state information, at least the rear wheels of the vehicle are steered to avoid lateral deviation of the vehicle.

[0005] Optionally, the controlling the steering of at least the rear wheels of the vehicle according to the driving state information comprises: determining an additional yaw moment according to the driving state information, wherein the additional yaw moment is used to suppress a yaw moment of the vehicle generated due to the lateral stability failure; determining a wheel steering direction of the vehicle according to the direction of the additional yaw moment or the orientation of the faulty wheel, the faulty wheel being the wheel where the lateral stability fault occurs; The vehicle is steered according to the additional yaw and the wheel steering direction.

[0006] Optionally, determining the steering direction of the wheels of the vehicle according to the direction of the additional yaw moment includes: determining a first steering direction of the rear wheels and a second steering direction of the front wheels of the vehicle according to the direction of the additional yaw moment, wherein the first steering direction is opposite to the direction of the additional yaw moment, and the second steering direction is the same as the direction of the additional yaw moment; or A third steering direction of the rear wheels of the vehicle is determined according to the direction of the additional yaw moment, and the third steering direction is the same as the direction of the additional yaw moment.

[0007] Optionally, determining the steering direction of the wheels of the vehicle according to the orientation of the faulty wheel includes: In the case that the vehicle has only one faulty wheel, determining a fourth steering direction of the rear wheels and a fifth steering direction of the front wheels of the vehicle according to the orientation of the faulty wheel, wherein the fourth steering direction is the same as the orientation of the faulty wheel, and the fifth steering direction is opposite to the orientation of the faulty wheel; or In the case that the vehicle has only one faulty wheel, a sixth steering direction of the rear wheels of the vehicle is determined according to the orientation of the faulty wheel, and the sixth steering direction is opposite to the orientation of the faulty wheel.

[0008] Optionally, the driving state information includes a vehicle speed, a steering wheel angle, a steering wheel speed, and an actual yaw angular velocity of the vehicle, and determining the additional yaw moment according to the driving state information includes: determining a target yaw moment of the vehicle according to the vehicle speed, the steering wheel angle, and the steering wheel speed, wherein the target yaw moment is a yaw moment corresponding to the current driving state information of the vehicle when the lateral stability failure does not occur; Determining the required yaw moment according to a difference between an actual yaw moment corresponding to the actual yaw angular velocity and the target yaw moment; The additional yaw moment is determined according to a magnitude relationship between the required yaw moment and a preset yaw moment, wherein the preset yaw moment is a maximum yaw moment for the vehicle to maintain lateral stability.

[0009] Optionally, determining the additional yaw moment according to a magnitude relationship between the required yaw moment and a preset yaw moment includes: When the required yaw moment is greater than the preset yaw moment, determining the additional yaw moment to be the preset yaw moment; When the required yaw moment is less than or equal to the preset yaw moment, the additional yaw moment is determined to be the required yaw moment.

[0010] Optionally, the controlling the steering of at least the rear wheels of the vehicle according to the driving state information comprises: According to the driving state information, steering control is performed on the wheels of the vehicle and differential braking control is performed on the wheels of the vehicle.

[0011] Optionally, the performing differential braking control on the wheels of the vehicle includes: determining a non-faulty wheel of the vehicle that does not suffer from the lateral stability fault; At least one of the non-faulty wheels is determined as a target wheel, and differential braking control is performed on the target wheel.

[0012] Optionally, determining at least one of the non-faulty wheels as a target wheel comprises: In the case that the lateral stability failure does not occur in any rear wheel of the vehicle, at least the rear wheel in the opposite direction to the faulty wheel among the non-faulty wheels is determined as the target wheel.

[0013] Optionally, determining at least one of the non-fault wheels as a target wheel and performing differential braking control on the target wheel comprises: determining an additional yaw moment according to the driving state information, wherein the additional yaw moment is used to suppress a yaw moment of the vehicle caused by a wheel failure; The target wheels are differentially braked according to the additional yaw moment.

[0014] Optionally, the performing steering control on the wheels of the vehicle and performing differential braking control on the wheels of the vehicle according to the driving state information includes: determining an additional yaw moment according to the driving state information, wherein the additional yaw moment is used to suppress a yaw moment of the vehicle caused by a wheel failure; Determining the wheel steering direction of the vehicle according to the direction of the additional yaw moment or the orientation of the faulty wheel, and determining a target wheel from the non-faulty wheels of the vehicle; determining a first yaw moment and a second yaw moment according to the additional yaw moment; determining a wheel steering angle of the vehicle according to the first yaw moment, and performing steering control on the vehicle according to the wheel steering angle and the wheel steering direction; Differential braking control is performed on target wheels of the vehicle according to the second yaw moment.

[0015] Optionally, the method further comprises: Obtaining driver intention information after a lateral stability failure occurs; When the direction of the yaw moment of the vehicle generated by the wheel failure is consistent with the direction of the steering wheel torque of the vehicle and / or the steering wheel angle is greater than or equal to the preset angle threshold, reducing the steering wheel assist in the direction of the steering wheel angle to inhibit the driver from subsequently controlling the steering of the vehicle, the driver intention information including the steering wheel torque; and / or, When the depth of the accelerator pedal of the vehicle exceeds the preset pedal depth threshold, the acceleration signal of the accelerator pedal is shielded to inhibit the driver's subsequent acceleration control of the vehicle, and the driver's intention information includes the depth of the accelerator pedal.

[0016] In order to achieve the above object, the present disclosure further provides a controller, comprising: a memory having a computer program stored thereon; A processor is used to execute the computer program in the memory to implement the vehicle control method described in the present disclosure.

[0017] In order to achieve the above objectives, the present disclosure also provides a vehicle, on which the controller proposed in the present disclosure is configured.

[0018] Through the above technical solution, when a vehicle has a lateral stability failure, the steering of the vehicle's wheels can be controlled, thereby improving the vehicle's lateral stability and path following ability when the wheel fails, thereby improving the vehicle's driving safety and reducing the possibility of road accidents.

[0019] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 It is a flowchart of the steps of a vehicle control method proposed by an exemplary embodiment of the present disclosure.

[0021] Figure 2 It is a flow chart of a vehicle control method proposed by an exemplary embodiment of the present disclosure.

[0022] Figure 3a It is a schematic diagram of a differential braking control proposed by an exemplary embodiment of the present disclosure.

[0023] Figure 3b It is a schematic diagram of a wheel steering control proposed by an exemplary embodiment of the present disclosure.

[0024] Figure 3c It is a schematic diagram of a fusion control proposed by an exemplary embodiment of the present disclosure.

[0025] Figure 4 It is a block diagram of a vehicle control device proposed by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0027] In the related art, the stability control of a vehicle after a tire blowout is usually achieved by using differential braking. However, differential braking can only maintain the lateral stability of the vehicle but cannot achieve path following, which may easily cause secondary damage to the vehicle.

[0028] In view of this, in order to improve the stability of the vehicle and reduce the potential safety hazards on the road, the present disclosure proposes a vehicle control method, see Figure 1 As shown, the following steps are included: In step S11, it is determined that a lateral stability fault occurs in the vehicle, wherein the lateral stability fault includes a tire blowout and / or a wheel control failure.

[0029] It is worth noting that the vehicle control method provided by the present invention can be applied to a vehicle stability control system. The vehicle stability control system is in standby mode when no fault signal is received. Each tire of the vehicle is equipped with a wheel monitoring mechanism. In the event of a tire blowout or control failure, the wheel monitoring mechanism will send the fault signal of the corresponding tire to the vehicle stability control system. The vehicle stability control system determines the lateral stability fault of the vehicle based on the received fault signal.

[0030] The lateral stability fault may be a tire blowout and / or control failure of one or more wheels of the vehicle, wherein the wheel control failure includes at least one of a wheel braking failure, a wheel steering failure, and a wheel rotation failure.

[0031] In step S12, the driving state information of the vehicle is obtained.

[0032] In one implementation, when it is determined that a lateral stability failure occurs in the vehicle, the driving state information may be acquired through a vehicle state detection device in a vehicle stability control system.

[0033] The driving status information includes the vehicle speed, steering wheel angle, steering wheel speed and actual yaw rate of the vehicle.

[0034] In step S13, steering control is performed on at least the rear wheels of the vehicle according to the driving state information to prevent the vehicle from lateral deviation.

[0035] It is worth mentioning that in the event of a lateral stability failure in the vehicle, the vehicle will generate an unexpected yaw moment, causing the vehicle to yaw, lose control, and the rim to fall off. For example, a tire blowout on the left front wheel will increase the rolling resistance of the left front wheel, and the vehicle will deviate to the left front based on the initial driving direction.

[0036] Among them, the vehicle does not deviate laterally when the vehicle is in a laterally stable state, that is, the yaw moment is zero, and the vehicle follows the driving path corresponding to the driver's operation. At this time, the actual yaw angular velocity of the vehicle is approximately equal to the yaw angular velocity corresponding to the driving state information. When the driver does not perform a steering operation, the yaw angular velocity corresponding to the driving state information is 0 (rad / s, radians / second). When the driver performs a steering operation, the yaw angular velocity corresponding to the driving state information corresponds to the steering angle of the steering wheel and the speed of the vehicle.

[0037] In one embodiment, when the vehicle deviates laterally, the wheel steering can be controlled so that the vehicle generates a yaw moment in the opposite direction to the yaw moment to suppress the lateral deviation of the vehicle, so that the driving path of the vehicle after the lateral stability failure occurs is kept as similar as possible to the driving path corresponding to the absence of the lateral stability failure.

[0038] Among them, the steering control of the wheels includes the steering control of the front wheels of the vehicle and the steering control of the rear wheels of the vehicle.

[0039] In one embodiment, the vehicle stability control system only performs steering control on the rear wheels, and the front wheel steering can be steered following the steering wheel angle, so that the vehicle's driving path follows the driver's operation as much as possible. In the case of oversteering, understeering or reverse steering of the front wheels, compensation adjustment is performed through the rear wheel steering control, and the yaw moment caused by the lateral stability failure is suppressed by the yaw moment generated by the wheel steering.

[0040] In another embodiment, the vehicle stability control system controls the steering of the front and rear wheels at the same time. After a lateral stability failure occurs, the front and rear wheels will steer even if the driver does not turn the steering wheel. After the driver turns the steering wheel, the steering of the front and rear wheels will be adjusted according to the steering wheel angle, thereby achieving the purpose of quickly stabilizing the vehicle.

[0041] Through the above technical solution, when a vehicle has a lateral stability failure, the steering of the vehicle's wheels can be controlled, thereby improving the vehicle's lateral stability and path following ability when the wheel fails, thereby improving the vehicle's driving safety and reducing the possibility of road accidents.

[0042] Optionally, the controlling the steering of at least the rear wheels of the vehicle according to the driving state information comprises: In a first step, an additional yaw moment is determined according to the driving state information, where the additional yaw moment is used to suppress the yaw moment of the vehicle generated due to the lateral stability failure.

[0043] It is worth noting that the additional yaw moment is the yaw moment generated by steering control and / or differential braking control of the vehicle's wheels, and the direction of the additional yaw moment is opposite to the yaw moment. Therefore, when the additional yaw moment is the same in magnitude as the yaw moment, lateral deviation of the vehicle can be avoided.

[0044] The second step is to determine the steering direction of the vehicle's wheels according to the direction of the additional yaw moment or the orientation of the faulty wheel.

[0045] Wherein, the faulty wheel is the wheel where the lateral stability failure occurs.

[0046] It is worth noting that, in order to ensure the stability of the vehicle, the steering angle of the rear wheels of the vehicle is generally smaller than that of the front wheels. Therefore, the yaw moment that can be generated by rear wheel steering is usually smaller than the yaw moment generated by the front wheels.

[0047] For example, if the left front wheel of the vehicle has a tire blowout, the vehicle will be subjected to a yaw moment to the left due to the increase in rolling resistance of the left front wheel, which will require the vehicle to generate an additional yaw moment to the right. If the front and rear wheels of the vehicle are steered at the same time, the front wheels of the vehicle can be turned to the right to suppress the vehicle's left deviation, and the rear wheels of the vehicle can be turned to the left. The front and rear wheels are steered in opposite directions, which can improve the stability of the vehicle during the steering control process.

[0048] The third step is to control the steering of the vehicle according to the additional yaw and the wheel steering direction.

[0049] Optionally, determining the steering direction of the wheels of the vehicle according to the direction of the additional yaw moment includes: In case 1, a first steering direction of the rear wheels and a second steering direction of the front wheels of the vehicle are determined according to the direction of the additional yaw moment, wherein the first steering direction is opposite to the direction of the additional yaw moment, and the second steering direction is the same as the direction of the additional yaw moment.

[0050] In one embodiment, if the front wheels and rear wheels of the vehicle are controlled to steer at the same time, the front wheels are controlled to steer in the second steering direction, and the rear wheels are controlled to steer in the first steering direction, wherein the second steering direction is opposite to the direction of the yaw moment and the same as the direction of the additional yaw moment, and can suppress the yaw moment generated by the faulty wheel, and the first steering direction is the same as the direction of the yaw moment and opposite to the direction of the additional yaw moment, and can increase the stability of the vehicle.

[0051] In case two, a third steering direction of the rear wheels of the vehicle is determined according to the direction of the additional yaw moment or the orientation of the faulty wheel, and the third steering direction is the same as the direction of the additional yaw moment.

[0052] It is worth noting that when the vehicle speed is less than the preset control speed threshold, after a lateral stability failure occurs in the vehicle, only the rear wheels of the vehicle can be steered, while the front wheels steer following the driver's operation of the steering wheel. Only the yaw moment generated by the rear wheel steering is used to suppress the yaw moment, and then the vehicle will follow the driving route corresponding to the driver's steering operation of the steering wheel. Therefore, the rear wheels are controlled to steer in a third steering direction, wherein the third steering direction is the same as the direction of the additional yaw moment and opposite to the direction of the yaw moment.

[0053] Optionally, determining the steering direction of the wheels of the vehicle according to the orientation of the faulty wheel includes: In case one, when the vehicle has only one faulty wheel, the fourth steering direction of the rear wheels and the fifth steering direction of the front wheels of the vehicle are determined according to the orientation of the faulty wheel, the fourth steering direction is the same as the orientation of the faulty wheel, and the fifth steering direction is opposite to the orientation of the faulty wheel.

[0054] For example, if a lateral stability failure occurs in the right front wheel of the vehicle, the front and rear wheels of the vehicle can be controlled to steer simultaneously, wherein the rear wheels are controlled to steer right and the front wheels are controlled to steer left. By steering the front and rear wheels in opposite directions, the stability of the vehicle can be improved while suppressing the yaw moment.

[0055] In case two, when the vehicle has only one faulty wheel, the sixth steering direction of the rear wheels of the vehicle is determined according to the orientation of the faulty wheel, and the sixth steering direction is opposite to the orientation of the faulty wheel.

[0056] For example, if the left front wheel of the vehicle has a lateral stability failure and the vehicle is traveling at a slow speed, only the rear wheels of the vehicle can be controlled to turn right, and the front wheels will turn according to the steering angle of the steering wheel set by the driver. The yaw moment is suppressed only by the yaw moment generated by the rear wheel steering, which can improve the stability of the vehicle while ensuring the vehicle's controllability.

[0057] In one embodiment, when there is only one faulty wheel, the orientation of the faulty wheel is the same as the orientation of the yaw moment, so the direction of the additional yaw moment that needs to be applied to the vehicle is opposite to the orientation of the faulty wheel. Therefore, if there is only one faulty wheel, the steering direction of the wheel can be quickly determined based on the orientation of the faulty wheel, thereby reducing the response time of the steering control and increasing the safety of the vehicle.

[0058] Optionally, the driving state information includes the vehicle speed, steering wheel angle, steering wheel speed and actual yaw angular velocity of the vehicle.

[0059] The vehicle speed may be the longitudinal speed of the entire vehicle.

[0060] The determining of the additional yaw moment according to the driving state information comprises: A target yaw moment of the vehicle is determined according to the vehicle speed, the steering wheel angle, and the steering wheel speed, wherein the target yaw moment is the yaw moment corresponding to the current driving state information of the vehicle when the lateral stability failure does not occur.

[0061] It is worth noting that the vehicle can collect the current driving status information of the vehicle through a variety of sensors, such as obtaining the current vehicle speed through a speed sensor, obtaining the driver's steering wheel operation information through a steering sensor, and obtaining the vehicle's current actual yaw angular velocity through a yaw angular velocity sensor. Then, the actual yaw moment of the vehicle at the current moment can be determined by multiplying the actual yaw angular velocity and the preset moment of inertia, where the preset moment of inertia is determined based on the vehicle mass distribution and the vehicle shape.

[0062] The required yaw moment is determined according to a difference between an actual yaw moment corresponding to the actual yaw angular velocity and the target yaw moment.

[0063] In one embodiment, when the vehicle is in a straight-line driving state, since the target yaw velocity for the vehicle to maintain lateral stability is 0 (rad / s, radians / second), and the current target yaw moment of the vehicle is also 0 (Nm, Newton meter), the additional yaw moment is equal to the actual yaw moment in magnitude and opposite in direction; when the vehicle is in a turning driving state, the target yaw velocity for the vehicle to maintain lateral stability is greater than 0 (rad / s, radians / second), and the additional yaw moment is the difference between the actual yaw moment and the target yaw moment.

[0064] The additional yaw moment is determined according to a magnitude relationship between the required yaw moment and a preset yaw moment, wherein the preset yaw moment is a maximum yaw moment for the vehicle to maintain lateral stability.

[0065] Among them, the preset yaw moment is the maximum yaw moment that the vehicle can withstand while ensuring the lateral stability of the vehicle. The preset yaw moment is determined based on the vehicle mass distribution, the vehicle center of gravity position and the vehicle mass.

[0066] Optionally, determining the additional yaw moment according to a magnitude relationship between the required yaw moment and a preset yaw moment includes: When the required yaw moment is greater than the preset yaw moment, the additional yaw moment is determined to be the preset yaw moment.

[0067] When the required yaw moment is less than or equal to the preset yaw moment, the additional yaw moment is determined to be the required yaw moment.

[0068] It is worth noting that if the yaw moment generated when the vehicle has a lateral stability failure is very large, if an additional yaw moment of the same magnitude and opposite direction as the yaw moment is applied to the vehicle, the stability of the vehicle will be greatly reduced, which may cause the vehicle to roll over.

[0069] Therefore, the maximum value of the additional yaw moment that can be applied, that is, the preset yaw moment, can be set. When a lateral stability failure occurs in the vehicle, the wheel monitoring mechanism will determine the preset yaw moment corresponding to the failure by looking up the table according to the type and level of the wheel failure and transmit it to the vehicle stability control system.

[0070] After a lateral stability failure occurs in the vehicle, if the required yaw moment of the vehicle is greater than the preset yaw moment, it means that the additional yaw moment that can be applied to the vehicle is not sufficient to suppress the yaw moment. In this case, steering control and / or differential braking control can be performed on the vehicle to apply a torque of the same magnitude as the preset yaw moment to the vehicle, so that the vehicle can follow the driver's operating intention as much as possible and reduce the lateral deviation of the vehicle.

[0071] If the required yaw moment of the vehicle does not exceed the preset yaw moment, the vehicle can be steered and / or differentially braked, thereby applying a torque of the same magnitude as the required yaw moment to the vehicle, so that the vehicle completely follows the driver's operating intention, thereby improving the effectiveness of the vehicle's steering and differential braking control and the safety of the vehicle.

[0072] Optionally, the controlling the steering of at least the rear wheels of the vehicle according to the driving state information comprises: According to the driving state information, steering control is performed on the wheels of the vehicle and differential braking control is performed on the wheels of the vehicle.

[0073] In one embodiment, see Figure 2 As shown, when the vehicle stability control system receives a tire blowout signal, it will first determine whether the differential braking function and the rear-wheel steering function are in a normal state. When the rear-wheel steering function fails, the determined strategy is to achieve vehicle stability control through differential braking. When the differential braking function fails, the determined strategy is to achieve vehicle stability control through rear-wheel steering. When both the differential braking function and the rear-wheel steering function are in a normal state, the determined strategy is to enter open-loop and closed-loop fusion control through the two.

[0074] Among them, the open-closed loop fusion control is a control method that uses the driving state information as the feedforward control information, the actual yaw angular velocity of the vehicle as the feedback control information, and the differential braking torque and wheel steering angle allocated to the wheels as the control quantities.

[0075] In one embodiment, see Figure 3a As shown, if the right front wheel of the vehicle has a tire blowout, the vehicle will deviate to the right front. If the vehicle is stabilized only by differential braking control, the braking force corresponding to the additional yaw moment will be distributed to the left front wheel, left rear wheel and right rear wheel.

[0076] See also Figure 3b As shown, if the vehicle is stabilized only by steering control, the front wheels of the vehicle are controlled to steer to the left at the front wheel steering angle, and the rear wheels of the vehicle are controlled to steer to the right at the rear wheel steering angle.

[0077] See also Figure 3c As shown, if the vehicle is stabilized by combining fusion control of differential braking control and steering control, the left front wheel, left rear wheel and right rear wheel of the vehicle are braked simultaneously, and the front wheels of the vehicle are turned to the left at the front wheel steering angle, and the rear wheels of the vehicle are turned to the right at the rear wheel steering angle.

[0078] It is worth mentioning that when there is only one faulty wheel, controlling the front wheels of the vehicle to steer in the opposite direction to the faulty wheel can make the front wheels generate a yaw moment opposite to the yaw moment of the vehicle, and controlling the rear wheels of the vehicle to steer in the same direction as the faulty wheel, that is, the front wheel steering is in opposite directions to the rear wheel steering, which can improve the stability of the vehicle and prevent secondary collision damage while suppressing the yaw moment caused by the increased rolling resistance of the faulty wheel.

[0079] In addition, after each execution of the open-loop and closed-loop fusion control, the vehicle may be feedback controlled according to the actual yaw angular velocity of the vehicle.

[0080] In one embodiment, see Figure 2 As shown, after executing the open-loop and closed-loop fusion control, the actual yaw rate of the vehicle is obtained as feedback information, and then it is determined whether the vehicle enters a lateral stability state according to the magnitude relationship between the actual yaw rate and a preset yaw rate threshold.

[0081] When the actual yaw rate of the vehicle is greater than the preset yaw rate threshold, it means that the vehicle has not entered a lateral stable state. In this case, the vehicle stability control system will perform open-loop and closed-loop fusion control on the vehicle again until the vehicle enters a stable control range.

[0082] When the actual yaw angular velocity is less than or equal to the preset yaw angular velocity threshold, it indicates that the vehicle has entered a lateral stable state. The open-closed-loop fusion control of the vehicle is stopped, and the vehicle stability control system enters a standby state until a wheel fault signal is received again, and the active suspension of the vehicle is adjusted to a balanced state.

[0083] Among them, the preset yaw angular velocity threshold can be set according to the speed of the vehicle. The higher the current speed of the vehicle, the larger the corresponding preset yaw angular velocity threshold. The preset yaw angular velocity threshold can also be set to a fixed value. When the vehicle is traveling in a straight line, the preset yaw angular velocity threshold can be set to 0 (rad / s, radians / second).

[0084] Through the above method, it is possible to quickly respond to vehicle stability requirements and reduce the delay caused by yaw rate noise processing. In addition, under extreme conditions where the vehicle has a lateral stability failure, if either the differential braking function or the steering function of the vehicle fails, the stability of the vehicle can still be guaranteed.

[0085] Optionally, the performing differential braking control on the wheels of the vehicle includes: First, a non-faulty wheel of the vehicle that does not have the lateral stability fault is determined.

[0086] It is worth noting that when a wheel has a lateral stability failure, the actual braking force of the tire may be different from the braking force allocated by the vehicle stability control system. For example, if a wheel has a tire blowout, the rolling resistance of the wheel will increase. If the wheel is used for braking, the actual braking force of the wheel will be greater than the allocated braking force. Therefore, in order to ensure the effectiveness of differential braking control, a non-faulty wheel can be selected as the target wheel for braking.

[0087] Then, at least one of the non-fault wheels is determined as a target wheel, and differential braking control is performed on the target wheel.

[0088] Among them, the differential braking control of the wheels is to distribute braking force to at least one target wheel so that a braking force difference is generated between the left and right sides of the vehicle, and then the yaw moment generated by the lateral stability failure is suppressed by the yaw moment generated by the braking force difference.

[0089] Optionally, determining at least one of the non-faulty wheels as a target wheel comprises: In the case that the lateral stability failure does not occur in any rear wheel of the vehicle, at least the rear wheel in the opposite direction to the faulty wheel among the non-faulty wheels is determined as the target wheel.

[0090] In one embodiment, the rear wheels are preferentially selected as the target wheels for differential braking, which can further improve the stability of the vehicle, avoid vehicle slippage or loss of control during differential braking control, and effectively reduce the braking distance of the vehicle and improve braking efficiency.

[0091] Optionally, determining at least one of the non-faulty wheels as a target wheel and performing differential braking control on the target wheel comprises: An additional yaw moment is determined according to the driving state information, and the additional yaw moment is used to suppress a yaw moment of the vehicle generated due to a wheel failure.

[0092] The target wheels are differentially braked according to the additional yaw moment.

[0093] For example, if the left front wheel of the vehicle has a tire blowout, the right rear wheel may be selected as the target wheel for differential braking, or the left rear wheel, the right front wheel, and the right rear wheel may be selected for differential braking.

[0094] In one embodiment, when a vehicle has a lateral stability failure and the vehicle stability system detects that the vehicle's steering function has failed, the vehicle's stability control can be achieved using a differential braking function. For example, the controller collects signals such as vehicle speed and steering wheel angle to fuse and calculate the additional yaw moment required for the vehicle with a flat tire, and then provides the required additional yaw moment through differential braking. At the same time, the actuator response logic is adjusted to give priority to braking the wheels that have not had a flat tire, and quadratic programming is used to calculate the braking torque required for each wheel that has not failed.

[0095] Optionally, the performing steering control on the wheels of the vehicle and performing differential braking control on the wheels of the vehicle according to the driving state information includes: In a first step, an additional yaw moment is determined according to the driving state information, where the additional yaw moment is used to suppress the yaw moment of the vehicle caused by a wheel failure.

[0096] The second step is to determine the steering direction of the vehicle's wheels according to the direction of the additional yaw moment or the orientation of the faulty wheel, and to determine a target wheel from the non-faulty wheels of the vehicle.

[0097] In a third step, a first yaw moment and a second yaw moment are determined according to the additional yaw moment.

[0098] In one embodiment, the two vehicles can be integrated and controlled through differential braking and wheel steering, thereby generating an additional yaw moment for the vehicle to suppress the yaw moment generated when the vehicle has a lateral stability failure, wherein the first yaw moment is the yaw moment generated by wheel steering control, the second yaw moment is the yaw moment generated by differential braking control, and the sum of the first yaw moment and the second yaw moment is equal to the additional yaw moment.

[0099] In one implementation, the additional yaw moment may be evenly distributed to the differential braking control and the wheel steering control.

[0100] For example, when a vehicle has a lateral stability failure, the additional yaw moment required to make the vehicle enter a laterally stable state is 20 N.m (Newton meter). If the additional yaw moment is evenly distributed to differential braking and wheel steering, the first yaw moment is 10 N.m and the second yaw moment is 10 N.m.

[0101] In another embodiment, the distribution ratio of the two can be determined according to the driving state information of the vehicle. For example, when the vehicle speed is greater than a preset vehicle speed threshold, the distribution ratio of the yaw torque allocated to the differential braking control is increased.

[0102] For example, when a vehicle has a lateral stability failure at a speed greater than 100 kilometers per hour, the preset speed threshold is 90 kilometers per hour. The additional yaw moment required to make the vehicle enter a laterally stable state is 20 N.m (Newton meter). Then, the first yaw moment that can be allocated to the steering control is 5 N.m, and the second yaw moment allocated to the differential braking control is 15 N.m.

[0103] In another implementation, the additional yaw torque may be distributed to the differential braking control and the rear wheel steering control according to a preset distribution ratio.

[0104] For example, the vehicle stability system preferably uses the steering control, and the proportion of the yaw moment allocated to the steering control may be increased.

[0105] The fourth step is to determine the wheel steering angle of the vehicle according to the first yaw moment, and to control the steering of the vehicle according to the wheel steering angle and the wheel steering direction.

[0106] In a fifth step, differential braking control is performed on the target wheels of the vehicle according to the second yaw moment.

[0107] In one embodiment, differential braking control and / or steering control of the vehicle's wheels can be controlled based on the driver's intention, that is, based on the driver's steering and braking of the vehicle, the additional yaw torque is used as the target value to adjust the steering angle, steering direction and accelerator pedal depth of the wheels, wherein the driver's intention is the driver's control operation of the accelerator, steering wheel and brake pedal.

[0108] For example, after a vehicle has a tire blowout, the driver steers the steering wheel. The front wheel steering angle of the vehicle can be determined based on the steering angle of the steering wheel, and the yaw moment corresponding to the rear wheel steering angle can be determined based on the difference between the first yaw moment and the additional yaw moment corresponding to the front wheel steering angle. The rear wheel steering angle can be further determined. Through the above method, the vehicle's driving path can follow the driver's intention while ensuring vehicle stability.

[0109] In another embodiment, differential braking control and / or steering control of the vehicle's wheels may also be performed instead of the driver's intention.

[0110] For example, the front wheel steering and the rear wheel steering can be automatically controlled, that is, the front wheel steering angle and the rear wheel steering angle are directly determined according to the first yaw angle torque, thereby quickly realizing the steering control of the vehicle and allowing the vehicle to quickly enter a lateral stable state.

[0111] Furthermore, after performing steering control and / or differential braking control on the wheels of the vehicle, the active suspension of the vehicle may be adjusted to a balanced state.

[0112] It is worth mentioning that after a vehicle has a tire blowout, the side of the vehicle with the blown tire may sink, causing the vehicle's balance to decrease. By adjusting the active suspension, the vehicle's stability and handling can be increased.

[0113] Optionally, the method further comprises: Obtaining driver intention information after a lateral stability failure occurs.

[0114] The driver intention information includes at least one of the steering wheel torque, the depth of the accelerator pedal and the depth of the brake pedal.

[0115] It is worth mentioning that the steering wheel is used to control the steering of the vehicle's front wheels. When the driver controls the steering wheel, the front wheels of the vehicle will steer accordingly, and the vehicle will generate a yaw moment. When the driver turns the steering wheel at will or turns the steering wheel excessively, causing the vehicle's yaw angular velocity to be too large, the vehicle stability control system will be difficult to work effectively, resulting in the vehicle out of control and creating potential traffic safety risks.

[0116] On the one hand, when the direction of the yaw moment generated by the wheel failure of the vehicle is consistent with the direction of the steering wheel torque of the vehicle and / or the steering wheel angle is greater than or equal to the preset angle threshold, the steering wheel assist is reduced in the direction of the steering wheel angle to suppress the driver's subsequent steering control of the vehicle.

[0117] It is worth noting that the direction of the steering wheel torque is the direction in which the driver turns the steering wheel.

[0118] In one embodiment, if the directions of the yaw moment and the steering wheel torque generated when the vehicle has a lateral stability failure are inconsistent, it means that the yaw moment caused by the steering can reduce or offset the yaw moment, and the driver's steering direction of the steering wheel is in the correct direction. Therefore, the front wheels follow the driver's operation to steer, and the rear wheels turn in the opposite direction to the front wheels, so that the vehicle can maintain stability as much as possible while following the driving path corresponding to the driver's intention.

[0119] In another embodiment, if the yaw moment and steering wheel torque generated when the vehicle has a lateral stability failure are in the same direction, it means that the yaw moment caused by steering will aggravate the lateral deviation of the vehicle and the driving risk of the vehicle will increase, so it is necessary to suppress the driver's steering operation on the steering wheel.

[0120] For example, if the left front tire of a vehicle bursts, the vehicle's driving path will deviate to the front left. If the driver turns the steering wheel to the left, the vehicle's lateral deviation to the left will increase. In this case, the steering wheel assist for turning the steering wheel to the left can be reduced, and the steering wheel assist for turning the steering wheel to the right remains normal, so as to suppress the driver's intention to turn left.

[0121] In one embodiment, if the steering wheel angle is greater than or equal to a preset angle threshold, it means that the driver is oversteering the steering wheel, and the steering wheel assist in the direction of the steering wheel angle can be reduced to suppress the driver's subsequent steering control of the vehicle to prevent the vehicle from oversteering.

[0122] In another embodiment, if the steering wheel angle is less than a preset angle threshold, it means that the driver understeers the steering wheel, and the vehicle steers following the driver's steering control of the steering wheel, and applies additional yaw torque to the vehicle through differential braking and / or rear-wheel steering control for compensatory control.

[0123] Among them, the preset steering angle threshold can be set according to the vehicle's mass, wheelbase, lateral stiffness of each tire and vehicle speed. It is the maximum steering wheel angle to ensure that the vehicle does not roll over or lose control in the event of a wheel failure, which is a safety hazard.

[0124] On the other hand, when the depth of the accelerator pedal of the vehicle exceeds the preset pedal depth threshold, the acceleration signal of the accelerator pedal is shielded to inhibit the driver's subsequent acceleration control of the vehicle.

[0125] It is worth noting that in the event of a lateral stability failure in the vehicle, the driver may mistakenly step on the accelerator pedal, causing the vehicle to accelerate, reducing the stability of the vehicle and increasing driving risks. Therefore, to avoid the above situation, when the depth of the accelerator pedal exceeds the preset pedal depth threshold, the vehicle stability control system will inhibit the driver's subsequent acceleration control of the vehicle, that is, shielding the acceleration signal of the accelerator pedal, and after the vehicle enters a lateral stable state, the accelerator pedal will be unshielded.

[0126] In addition, when a wheel fails, the driver may quickly step on the brake pedal for emergency braking. Emergency braking of the vehicle will also reduce the stability of the vehicle. Therefore, if it is detected that there is no obstacle in front of the vehicle, then when the descent speed of the vehicle's brake pedal is greater than the preset speed threshold or the depth of the brake pedal is greater than the preset brake pedal depth threshold, the vehicle braking force corresponding to the brake pedal depth can be adjusted through the vehicle stability control system to suppress the driver's braking operation.

[0127] Through the above method, the vehicle control strategy can be adjusted in combination with the driver's intention. While ensuring the vehicle stability, the vehicle can be made to follow the driving path corresponding to the driver's operation as much as possible, thereby increasing the vehicle's maneuverability in the event of a lateral stability failure.

[0128] Figure 4 It is a block diagram of a vehicle control device according to an exemplary embodiment. The vehicle control device 500 includes: a determination module 510, an acquisition module 520 and a control module 530.

[0129] The determination module 510 is configured to determine whether a lateral stability fault occurs in the vehicle, where the lateral stability fault includes a tire blowout and / or a wheel control failure.

[0130] The acquisition module 520 is configured to acquire the driving status information of the vehicle.

[0131] The control module 530 is configured to perform steering control on at least the rear wheels of the vehicle according to the driving state information to prevent the vehicle from lateral deviation.

[0132] Optionally, the control module 530 includes: determining an additional yaw moment according to the driving state information, wherein the additional yaw moment is used to suppress a yaw moment of the vehicle generated due to the lateral stability failure; determining a wheel steering direction of the vehicle according to the direction of the additional yaw moment or the orientation of the faulty wheel, the faulty wheel being the wheel where the lateral stability fault occurs; The vehicle is steered according to the additional yaw and the wheel steering direction.

[0133] Optionally, the control module 530 includes: determining a first steering direction of the rear wheels and a second steering direction of the front wheels of the vehicle according to the direction of the additional yaw moment, wherein the first steering direction is opposite to the direction of the additional yaw moment, and the second steering direction is the same as the direction of the additional yaw moment; or A third steering direction of the rear wheels of the vehicle is determined according to the direction of the additional yaw moment, and the third steering direction is the same as the direction of the additional yaw moment.

[0134] Optionally, the control module 530 includes: In the case that the vehicle has only one faulty wheel, determining a fourth steering direction of the rear wheels and a fifth steering direction of the front wheels of the vehicle according to the orientation of the faulty wheel, wherein the fourth steering direction is the same as the orientation of the faulty wheel, and the fifth steering direction is opposite to the orientation of the faulty wheel; or In the case that the vehicle has only one faulty wheel, a sixth steering direction of the rear wheels of the vehicle is determined according to the orientation of the faulty wheel, and the sixth steering direction is opposite to the orientation of the faulty wheel.

[0135] Optionally, the driving state information includes the vehicle speed, steering wheel angle, steering wheel speed and actual yaw angular velocity of the vehicle.

[0136] The control module 530 includes: determining a target yaw moment of the vehicle according to the vehicle speed, the steering wheel angle, and the steering wheel speed, wherein the target yaw moment is a yaw moment corresponding to the current driving state information of the vehicle when the lateral stability failure does not occur; Determining the required yaw moment according to a difference between an actual yaw moment corresponding to the actual yaw angular velocity and the target yaw moment; The additional yaw moment is determined according to a magnitude relationship between the required yaw moment and a preset yaw moment, wherein the preset yaw moment is a maximum yaw moment for the vehicle to maintain lateral stability.

[0137] Optionally, the control module 530 includes: When the required yaw moment is greater than the preset yaw moment, determining the additional yaw moment to be the preset yaw moment; When the required yaw moment is less than or equal to the preset yaw moment, the additional yaw moment is determined to be the required yaw moment.

[0138] Optionally, the control module 530 includes: According to the driving state information, steering control is performed on the wheels of the vehicle and differential braking control is performed on the wheels of the vehicle.

[0139] Optionally, the control module 530 includes: determining a non-faulty wheel of the vehicle that does not suffer from the lateral stability fault; At least one of the non-faulty wheels is determined as a target wheel, and differential braking control is performed on the target wheel.

[0140] Optionally, the control module 530 includes: In the case that the lateral stability failure does not occur in any rear wheel of the vehicle, at least the rear wheel in the opposite direction to the faulty wheel among the non-faulty wheels is determined as the target wheel.

[0141] Optionally, the control module 530 includes: determining an additional yaw moment according to the driving state information, wherein the additional yaw moment is used to suppress a yaw moment of the vehicle caused by a wheel failure; The target wheels are differentially braked according to the additional yaw moment.

[0142] Optionally, the control module 530 includes: determining an additional yaw moment according to the driving state information, wherein the additional yaw moment is used to suppress a yaw moment of the vehicle caused by a wheel failure; Determining the wheel steering direction of the vehicle according to the direction of the additional yaw moment or the orientation of the faulty wheel, and determining a target wheel from the non-faulty wheels of the vehicle; determining a first yaw moment and a second yaw moment according to the additional yaw moment; determining a wheel steering angle of the vehicle according to the first yaw moment, and performing steering control on the vehicle according to the wheel steering angle and the wheel steering direction; Differential braking control is performed on target wheels of the vehicle according to the second yaw moment.

[0143] Optionally, the control module 530 includes: Obtaining driver intention information after a lateral stability failure occurs; When the direction of the yaw moment of the vehicle generated by the wheel failure is consistent with the direction of the steering wheel torque of the vehicle and / or the steering wheel angle is greater than or equal to the preset angle threshold, reducing the steering wheel assist in the direction of the steering wheel angle to inhibit the driver from subsequently controlling the steering of the vehicle, the driver intention information including the steering wheel torque; and / or, When the depth of the accelerator pedal of the vehicle exceeds the preset pedal depth threshold, the acceleration signal of the accelerator pedal is shielded to inhibit the driver's subsequent acceleration control of the vehicle, and the driver's intention information includes the depth of the accelerator pedal.

[0144] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0145] Based on the same inventive concept, an exemplary embodiment of the present disclosure further proposes a controller, which is used to execute the vehicle control method proposed by the present disclosure.

[0146] Based on the same inventive concept, an exemplary embodiment of the present disclosure further provides a vehicle, on which a controller provided by the present disclosure is configured to execute the vehicle control method provided by the present disclosure.

[0147] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0148] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0149] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A vehicle control method, characterized in that: include: Determining that a lateral stability fault occurs in the vehicle, wherein the lateral stability fault includes a tire blowout and / or a wheel control failure; Acquiring driving status information of the vehicle; According to the driving state information, at least the rear wheels of the vehicle are steered to avoid lateral deviation of the vehicle.

2. The method according to claim 1, characterized in that The step of controlling at least the rear wheels of the vehicle according to the driving state information comprises: determining an additional yaw moment according to the driving state information, wherein the additional yaw moment is used to suppress a yaw moment of the vehicle generated due to the lateral stability failure; determining a wheel steering direction of the vehicle according to the direction of the additional yaw moment or the orientation of the faulty wheel, the faulty wheel being the wheel where the lateral stability fault occurs; The vehicle is steered according to the additional yaw and the wheel steering direction.

3. The method according to claim 2, characterized in that Determining the steering direction of the wheels of the vehicle according to the direction of the additional yaw moment includes: determining a first steering direction of the rear wheels and a second steering direction of the front wheels of the vehicle according to the direction of the additional yaw moment, wherein the first steering direction is opposite to the direction of the additional yaw moment, and the second steering direction is the same as the direction of the additional yaw moment; or A third steering direction of the rear wheels of the vehicle is determined according to the direction of the additional yaw moment, and the third steering direction is the same as the direction of the additional yaw moment.

4. The method according to claim 2, characterized in that: Determining the steering direction of the wheel of the vehicle according to the orientation of the faulty wheel includes: In the case that the vehicle has only one faulty wheel, determining a fourth steering direction of the rear wheels and a fifth steering direction of the front wheels of the vehicle according to the orientation of the faulty wheel, wherein the fourth steering direction is the same as the orientation of the faulty wheel, and the fifth steering direction is opposite to the orientation of the faulty wheel; or In the case that the vehicle has only one faulty wheel, a sixth steering direction of the rear wheels of the vehicle is determined according to the orientation of the faulty wheel, and the sixth steering direction is opposite to the orientation of the faulty wheel.

5. The method according to claim 2, characterized in that: The driving state information includes the vehicle speed, steering wheel angle, steering wheel speed, and actual yaw angular velocity of the vehicle, and determining the additional yaw moment according to the driving state information includes: determining a target yaw moment of the vehicle according to the vehicle speed, the steering wheel angle, and the steering wheel speed, wherein the target yaw moment is a yaw moment corresponding to the current driving state information of the vehicle when the lateral stability failure does not occur; Determining the required yaw moment according to a difference between an actual yaw moment corresponding to the actual yaw angular velocity and the target yaw moment; The additional yaw moment is determined according to a magnitude relationship between the required yaw moment and a preset yaw moment, wherein the preset yaw moment is a maximum yaw moment for the vehicle to maintain lateral stability.

6. The method according to claim 5, characterized in that The determining the additional yaw moment according to the magnitude relationship between the required yaw moment and the preset yaw moment includes: When the required yaw moment is greater than the preset yaw moment, determining the additional yaw moment to be the preset yaw moment; When the required yaw moment is less than or equal to the preset yaw moment, the additional yaw moment is determined to be the required yaw moment.

7. The method according to claim 1, characterized in that The step of controlling at least the rear wheels of the vehicle according to the driving state information comprises: According to the driving state information, steering control is performed on the wheels of the vehicle and differential braking control is performed on the wheels of the vehicle.

8. The method according to claim 7, characterized in that The differential braking control of the wheels of the vehicle comprises: determining a non-faulty wheel of the vehicle that does not suffer from the lateral stability fault; At least one of the non-faulty wheels is determined as a target wheel, and differential braking control is performed on the target wheel.

9. The method according to claim 8, characterized in that The step of determining at least one of the non-faulty wheels as a target wheel comprises: In the case that the lateral stability failure does not occur in any rear wheel of the vehicle, at least the rear wheel in the opposite direction to the faulty wheel among the non-faulty wheels is determined as the target wheel.

10. The method according to claim 8, characterized in that The step of determining at least one of the non-faulty wheels as a target wheel and performing differential braking control on the target wheel comprises: determining an additional yaw moment according to the driving state information, wherein the additional yaw moment is used to suppress a yaw moment of the vehicle caused by a wheel failure; The target wheels are differentially braked according to the additional yaw moment.

11. The method according to claim 10, characterized in that The step of controlling the steering of the wheels of the vehicle and performing differential braking control on the wheels of the vehicle according to the driving state information comprises: determining an additional yaw moment according to the driving state information, wherein the additional yaw moment is used to suppress a yaw moment of the vehicle caused by a wheel failure; Determining the wheel steering direction of the vehicle according to the direction of the additional yaw moment or the orientation of the faulty wheel, and determining a target wheel from the non-faulty wheels of the vehicle; determining a first yaw moment and a second yaw moment according to the additional yaw moment; determining a wheel steering angle of the vehicle according to the first yaw moment, and performing steering control on the vehicle according to the wheel steering angle and the wheel steering direction; Differential braking control is performed on target wheels of the vehicle according to the second yaw moment.

12. The method according to any one of claims 1 to 11, characterized in that The method further comprises: Obtaining driver intention information after a lateral stability failure occurs; When the direction of the yaw moment of the vehicle generated by the wheel failure is consistent with the direction of the steering wheel torque of the vehicle and / or the steering wheel angle is greater than or equal to the preset angle threshold, reducing the steering wheel assist in the direction of the steering wheel angle to inhibit the driver from subsequently controlling the steering of the vehicle, the driver intention information including the steering wheel torque; and / or, When the depth of the accelerator pedal of the vehicle exceeds the preset pedal depth threshold, the acceleration signal of the accelerator pedal is shielded to inhibit the driver's subsequent acceleration control of the vehicle, and the driver's intention information includes the depth of the accelerator pedal.

13. A controller, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the method according to any one of claims 1 to 12.

14. A vehicle, characterized in that: The vehicle is equipped with the controller as claimed in claim 13.

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