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

Abstract

The invention relates to the technical field of vehicle control, in particular to a vehicle control method, a controller, a vehicle, a storage medium and a program product, and flexible steering of the vehicle can be achieved. The vehicle control method can comprise the steps that intention information of a driver is obtained; according to the intention information of the driver, two rear wheels of the vehicle are controlled to be in a splayed shape; and according to the intention information of the driver, a target steering direction is determined, and according to the target steering direction, the driving force directions of the two rear wheels are controlled to be opposite so that the vehicle can steer.

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, a vehicle, a storage medium, and a program product. Background Art

[0002] When a vehicle is driving, it often encounters special road conditions such as narrow roads, obstacles, U-turns and dead ends. When ordinary vehicles are driving on special roads, the turning radius is large when the front wheels are turned, and the vehicle needs to be adjusted multiple times to complete the turning. The whole process takes a long time, and there is a great risk of collision between the vehicle and surrounding objects during the adjustment process. Summary of the invention

[0003] In order to solve the above technical problems, in a first aspect, the present disclosure provides a vehicle control method, the method comprising:

[0004] Obtain driver intention information;

[0005] According to the driver's intention information, the two rear wheels of the vehicle are controlled to be in a figure eight shape;

[0006] A target steering direction is determined according to the driver's intention information, and according to the target steering direction, the driving forces of the two rear wheels are controlled in opposite directions so as to make the vehicle turn.

[0007] Optionally, controlling the driving forces of the two rear wheels in opposite directions according to the target steering direction so as to make the vehicle turn includes:

[0008] When the target steering direction is clockwise, controlling the driving force of the outer rear wheel of the vehicle and the driving force of the inner rear wheel of the vehicle to form a clockwise torque, so that the vehicle turns clockwise;

[0009] When the target steering direction is counterclockwise steering, the driving force of the outer rear wheel of the vehicle and the driving force of the inner rear wheel of the vehicle are controlled to form a counterclockwise torque so that the vehicle is steered counterclockwise.

[0010] Optionally, controlling the driving force of the outer rear wheel of the vehicle and the driving force of the inner rear wheel of the vehicle to form a clockwise torque comprises:

[0011] The driving force direction of the steering outer rear wheel of the vehicle is controlled to be forward, and the driving force direction of the steering inner rear wheel of the vehicle is controlled to be backward.

[0012] Optionally, controlling the driving force of the outer rear wheel of the vehicle and the driving force of the inner rear wheel of the vehicle to form a counterclockwise torque comprises:

[0013] The driving force direction of the steering outer rear wheel of the vehicle is controlled to be backward, and the driving force direction of the steering inner rear wheel of the vehicle is controlled to be forward.

[0014] Optionally, the method further comprises:

[0015] When the vehicle turns while moving forward, controlling the front wheels of the vehicle to turn in the target turning direction;

[0016] When the vehicle turns in the process of moving backward, the front wheels of the vehicle are controlled to turn in the direction opposite to the target turning direction.

[0017] Optionally, controlling the two rear wheels of the vehicle to be in a figure eight shape according to the driver's intention information includes:

[0018] Determining, based on the driver's intention information, a first target turning angle of the vehicle's outer rear wheel and a second target turning angle of the vehicle's inner rear wheel;

[0019] When the target steering direction is clockwise, the outer steering rear wheel is controlled to rotate in a first direction by the first target steering angle, and the inner steering rear wheel is controlled to rotate in a second direction by the second target steering angle, so that the outer steering rear wheel and the inner steering rear wheel are relatively steered and form an inverted figure eight, the first direction is opposite to the target steering direction, and the second direction is the same as the target steering direction;

[0020] When the target steering direction is counterclockwise, the steering outer rear wheel is controlled to rotate the first target turning angle in a third direction, and the steering inner rear wheel is controlled to rotate the second target turning angle in a fourth direction, so that the steering outer rear wheel and the steering inner rear wheel turn relative to each other and form an inverted figure eight, the third direction is opposite to the target steering direction, and the fourth direction is the same as the target steering direction.

[0021] Optionally, determining a first target turning angle of the vehicle's outer rear wheel and a second target turning angle of the vehicle's inner rear wheel according to the driver's intention information comprises:

[0022] determining a target steering angle and a total torque of the vehicle according to the driver's intention information;

[0023] A first target turning angle of an outer rear wheel of the vehicle and a second target turning angle of an inner rear wheel of the vehicle are determined according to the target steering angle and the total torque.

[0024] Optionally, determining a first target steering angle of an outer rear wheel of the vehicle and a second target steering angle of an inner rear wheel of the vehicle respectively according to the target steering angle and the total torque comprises:

[0025] According to the target steering angle, the total torque and the group of motion equations of the vehicle, a first target steering angle of the outer steering rear wheel and a second target steering angle of the inner steering rear wheel are determined respectively.

[0026] Optionally, determining the first target steering angle of the outer rear wheel and the second target steering angle of the inner rear wheel respectively according to the target steering angle, the total torque and the group of motion equations of the vehicle comprises:

[0027] According to the target steering angle and the total torque, performing steering angle distribution and torque distribution on each wheel of the vehicle to obtain a distribution result;

[0028] The allocation result satisfying the motion equation group is taken as the target allocation result, and the first target turning angle of the outer rear wheel and the second target turning angle of the inner rear wheel are obtained according to the target allocation result.

[0029] Optionally, the vehicle's motion equations are constructed in the following manner:

[0030] Constructing a first motion equation according to the vehicle mass and the longitudinal acceleration of the vehicle in the vehicle forward direction;

[0031] constructing a second motion equation according to the vehicle mass and the lateral acceleration of the vehicle at the vehicle width;

[0032] Constructing a yaw motion equation according to the yaw moment of inertia and yaw angular velocity of the vehicle;

[0033] The first motion equation, the second motion equation and the yaw motion equation are used as a group of motion equations corresponding to the vehicle.

[0034] Optionally, each rear wheel of the vehicle is steered by an independent steering motor and driven by an independent drive motor.

[0035] In a second aspect, the present disclosure provides a controller, comprising:

[0036] a first memory having a computer program stored thereon;

[0037] The first processor is used to execute the computer program in the memory to implement the above-mentioned vehicle control method.

[0038] In a third aspect, the present disclosure provides a vehicle, comprising the controller described in the second aspect.

[0039] In a fourth aspect, the present disclosure provides a non-temporary computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned vehicle control method when executed by a processor.

[0040] In a fifth aspect, the present disclosure provides a computer program product, including computer program instructions, which will only implement the above-mentioned vehicle control method when executed by a processor.

[0041] Through the above technical solution, the two rear wheels of the vehicle are controlled to be in an eight-shaped shape according to the driver's intention information, the target turning direction is determined according to the driver's intention information, and the driving force directions of the two rear wheels are controlled in opposite directions according to the target turning direction, so that the vehicle turns. Because each rear wheel of the vehicle is controlled by an independent motor, the turning angle, turning angle direction, driving force and driving force of each rear wheel of the vehicle can be different. Therefore, by independently controlling the rear wheels to be in an eight-shaped shape and controlling the driving force directions of the two rear wheels in opposite directions according to the target turning direction, the vehicle can turn with a smaller turning radius and flexibly control the vehicle steering.

[0042] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] 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:

[0044] Figure 1 The present invention is a schematic diagram of the direction of wheel torque of an existing vehicle on-site steering control.

[0045] Figure 2a-2b The present invention is a schematic diagram of an existing vehicle on-site steering control.

[0046] Figure 3 A schematic diagram of an existing vehicle equipped with a four-motor drive system.

[0047] Figure 4a-4c The present invention is a schematic diagram of an on-the-spot steering control of a vehicle equipped with a four-motor drive system.

[0048] Figure 5 is a flowchart of a vehicle control method according to an exemplary embodiment of the present disclosure.

[0049] Figure 6a-6b is a schematic diagram showing a vehicle turning clockwise according to an exemplary embodiment of the present disclosure.

[0050] Figure 7a-Figure 7b The diagram is a schematic diagram showing a vehicle turning counterclockwise according to an exemplary embodiment of the present disclosure.

[0051] Figure 8 is a motion coordinate system shown according to an exemplary embodiment of the present disclosure.

[0052] Figure 9a-9b FIG. 4 is a schematic diagram of a vehicle turning center according to an exemplary embodiment of the present disclosure.

[0053] Fig.10 is a block diagram of a vehicle control device according to an exemplary embodiment of the present disclosure.

[0054] Fig.11 is a block diagram of a vehicle control system according to an exemplary embodiment of the present disclosure.

[0055] Fig.12 is a block diagram of a vehicle according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0056] 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.

[0057] As mentioned in the background art, when ordinary vehicles are driving on special road conditions, they need to adjust the vehicle several times to complete the turn, and the whole process takes a long time.

[0058] In the related art, Chinese patent application number "202310212938.9" discloses a vehicle in-situ steering control method. Figure 1 As shown, when the driving mode is a creeping mode, the vehicle speed is less than a preset speed, the steering angle is greater than a preset angle, and the duration reaches a preset time, it is turned on by pressing a button. After turning on, the controller responds to the vehicle's on-site steering function start signal to obtain the vehicle's driving mode, speed, steering angle and steering direction; when it is determined that the vehicle meets the on-site steering function start conditions based on the driving mode, speed and steering angle, the front wheel steering is consistent with the target steering direction, and the target wheel is determined based on the steering direction; when the front wheel turns left, the target wheel is the left rear wheel, and when the front wheel turns right, the target wheel is the right rear wheel. Apply braking force to the target wheel or lock the target wheel to form a differential torque at the rear wheel, so that the vehicle turns in place. However, the inventor found that this method fixes the target wheel as the steering center, resulting in limited steering flexibility and application scenarios of the vehicle.

[0059] The Chinese patent application number "201610799902.5" discloses a method for controlling in-situ steering. Figure 2a and Figure 2b As shown in the figure, when the in-situ turn signal is detected and the vehicle speed is zero, the position of the vehicle's accelerator pedal and the position of the brake pedal are zero respectively, and the vehicle's current gear is the parking gear, the front wheels are controlled to turn relative to each other at a preset angle, forming an inward-facing eight-shaped shape, increasing the torque generated by the front wheels; the electronic parking device locks the rear wheels on the same side of the target steering, and distributes the torque according to the preset program, so that the vehicle turns around the locked wheels. However, the inventor found that the steering center of this method is fixed, resulting in limited steering flexibility and application scenarios of the vehicle.

[0060] The Chinese patent application number "202210682319.1" discloses a vehicle steering system and a steering method, such as Figure 3 As shown, the steering system includes a front wheel steering device, a rear wheel steering device, a steering domain controller and a vehicle controller; the vehicle controller is used to output a zero-radius steering command or a four-wheel steering command to the steering domain controller, and the steering domain controller controls the two steering devices. Figure 4a , Figure 4b as well as Figure 4c As shown, the steering method includes that when a zero-radius steering instruction is output, the steering domain controller can control the two front wheel rotation transmission assemblies and the two rear wheel rotation transmission assemblies to output rotational motions of different directions, so that the four wheels are tangent to the same circle; when a four-wheel steering instruction is output, the steering domain controller can control the two front wheel rotation transmission assemblies and the two rear wheel rotation transmission assemblies to output rotational motions of the same direction. When moving at high speed, the direction in which the front wheel body is turned is the same as the direction in which the rear wheel body is turned; when moving at low speed, the direction in which the front wheel body is turned is different from the direction in which the rear wheel body is turned. However, the invention found that the system needs to be equipped with four-wheel independent steering and a four-motor drive system at the same time, and the entire structure is complex and the cost is high.

[0061] In view of this, the present disclosure provides a vehicle control method, a controller, a vehicle, a storage medium and a program product, which can control the vehicle to turn with a smaller turning radius, thereby flexibly controlling the vehicle steering.

[0062] Figure 5 FIG. 1 is a flow chart of a vehicle control method according to an exemplary embodiment of the present disclosure. Figure 5 As shown, the vehicle control method may include:

[0063] In step S51, driver intention information is acquired.

[0064] It is understandable that the driver's intention information may be information such as a steering wheel angle and an accelerator pedal depth. The steering direction, angle, and total torque that the vehicle needs to distribute to display the current road conditions may be determined based on the driver's intention information. The steering wheel angle may be determined by the steering wheel angle information detected by a steering wheel angle sensor on the vehicle, and the accelerator pedal depth may be determined by the accelerator pedal signal detected by an accelerator pedal sensor on the vehicle.

[0065] In step S52, according to the driver's intention information, the two rear wheels of the vehicle are controlled to form a figure eight shape.

[0066] It is worth noting that the two front wheels of the vehicle are coaxial and can be controlled by the same motor, so the steering, turning angle, driving force and driving force direction of the two front wheels of the vehicle are the same. However, each rear wheel of the vehicle is controlled by an independent motor, so the steering, turning angle, driving force and driving force size of each rear wheel of the vehicle can be the same as or different from other wheels. The steering and turning angle of each wheel of the vehicle can be controlled according to the driver's intention information so that the two rear wheels are in a figure eight shape.

[0067] In step S53, the target steering direction is determined according to the driver's intention information, and the driving forces of the two rear wheels are controlled to be opposite according to the target steering direction so that the vehicle can be turned.

[0068] It is worth noting that when the driver's intention information is the steering wheel angle, the steering direction of the vehicle in the road condition, that is, the target steering direction, can be determined according to the steering wheel angle. The driving forces of the two rear wheels on the vehicle are controlled in opposite directions according to the target steering direction, thereby reducing the steering angle of the vehicle during the steering process, so that the vehicle can turn around any point outside or inside the vehicle body at a smaller steering angle.

[0069] For example, when the vehicle turns, the front axle drive motor operates, and the driving force directions of the left front wheel and the right front wheel are consistent. The two rear wheel steering motors operate to independently control the steering of the two rear wheels so that the two rear wheels are in a figure eight shape; the two rear wheel drive motors operate to control the driving force directions of the two rear wheels in opposite directions according to the steering direction of the vehicle, so that the vehicle turns at a smaller steering angle.

[0070] It is worth noting that the two rear wheels of the vehicle are controlled to form an eight-shaped shape according to the driver's intention information, and the driving force directions of the two rear wheels are controlled in opposite directions according to the target steering direction, so that the vehicle can be controlled to turn around any point outside or inside the vehicle body. The whole process is a vehicle control process within a time period, and the turning angle, turning angle direction, driving force and driving force direction of each wheel when the vehicle safely drives through the current road conditions can be determined according to the driver's intention information. When controlling the vehicle to turn, the turning angle, turning angle direction, driving force and driving force direction of each wheel of the vehicle can also be continuously corrected according to the wheel working status information.

[0071] It is understandable that the wheel working state information may include information such as the current wheel speed and wheel angle of each wheel on the vehicle. The current wheel speed of each wheel can be detected by a wheel speed sensor on the vehicle, and the wheel angle of each wheel can be detected by a wheel angle sensor on the vehicle.

[0072] For example, when the vehicle needs to pass a U-turn, the target turning angle, target turning angle direction, target driving force and target driving force direction of each wheel of the vehicle when passing the U-turn are determined according to the driver's intention information, the wheel working status information of each wheel on the vehicle is obtained in real time, and the turning angle, turning angle direction, driving force and driving force direction of each wheel of the vehicle are corrected at preset time intervals to avoid the vehicle being unable to safely pass the current road when the road conditions change. On the basis of ensuring safe driving of the vehicle, the vehicle is controlled to turn around any point outside or inside the body.

[0073] In the disclosed embodiment, because each rear wheel of the vehicle is controlled by an independent motor, the steering and driving force direction of each rear wheel of the vehicle can be different. Therefore, the steering and turning angle of each wheel of the vehicle can be controlled according to the driver's intention information, so that the two rear wheels are in an eight-shaped shape, and the driving force directions of the two rear wheels on the vehicle are controlled in opposite directions according to the target steering direction of the vehicle, so that the vehicle can turn around any point outside or inside the vehicle body with a smaller turning radius, thereby flexibly controlling the steering of the vehicle. It can help the driver drive the vehicle safely and stably under road conditions such as narrow turns, obstacles, U-turns, parking in a warehouse, and driving into a dead end.

[0074] In order to facilitate those skilled in the art to better understand the vehicle control method provided by the present disclosure, the steps involved in the method are described in detail below.

[0075] In a possible implementation, each rear wheel of the vehicle is steered by an independent steering motor and driven by an independent driving motor.

[0076] It should be noted that each rear wheel of the vehicle in the present disclosure corresponds to an independent steering motor and an independent driving motor respectively, so that the steering, driving force and driving force direction between each rear wheel of the vehicle can be different. Therefore, by independently controlling the steering, driving force and driving force direction of each rear wheel on the vehicle, the vehicle can turn with a smaller turning radius.

[0077] In a feasible implementation manner, in step S52, according to the driver intention information, controlling the two rear wheels of the vehicle to be in a reverse-V shape may include:

[0078] Determining a first target angle of the outer steering rear wheel of the vehicle and a second target angle of the inner steering rear wheel of the vehicle according to the driver intention information;

[0079] When the target steering direction is clockwise, controlling the outer steering rear wheel to rotate a first target angle in a first direction, and controlling the inner steering rear wheel to rotate a second target angle in a second direction, so that the outer steering rear wheel and the inner steering rear wheel rotate relatively and are in a reverse-V shape, the first direction is opposite to the target steering direction, and the second direction is the same as the target steering direction;

[0080] When the target steering direction is counterclockwise, controlling the outer steering rear wheel to rotate a first target angle in a third direction, and controlling the inner steering rear wheel to rotate a second target angle in a fourth direction, so that the outer steering rear wheel and the inner steering rear wheel rotate relatively and are in a reverse-V shape, the third direction is opposite to the target steering direction, and the fourth direction is the same as the target steering direction.

[0081] It should be noted that the outer steering side and the inner steering side can be determined according to the target steering direction of the vehicle. The direction corresponding to the target steering direction on the vehicle is the inner steering side, then the rear wheel on the inner steering side of the vehicle is the inner steering rear wheel; the direction opposite to the target steering direction on the vehicle is the outer steering side, then the rear wheel on the outer steering side of the vehicle is the outer steering rear wheel. For example, when the target steering direction is clockwise, the outer steering rear wheel is the left rear wheel of the vehicle, and the inner steering rear wheel is the right rear wheel of the vehicle; when the target steering direction is counterclockwise, the outer steering rear wheel is the right rear wheel of the vehicle, and the inner steering rear wheel is the left rear wheel of the vehicle. Among them, the reverse-V shape can be understood as the distance between the two rear wheels near the rear of the vehicle being less than the distance between the two wheels near the front of the vehicle, that is, the two rear wheels are in a "丷" shape.

[0082] Exemplarily, according to the driver intention information, determining a first target angle a1 of the left rear wheel of the vehicle and a second target angle a2 of the right rear wheel of the vehicle, such as Figure 6a and Figure 6bAs shown, when the target steering direction is clockwise, control the left rear wheel of the vehicle to rotate counterclockwise (to the left of the vehicle) by an angle a1, and control the right rear wheel to rotate clockwise (to the right of the vehicle) by an angle a2, so that the left rear wheel and the right rear wheel of the vehicle rotate relative to each other and form a "丷" shape. As Figure 7a and Figure 7b shown, when the target steering direction is counterclockwise, control the right rear wheel of the vehicle to rotate clockwise (to the right of the vehicle) by an angle a2, and control the left rear wheel of the vehicle to rotate counterclockwise (to the left of the vehicle) by an angle a1.

[0083] In a feasible implementation manner, determining the first target angle of the outer rear wheel of the vehicle's steering and the second target angle of the inner rear wheel of the vehicle's steering according to the driver intention information may include:

[0084] Determine the target steering angle and total torque of the vehicle according to the driver intention information;

[0085] According to the target steering angle and total torque, respectively determine the first target angle of the outer rear wheel of the vehicle's steering and the second target angle of the inner rear wheel of the vehicle's steering.

[0086] It should be noted that the target angle of the vehicle may be the steering wheel angle when the vehicle steers, and the total torque may be the total torque that needs to be distributed to each wheel of the vehicle when the vehicle steers. For example, when the driver intention information includes the steering wheel angle and the throttle pedal depth, the steering wheel angle is used as the target angle of the vehicle, and the torque corresponding to the throttle pedal depth is used as the total torque of the vehicle.

[0087] It should be noted that according to the target angle and total torque, formulate a steering control strategy for the corresponding vehicle. The steering control strategy includes the torque magnitude and angle magnitude of each wheel when the vehicle steers. Because during the vehicle driving process, the steering wheel angle and throttle depth of the vehicle are constantly changing, and the wheel speeds and angles of each wheel also change accordingly; when the vehicle steers, the steering control strategy can be adjusted according to the wheel speeds and angles of each wheel, so that the steering control strategies for the corresponding vehicle under different road conditions are also different.

[0088] In a feasible implementation manner, determining the first target angle of the outer rear wheel of the vehicle's steering and the second target angle of the inner rear wheel of the vehicle's steering according to the target steering angle and total torque may include:

[0089] According to the target steering angle, total torque, and the vehicle's motion equations, respectively determine the first target angle of the outer rear wheel of the steering and the second target angle of the inner rear wheel of the steering.

[0090] It is worth noting that the vehicle's motion equation group may include the vehicle's motion equation along the vehicle's forward direction, the vehicle's motion equation control along the vehicle's width direction, and the vehicle's yaw motion equation. Among them, the vehicle's acceleration along the vehicle's forward direction can be controlled by the corresponding motion equation, the vehicle's acceleration along the vehicle's width direction can be controlled by the corresponding motion equation, and the vehicle's yaw angular velocity can be controlled by the yaw motion equation. Therefore, the present disclosure determines the turning angle of each wheel and distributes the driving force of each wheel according to the target steering angle and the total torque through the motion equation group consisting of the vehicle's motion equation along the vehicle's forward direction, the vehicle's motion equation along the vehicle's width direction, and the vehicle's yaw motion equation. That is, the acceleration and yaw angular velocity of the vehicle are controlled by the turning angle and driving force of each wheel, so as to flexibly control the vehicle steering and improve the maneuverability of the vehicle.

[0091] In a feasible implementation manner, determining the first target steering angle for the outer rear wheel and the second target steering angle for the inner rear wheel respectively according to the target steering angle, the total torque and the motion equations of the vehicle may include:

[0092] According to the target steering angle and the total torque, the steering angle and the torque are distributed to each wheel of the vehicle to obtain a distribution result;

[0093] The allocation result satisfying the motion equation group is taken as the target allocation result, and a first target turning angle for the outer rear wheel and a second target turning angle for the inner rear wheel are obtained according to the target allocation result.

[0094] It is worth noting that, according to the target steering angle and the total torque, the steering angle and the torque distribution can be performed on each wheel to obtain a distribution result. When the initial steering angle and the initial driving force of each wheel in the distribution result satisfy the motion equations, the steering angle of each wheel on the vehicle is determined to be the corresponding initial steering angle, and the driving force of each wheel on the vehicle is determined to be the corresponding initial driving force; when the initial steering angle and the initial driving force of each wheel on the vehicle do not satisfy the motion equations, the initial steering angle and the initial driving force of each wheel on the vehicle are redistributed according to the target steering angle and the total torque until the initial steering angle and the initial driving force of each wheel in the distribution result satisfy the motion equations.

[0095] It is worth noting that in the embodiment of the present disclosure, the turning angle and driving force of each wheel on the vehicle are determined by a group of motion equations, and the acceleration and yaw angular velocity of the vehicle are controlled by the turning angle and driving force of each wheel on the vehicle to achieve flexible steering of the vehicle.

[0096] In a feasible implementation, the vehicle's motion equations can be constructed in the following manner:

[0097] Constructing a first motion equation according to the vehicle mass and the longitudinal acceleration of the vehicle in the vehicle's forward direction;

[0098] Constructing a second motion equation based on the vehicle's mass and the vehicle's lateral acceleration across the vehicle's width;

[0099] According to the vehicle's yaw moment of inertia and yaw angular velocity, the yaw motion equation is constructed;

[0100] The first motion equation, the second motion equation and the yaw motion equation are used as a group of motion equations corresponding to the vehicle.

[0101] It is worth noting that a motion coordinate system parallel to the ground is established with the center of mass of the vehicle as the coordinate origin, the forward direction of the vehicle is the x-axis, and the width direction of the vehicle is the y-axis; according to the vehicle's total mass and the longitudinal acceleration of the vehicle on the x-axis, the first motion equation of the corresponding vehicle along the x-axis is constructed; according to the vehicle's total mass and the lateral acceleration of the vehicle on the y-axis, the second motion equation of the corresponding vehicle along the y-axis is constructed; according to the vehicle's total yaw moment of inertia and yaw angular velocity, the yaw motion equation of the corresponding vehicle is constructed; the first motion equation, the second motion equation and the yaw motion equation are used as the motion equation group of the corresponding vehicle.

[0102] For example, see Figure 8 , with the center of mass of the vehicle as the origin, a motion coordinate system parallel to the ground is established; x is the longitudinal direction of the vehicle, that is, the forward direction of the vehicle; y is the lateral direction of the vehicle, that is, the width direction of the vehicle. The angle between the wheel driving force and the x-axis is defined as the wheel turning angle. During the vehicle steering process, the driving forces of the left front wheel, right front wheel, left rear wheel and right rear wheel are F1, F2, F3, F4 respectively, and the turning angles are δ1, δ2, δ3, δ4 respectively; then the longitudinal force F along the x-axis of the vehicle is xi =F i cosδ i , the lateral force F of the vehicle along the y-axis yi =F i sinδ i , where i=1, 2, 3, 4.

[0103] It can be obtained that the motion equation of the vehicle along the x-axis can be:

[0104] ma x =F x1 +F x2 +F x3 -F x4 ;

[0105] The equation of motion of the vehicle along the y-axis can be:

[0106] ma y =F y3 +Fy4 -F y1 -F y2 ;

[0107] The vehicle's yaw motion equation can be expressed as:

[0108] I z ω=(F x1 -F x2 +F x3 +F x4 )B / 2+(F y1 +F y2 )L f +(F y3 +F y4 )L r ;

[0109] Among them, m represents the vehicle mass, a x Characterizes the vehicle longitudinal acceleration, F x1 Represents the longitudinal force of the left front wheel along the x-axis, F x2 Represents the longitudinal force of the right front wheel along the x-axis, F x3 Represents the longitudinal force of the left rear wheel along the x-axis, F x4 Represents the longitudinal force of the right rear wheel along the x-axis, a y Characterizes the vehicle's lateral acceleration, F y1 Represents the lateral force of the left front wheel along the y-axis, F y2 Represents the lateral force of the right front wheel along the y-axis, F y3 Represents the lateral force of the left rear wheel along the y-axis, F y4 Represents the lateral force of the right rear wheel along the y-axis, I z represents the vehicle's yaw moment of inertia, ω represents the yaw angular acceleration, B represents the wheelbase, L f Characterizes the distance from the front axle to the center of mass of the vehicle, L r Characterizes the distance from the vehicle's rear axle to its center of mass.

[0110] It is worth noting that, in the above-mentioned group of motion equations, except that the turning angle of the front wheels of the vehicle is the same as the steering wheel angle, other parameters can be set arbitrarily, and the set parameters are brought into the above-mentioned motion equations. By adjusting other parameters except the turning angle of the front wheels of the vehicle so that the set other parameters and the turning angle of the front wheels of the vehicle satisfy the above-mentioned group of motion equations, the vehicle acceleration and yaw angular velocity can be controlled, thereby flexibly controlling the vehicle steering.

[0111] In summary, compared to a vehicle in which four wheels are controlled by independent motors, in the embodiment of the present disclosure, there is no need to calculate the turning angle and torque of each vehicle in the distribution of the vehicle torque, and the calculation involves less data and is simpler.

[0112] In a feasible implementation manner, in step S53, according to the target steering direction, controlling the driving forces of the two rear wheels to be in opposite directions so as to make the vehicle turn, may include:

[0113] When the target steering direction is clockwise, the driving force of the outer rear wheel of the vehicle is controlled to form a clockwise torque with the driving force of the inner rear wheel of the vehicle, so that the vehicle is turned clockwise;

[0114] When the target steering direction is counterclockwise, the driving force of the vehicle's outer rear wheel and the driving force of the vehicle's inner rear wheel are controlled to form a counterclockwise torque to turn the vehicle counterclockwise.

[0115] It is worth noting that if Figure 6a and Figure 6b As shown in FIG. 1 , when the target steering direction is clockwise, the driving force of the left rear wheel of the vehicle is controlled to be opposite to the driving force of the right rear wheel of the vehicle, thereby forming a clockwise torque. Figure 7a and Figure 7b As shown, when the target steering direction is counterclockwise, the driving force of the right rear wheel of the vehicle is controlled to be opposite to the driving force of the left rear wheel of the vehicle, forming a counterclockwise torque.

[0116] It is worth noting that when the vehicle is turning forward, it can make a circular turning motion around any point outside the vehicle body. By changing the steering center, front wheel angle, rear wheel angle, front wheel driving force and rear wheel driving force, the vehicle can travel along different curved paths. Correspondingly, when the vehicle is turning backward, it can also make a circular turning motion around any point outside the vehicle body, which helps the driver to quickly complete operations such as parking in a garage.

[0117] It should be understood that the turning point when the vehicle turns can be any point inside the vehicle or any point outside the vehicle. When the turning point is inside the vehicle, the front wheel turning angle of the vehicle is larger, and the yaw direction changes, so that the steering angle when the vehicle turns around the turning point inside the vehicle body is smaller than the steering angle when the vehicle turns around the turning point outside the vehicle body. During normal driving, the vehicle is restricted by the direction of the lane and cannot directly control the steering of the vehicle according to the turning point inside the vehicle, which violates traffic regulations and is prone to safety accidents. For example, when the current road is a narrow straight road, if the vehicle turns around any point inside the vehicle body, the vehicle cannot go straight. Therefore, in the implementation mode of the present application, it is preferred that the turning point is outside the vehicle. However, in road conditions such as dead ends where it is impossible to drive forward, a turning point inside the vehicle body can be selected.

[0118] like Figure 9aAs shown, taking a four-wheel vehicle making a circular steering motion around an arbitrary point outside the vehicle body as an example, the target steering path of the vehicle can be a circle tangent to the inner front wheel on the steering side of the vehicle. During the circular steering motion of the vehicle, both front wheels of the vehicle turn to the right, the driving forces of both front wheels are forward, and the vehicle turns to the right; the two rear wheels of the vehicle are steered relatively to form a "丷" shape, the driving force of the left rear wheel is forward, and the driving force of the right rear wheel is backward. By controlling the rear wheel steering angle and the driving force magnitude, while the front wheels drive the vehicle to turn forward to the right, the rear axle of the vehicle rotates clockwise at a greater angular velocity; by controlling the steering angles and driving forces of the four wheels, the inner front wheel can always be tangent to the target circular path and complete the steering along the target circle. By the same control method, the vehicle can perform extreme steering around any point outside the vehicle body.

[0119] As Figure 9b shown, taking a four-wheel vehicle making a原地转向 (原地转向 is not a recognized English term, perhaps it should be "in-place steering") around the center of mass point inside the vehicle body as an example. The front wheels of the vehicle turn to the right, the driving force of the front wheels is forward, and the steering angle is large enough so that the driving force of the right front wheel of the vehicle moves from the right side of the center of mass to the left side of the center of mass, and the torque generated by the driving force of the right front wheel of the vehicle becomes clockwise; the left rear wheel of the vehicle turns to the left, the driving force of the left rear wheel is forward, the right rear wheel of the vehicle turns to the right, and the driving force of the right rear wheel is backward. At this time, the torque directions T fl 、T fr 、T rl and T rr are all clockwise, and the vehicle can perform extreme steering clockwise around the center of mass of the vehicle. When the front wheels turn to the left, in-place steering can be achieved in the same way, which will not be elaborated here.

[0120] In a feasible implementation manner, controlling the driving force of the outer rear wheel on the steering side of the vehicle and the driving force on the inner side of the vehicle steering to form a clockwise torque may include:

[0121] Controlling the driving force direction of the outer rear wheel on the steering side of the vehicle to be forward, and controlling the driving force direction on the inner side of the vehicle steering to be backward.

[0122] It is worth noting that, as Figure 6a and Figure 6b shown, controlling the driving force direction of the left rear wheel of the vehicle to be forward, and controlling the driving force direction of the right rear wheel of the vehicle to be backward, can make the driving forces of the left rear wheel and the right rear wheel form a clockwise torque, and this clockwise torque can make the vehicle perform clockwise steering.

[0123] In a feasible implementation manner, controlling the driving force of the outer rear wheel on the steering side of the vehicle and the driving force of the inner rear wheel on the vehicle steering to form a counterclockwise torque may include:

[0124] Control the driving force direction of the outer rear wheel of the vehicle to be backward, and control the driving force direction of the inner side of the vehicle's turn to be forward.

[0125] It should be noted that, as Figure 7a and Figure 7b shown, control the driving force direction of the left rear wheel of the vehicle to be backward, and control the driving force direction of the right rear wheel of the vehicle to be forward. However, the driving force of the left rear wheel and the driving force of the right rear wheel form a counterclockwise torque, and this counterclockwise torque can cause the vehicle to turn counterclockwise.

[0126] In a feasible implementation, the method may further include:

[0127] When the vehicle is turning during forward movement, control the front wheels of the vehicle to turn in the target turning direction;

[0128] When the vehicle is turning during reverse movement, control the front wheels of the vehicle to turn in the opposite direction of the target turning direction.

[0129] It should be understood that when the vehicle is turning during forward or reverse movement, the turning of the front wheels is consistent with the turning of the steering wheel, and the rear wheels turn relatively, forming a "丷" shape; when the vehicle is turning during forward movement, the driving force directions of the front wheels and the outer rear wheel of the turn are the same, and opposite to the driving force direction of the inner rear wheel of the turn; when the vehicle is turning during reverse movement, the driving force direction of the front wheels is opposite to that of the outer side of the turn, and the same as the driving force direction of the inner rear wheel of the turn.

[0130] Exemplarily, for the vehicle in four turning scenarios, the turning and driving force directions of each wheel are illustrated by examples:

[0131] Case 1, as Figure 6a shown, when the vehicle is turning clockwise during forward movement, the two front wheels of the vehicle turn to the right, and the driving force directions of the two front wheels are both forward. The left rear wheel of the vehicle turns to the left and the driving force direction of the left rear wheel is forward. The right rear wheel of the vehicle turns to the right and the driving force direction of the right rear wheel is backward. At this time, the vehicle is moving forward and turning to the right.

[0132] Case 2, as Figure 6b shown, when the vehicle is turning clockwise during reverse movement, the two front wheels of the vehicle turn to the left, and the driving force directions of the two front wheels are both backward. The left rear wheel of the vehicle turns to the left and the driving force direction of the left rear wheel is forward. The right rear wheel of the vehicle turns to the right and the driving force direction of the right rear wheel is backward.

[0133] Case 3, as Figure 7aAs shown, when the vehicle turns counterclockwise during its forward movement, the two front wheels of the vehicle turn left, and the driving force directions of the two front wheels are both forward, the left rear wheel of the vehicle turns left, and the driving force direction of the left rear wheel is backward, and the right rear wheel of the vehicle turns right, and the driving force direction of the right rear wheel is forward. At this time, the vehicle is moving backward and turning right.

[0134] Case 4: Figure 7b As shown, when the vehicle turns counterclockwise during the reverse process, the two front wheels of the vehicle turn right, and the driving force direction of the two front wheels is backward, the left rear wheel of the vehicle turns left and the driving force direction of the left rear wheel is backward, and the right rear wheel of the vehicle turns right and the driving force direction of the right rear wheel is forward. At this time, the vehicle is moving backward and turning left.

[0135] Based on the same inventive concept, Fig.10 As shown, the present disclosure provides a controller, comprising:

[0136] a first memory having a computer program stored thereon;

[0137] The first processor is used to execute the computer program in the memory to implement the above-mentioned vehicle control method.

[0138] In the disclosed embodiment, because each rear wheel of the vehicle is controlled by an independent motor, the steering and driving force direction of each rear wheel of the vehicle can be different. Therefore, the steering and turning angle of each wheel of the vehicle can be controlled according to the driver's intention information, so that the two rear wheels are in an eight-shaped shape, and the driving force directions of the two rear wheels on the vehicle are controlled in opposite directions according to the target steering direction of the vehicle, so that the vehicle can turn around any point outside or inside the vehicle body with a smaller turning radius, thereby flexibly controlling the steering of the vehicle. It can help the driver drive the vehicle safely and stably under road conditions such as narrow turns, obstacles, U-turns, parking in a warehouse, and driving into a dead end.

[0139] Based on the same inventive concept, the present disclosure also provides a vehicle control system, which may include a perception module, a control module and an execution module.

[0140] like Fig.11 As shown, the perception module may include a steering wheel angle sensor, an accelerator pedal sensor, four wheel speed sensors, and four wheel angle sensors. The control module may include a vehicle controller, a front axle steering motor controller, a front axle drive motor controller, two rear wheel steering motor controllers, and two rear wheel drive motor controllers. The execution module may include a front axle steering motor, a front axle drive motor, two rear wheel steering motors, and two rear wheel drive motors.

[0141] Among them, the steering wheel angle sensor and the accelerator pedal sensor are used to sense the driver's intention and send it to the vehicle controller. The vehicle controller knows the driver's target steering direction and the total torque to be distributed based on the received steering wheel angle signal and accelerator pedal signal. The wheel speed sensor and wheel angle sensor are used to sense the working state of the wheel and transmit signals to the vehicle controller to form a feedback structure. The vehicle controller can adjust the steering control strategy in real time according to the working state of the wheel, that is, determine and adjust the steering, angle, driving force and driving force direction of each wheel of the vehicle.

[0142] The vehicle controller formulates a steering control strategy based on the information transmitted by the perception module, and sends instructions to each steering motor controller and drive motor controller. After receiving the instruction, the front axle steering motor controller controls the operation of the front axle steering motor, drives the front wheels to steer, and the steering of the two front wheels is consistent; the front axle drive motor controller controls the operation of the front axle drive motor, drives the front wheels forward or backward, and the driving force of the two front wheels is consistent. The two rear wheel steering motor controllers control the operation of the rear wheel steering motors respectively, and independently control the two rear wheels to form an eight-shaped shape; the two rear wheel drive motor controllers control the operation of the rear wheel drive motors, and independently control the driving force of the two rear wheels to be in opposite directions.

[0143] In the disclosed embodiment, because each rear wheel of the vehicle is controlled by an independent motor, the steering and driving force direction of each rear wheel of the vehicle can be different. Therefore, the steering and turning angle of each wheel of the vehicle can be controlled according to the driver's intention information, so that the two rear wheels are in an eight-shaped shape, and the driving force directions of the two rear wheels on the vehicle are controlled to be opposite according to the target steering direction of the vehicle, and the steering, turning angle, driving force direction and driving force of each wheel are adjusted during the vehicle steering process according to the wheel working state information, so that the vehicle can turn around any point outside or inside the vehicle body with a smaller turning radius, thereby flexibly controlling the steering of the vehicle. It can help the driver drive the vehicle safely and stably under road conditions such as narrow turns, obstacles, U-turns, parking in a warehouse, and driving into a dead end.

[0144] Based on the same inventive concept, the present disclosure provides a vehicle, which includes the above-mentioned controller.

[0145] In the disclosed embodiment, because each rear wheel of the vehicle is controlled by an independent motor, the steering and driving force direction of each rear wheel of the vehicle can be different. Therefore, the steering and turning angle of each wheel of the vehicle can be controlled according to the driver's intention information, so that the two rear wheels are in an eight-shaped shape, and the driving force directions of the two rear wheels on the vehicle are controlled in opposite directions according to the target steering direction of the vehicle, so that the vehicle can turn around any point outside or inside the vehicle body with a smaller turning radius, thereby flexibly controlling the steering of the vehicle. It can help the driver drive the vehicle safely and stably under road conditions such as narrow turns, obstacles, U-turns, parking in a warehouse, and driving into a dead end.

[0146] Fig.12 1 is a block diagram of a vehicle 1100 according to an exemplary embodiment. For example, the vehicle 1100 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 1100 may be an autonomous vehicle or a semi-autonomous vehicle.

[0147] Reference Fig.12 , the vehicle 1100 may include various subsystems, such as an infotainment system 1110, a perception system 1120, a decision control system 1130, a drive system 1140, and a computing platform 1150. The vehicle 1100 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 1100 may be interconnected by wire or wireless means.

[0148] In some embodiments, the infotainment system 1110 may include a communication system, an entertainment system, and a navigation system, etc.

[0149] The perception system 1120 may include several sensors for sensing information about the environment around the vehicle 1100. For example, the perception system 1120 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0150] The decision control system 1130 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0151] The drive system 1140 may include components that provide powered motion for the vehicle 1100. In one embodiment, the drive system 1140 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0152] Some or all functions of the vehicle 1100 are controlled by a computing platform 1150. The computing platform 1150 may include at least one second processor 1151 and a second memory 1152, and the second processor 1151 may execute instructions 1153 stored in the second memory 1152.

[0153] The second processor 1151 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0154] The second memory 1152 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0155] In addition to the instructions 1153 , the second memory 1152 may also store data, such as road maps, route information, and data such as the location, direction, and speed of the vehicle. The data stored in the second memory 1152 may be used by the computing platform 1150 .

[0156] In the embodiment of the present disclosure, the second processor 1151 may execute the instruction 1153 to complete all or part of the steps of the above-mentioned parking trajectory planning method.

[0157] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned vehicle communication method are implemented. For example, the computer-readable storage medium can be the above-mentioned second memory 1152 including program instructions, and the above-mentioned program instructions can be executed by the second processor 1151 of the vehicle 1100 to complete the above-mentioned vehicle communication method. In another exemplary embodiment, a computer program product is also provided, which includes a computer program that can be executed by a programmable device, and the computer program has a code portion for executing the above-mentioned autonomous driving method when executed by the programmable device.

[0158] 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.

[0159] 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.

[0160] 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: The method comprises: Obtain driver intention information; According to the driver's intention information, the two rear wheels of the vehicle are controlled to be in a figure eight shape; A target steering direction is determined according to the driver's intention information, and according to the target steering direction, the driving forces of the two rear wheels are controlled in opposite directions so as to make the vehicle turn.

2. The method according to claim 1, characterized in that The method of controlling the driving forces of the two rear wheels in opposite directions according to the target steering direction so as to make the vehicle turn comprises: When the target steering direction is clockwise, controlling the driving force of the outer rear wheel of the vehicle and the driving force of the inner rear wheel of the vehicle to form a clockwise torque, so that the vehicle turns clockwise; When the target steering direction is counterclockwise steering, the driving force of the outer rear wheel of the vehicle and the driving force of the inner rear wheel of the vehicle are controlled to form a counterclockwise torque so that the vehicle is steered counterclockwise.

3. The method according to claim 2, characterized in that The controlling the driving force of the outer rear wheel of the vehicle and the driving force of the inner rear wheel of the vehicle to form a clockwise torque comprises: The driving force direction of the steering outer rear wheel of the vehicle is controlled to be forward, and the driving force direction of the steering inner rear wheel of the vehicle is controlled to be backward.

4. The method according to claim 2, characterized in that: The controlling the driving force of the outer rear wheel of the vehicle and the driving force of the inner rear wheel of the vehicle to form a counterclockwise torque includes: The driving force direction of the steering outer rear wheel of the vehicle is controlled to be backward, and the driving force direction of the steering inner rear wheel of the vehicle is controlled to be forward.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: When the vehicle turns while moving forward, controlling the front wheels of the vehicle to turn in the target turning direction; When the vehicle turns in the process of moving backward, the front wheels of the vehicle are controlled to turn in the direction opposite to the target turning direction.

6. The method according to any one of claims 1 to 4, characterized in that: According to the driver's intention information, controlling the two rear wheels of the vehicle to form a figure eight shape includes: Determining, based on the driver's intention information, a first target turning angle of the vehicle's outer rear wheel and a second target turning angle of the vehicle's inner rear wheel; When the target steering direction is clockwise, the outer steering rear wheel is controlled to rotate in a first direction by the first target steering angle, and the inner steering rear wheel is controlled to rotate in a second direction by the second target steering angle, so that the outer steering rear wheel and the inner steering rear wheel are relatively steered and form an inverted figure eight, the first direction is opposite to the target steering direction, and the second direction is the same as the target steering direction; When the target steering direction is counterclockwise, the steering outer rear wheel is controlled to rotate the first target turning angle in a third direction, and the steering inner rear wheel is controlled to rotate the second target turning angle in a fourth direction, so that the steering outer rear wheel and the steering inner rear wheel turn relative to each other and form an inverted figure eight, the third direction is opposite to the target steering direction, and the fourth direction is the same as the target steering direction.

7. The method according to claim 6, characterized in that The determining, according to the driver intention information, a first target turning angle of the vehicle's outer rear wheel and a second target turning angle of the vehicle's inner rear wheel comprises: determining a target steering angle and a total torque of the vehicle according to the driver's intention information; A first target turning angle of an outer rear wheel of the vehicle and a second target turning angle of an inner rear wheel of the vehicle are determined according to the target steering angle and the total torque.

8. The method according to claim 7, characterized in that The step of respectively determining a first target steering angle of a steering outer rear wheel of the vehicle and a second target steering angle of a steering inner rear wheel of the vehicle according to the target steering angle and the total torque comprises: According to the target steering angle, the total torque and the group of motion equations of the vehicle, a first target steering angle of the outer steering rear wheel and a second target steering angle of the inner steering rear wheel are respectively determined.

9. The method according to claim 8, characterized in that The method of determining the first target steering angle of the outer rear wheel and the second target steering angle of the inner rear wheel according to the target steering angle, the total torque and the group of motion equations of the vehicle comprises: According to the target steering angle and the total torque, performing steering angle distribution and torque distribution on each wheel of the vehicle to obtain a distribution result; The allocation result satisfying the motion equation group is taken as the target allocation result, and the first target turning angle of the outer rear wheel and the second target turning angle of the inner rear wheel are obtained according to the target allocation result.

10. The method according to claim 8, characterized in that The equations of motion for the vehicle are constructed in the following way: Constructing a first motion equation according to the vehicle mass and the longitudinal acceleration of the vehicle in the vehicle forward direction; constructing a second motion equation according to the vehicle mass and the lateral acceleration of the vehicle at the vehicle width; Constructing a yaw motion equation according to the yaw moment of inertia and yaw angular velocity of the vehicle; The first motion equation, the second motion equation and the yaw motion equation are used as a group of motion equations corresponding to the vehicle.

11. The vehicle control method according to any one of claims 1 to 4, characterized in that: Each rear wheel of the vehicle is steered by an independent steering motor and driven by an independent driving motor.

12. A controller, characterized in that: include: a first memory having a computer program stored thereon; A first processor is used to execute the computer program in the memory to implement the method according to any one of claims 1 to 11.

13. A vehicle, characterized in that: The vehicle includes the controller of claim 12.

14. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method described in any one of claims 1 to 11 is implemented.

15. A computer program product comprising computer program instructions, characterized in that The computer program will only implement the method according to any one of claims 1 to 11 when executed by a processor.

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