Vehicle transverse movement control method and device and related equipment

Abstract

The embodiment of the invention discloses a vehicle transverse movement control method and device and related equipment. The method comprises the steps that driving information of a vehicle and target transverse movement information of the vehicle are obtained; and controlling wheels and suspensions of the vehicle according to the driving information and the target lateral movement information to control lateral movement of the vehicle. By adjusting the suspension of the vehicle, the resistance of wheels to the transverse movement of the vehicle can be reduced, and the transverse movement efficiency of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle lateral movement control, and in particular to a vehicle lateral movement control method, device and related equipment. Background Art

[0002] With the development of automobile technology, wheel steering technology and active suspension technology have been applied in mass-produced models. At present, all technologies related to vehicle lateral movement can be mainly divided into two categories: 1) Crab-shaped movement based on wheel steering system, but the lateral movement performance is restricted by the wheel steering system, which affects the efficiency and effect of vehicle lateral movement; 2) Vehicle lateral movement based on Mecanum wheel or similar wheel structure, but this solution is difficult to apply in mass-produced models. Therefore, it is very important to control the lateral movement of the vehicle more efficiently. Summary of the invention

[0003] The embodiments of the present application provide a vehicle lateral movement control method, device and related equipment, which can reduce the resistance of the wheels to the lateral movement of the vehicle and improve the efficiency of the lateral movement of the vehicle by adjusting the vehicle's suspension.

[0004] In a first aspect, an embodiment of the present application provides a vehicle lateral movement control method, the method comprising:

[0005] Obtain vehicle driving information;

[0006] Obtaining target lateral movement information of the vehicle;

[0007] The wheels and suspension of the vehicle are controlled according to the driving information and the target lateral movement information to control the lateral movement of the vehicle.

[0008] In a second aspect, an embodiment of the present application provides a vehicle lateral movement control device, the device comprising:

[0009] An acquisition unit, used to acquire the driving information of the vehicle; and to acquire the target lateral movement information of the vehicle;

[0010] A control unit is used to control the wheels and suspension of the vehicle according to the driving information and the target lateral movement information to control the lateral movement of the vehicle.

[0011] In a third aspect, an embodiment of the present application provides a computing device, comprising: a processor and a memory, wherein the processor is used to execute the method described in the first aspect above.

[0012] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising an active suspension system and a vehicle lateral movement control device, wherein the vehicle lateral movement control device is used to execute the method described in the first aspect above to control the lateral movement of the vehicle.

[0013] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which program instructions are stored, and when the program instructions are executed, the method described in the first aspect above is implemented.

[0014] In a sixth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes program instructions, and when the program instructions are executed by a processor, the method described in the first aspect is implemented.

[0015] The embodiment of the present application can obtain the driving information of the vehicle and the target lateral movement information of the vehicle; the wheels and suspension of the vehicle are controlled according to the driving information and the target lateral movement information to control the lateral movement of the vehicle. By adjusting the suspension of the vehicle, the resistance of the wheels to the lateral movement of the vehicle can be reduced, thereby improving the efficiency of the lateral movement of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 is a structural schematic diagram of a vehicle lateral movement control system provided in an embodiment of the present application;

[0018] Figure 2 It is a flow chart of a vehicle lateral movement control method provided in an embodiment of the present application;

[0019] Figure 3 is a flow chart of another vehicle lateral movement control method provided in an embodiment of the present application;

[0020] Figure 4 is a schematic diagram of a load on a vehicle wheel provided in an embodiment of the present application;

[0021] Figure 5 is a schematic diagram of lateral movement of a vehicle provided in an embodiment of the present application;

[0022] Figure 6 It is a schematic diagram of force analysis of a wheel of a vehicle moving laterally provided in an embodiment of the present application;

[0023] Figure 7 is a schematic diagram of another lateral movement of a vehicle provided in an embodiment of the present application;

[0024] Figure 8 is a schematic diagram of a lateral movement distance of a vehicle provided in an embodiment of the present application;

[0025] Fig. 9 is a structural schematic diagram of a vehicle lateral movement control device provided in an embodiment of the present application;

[0026] Fig.10 It is a structural diagram of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0029] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0030] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0031] In a specific implementation, the computing device described in the embodiments of the present application includes, but is not limited to, other portable devices such as mobile phones, laptop computers, or tablet computers with a touch surface (e.g., a touch screen display and / or a touch pad). It should also be understood that in some embodiments, the device is not a portable communication device, but a desktop computer with a touch surface (e.g., a touch screen display and / or a touch pad).

[0032] The embodiments of the present application provide a vehicle lateral movement control method, device and related equipment. The vehicle lateral movement control method can be applied to a vehicle lateral movement control device. The vehicle lateral movement control device can be set in a vehicle controller, and the vehicle controller can be set in a computing device of the vehicle. In some embodiments, the computing device may include but is not limited to a terminal device, a server, etc. that is connected to the vehicle for communication. The computing device may be a device set on the vehicle. The computing device may be independent of the vehicle or a component of the vehicle. In some embodiments, the vehicle includes an active suspension system and a wheel steering system, wherein the wheel steering system may include but is not limited to a front-wheel steering system or a four-wheel steering system. The active suspension system and the wheel steering system are used to adjust the suspension of the vehicle through the vehicle controller to adjust the vertical force distribution of the wheel, and control the rotation of the vehicle's wheels to achieve lateral movement of the vehicle.

[0033] In the process of controlling the lateral movement of the vehicle, the pressure of the vehicle suspension or the volume of the filler can be adjusted by the vehicle controller to adjust the vertical force distribution of the vehicle, so as to adjust the height of the vehicle wheels, so as to reduce the resistance of the non-driven wheels to the vehicle during the lateral movement of the vehicle, improve the efficiency of the lateral movement of the vehicle, and reduce the wheel wear problem caused by excessive lateral force. A vehicle lateral movement control method provided in an embodiment of the present application can be applied to scenarios involving lateral movement of vehicles, such as parking, bypassing obstacles, and other application scenarios.

[0034] See also Figure 1 , Figure 1 1 is a schematic diagram of the structure of a vehicle lateral movement control system provided in an embodiment of the present application, and the vehicle lateral movement control system includes a signal acquisition module 11, a vehicle controller 12 and an execution module 13. The signal acquisition module 11 is communicatively connected to the vehicle controller 12, and the vehicle controller 12 is communicatively connected to the execution module 13. Among them, the signal acquisition module 11 includes a terminal device 111, a vehicle speed sensor 112, a ranging radar 113 and a steering wheel sensor 114, and the execution module 13 includes a terminal device 131, a steering motor 132, a drive motor 133, an active suspension 134 and a steering wheel 135, etc. In some embodiments, the terminal device 111 or the terminal device 131 may include but is not limited to devices such as a pad, and the terminal device may be a device independently arranged on the vehicle and communicatively connected to the vehicle, or may be a component on the vehicle.

[0035] Among them, the terminal device 111 is used to send a lateral movement start instruction to the vehicle controller 12, the vehicle speed sensor 112 is used to send a vehicle speed signal (i.e., vehicle speed sensor information) to the vehicle controller 12, the ranging radar 113 is used to send a radar ranging signal (i.e., radar ranging information) to the vehicle controller 12, and the steering wheel sensor 114 includes a steering wheel angle sensor 1141 and a steering wheel torque sensor 1142. The steering wheel angle sensor 1141 is used to send a steering wheel angle signal (i.e., steering wheel angle information) to the vehicle controller 12, and the steering wheel torque sensor 1142 is used to send a steering wheel torque signal (i.e., steering wheel torque information) to the vehicle controller 12. The vehicle controller 12 is used to determine a lateral movement control signal according to the signal collected from the signal acquisition module 11, and send the lateral movement control signal to the execution module 13, so that each execution device in the control execution module 13 responds to the lateral movement control signal from the vehicle controller 12 to achieve lateral movement of the vehicle. In some embodiments, the ranging radar 113 can also detect the distance between obstacles around the vehicle and the vehicle, and send obstacle distance information in front of and behind the vehicle to the vehicle controller 12.

[0036] The embodiment of the present application can obtain the target lateral movement information of the vehicle and the driving information of the vehicle through a vehicle controller; and control the wheels and suspension of the vehicle according to the driving information and the target lateral movement information to control the lateral movement of the vehicle.

[0037] Since the lateral force of the wheel is positively correlated with the vertical force in the linear range when the wheel is only slipping laterally, when the wheel slip angle is the same, the greater the vertical force of the wheel, the greater the lateral force, and the lateral force of the non-driven wheel can be equivalent to the resistance of the vehicle during lateral movement. Therefore, the embodiment of the present application can directly reduce the resistance of the non-driven wheel to the vehicle by adjusting the suspension of the vehicle during lateral movement of the vehicle to reduce the vertical force of the non-driven diagonal wheel, improve the efficiency of lateral movement of the vehicle, and reduce the wheel wear problem caused by excessive lateral force.

[0038] See also Figure 2 , Figure 2 is a flow chart of a vehicle lateral movement control method provided in an embodiment of the present application, such as Figure 2 The vehicle lateral movement control method in the embodiment shown can be applied to a vehicle lateral movement control device, which is arranged in a vehicle controller of a computing device. The method may at least include the following steps.

[0039] S201: Acquire vehicle driving information.

[0040] In the embodiment of the present application, the computing device can obtain the driving information of the vehicle. In some embodiments, the driving information may include but is not limited to vehicle speed information, steering wheel angle information, steering wheel torque information, ranging radar information, etc. Among them, the vehicle speed information can be obtained through a vehicle speed sensor, the steering wheel angle information can be obtained through a steering wheel angle sensor in a steering wheel sensor, the steering wheel torque information can be obtained through a steering wheel torque sensor in a steering wheel sensor, and the ranging radar information can be obtained through a radar, an odometer, etc.

[0041] When acquiring the driving information of the vehicle, the computing device may acquire the steering wheel rotation information of the vehicle, where the steering wheel rotation information includes steering wheel angle information and steering wheel torque information.

[0042] S202: Acquire target lateral movement information of the vehicle.

[0043] In an embodiment of the present application, the computing device may obtain target lateral movement information of the vehicle.

[0044] In one embodiment, the computing device may trigger the acquisition of the target lateral movement information of the vehicle and the driving information of the vehicle upon obtaining a lateral movement start instruction input by the driver through the terminal device.

[0045] In some embodiments, after the computing device obtains the lateral movement start instruction input by the driver through the terminal device, before triggering the acquisition of the target lateral movement information of the vehicle and the driving information of the vehicle, it can detect whether each sensor of the vehicle is abnormal, and when it is detected that each sensor of the vehicle is normal, it determines to execute the step of triggering the acquisition of the target lateral movement information of the vehicle and the driving information of the vehicle. By performing abnormality detection on each sensor, it can effectively avoid the problem of inaccurate lateral movement results and even affecting vehicle safety when executing this solution to control the lateral movement of the vehicle when each sensor is abnormal.

[0046] In one embodiment, when acquiring the target lateral movement information of the vehicle, the computing device can acquire the first steering wheel angle of the vehicle's steering wheel after it is returned to the center position based on the steering wheel angle sensor information, and acquire the first steering wheel torque of the vehicle's steering wheel after it is returned to the center position based on the steering wheel torque sensor information; thereby determining the first steering wheel angle and the first steering wheel torque as the target steering wheel angle and the target steering wheel torque in the target lateral movement information of the vehicle.

[0047] The computing device can obtain the vehicle's steering wheel angle sensor information and steering wheel torque sensor information in real time through the vehicle controller. Based on the real-time obtained steering wheel angle sensor information and steering wheel torque sensor information, it can be determined whether the vehicle's steering wheel has returned to the center. When determining that the steering wheel has returned to the center, the steering wheel angle sensor information and steering wheel torque sensor information obtained after the steering wheel has returned to the center can be determined as the vehicle's target lateral movement information.

[0048] If the target lateral movement information of the vehicle is determined directly based on the steering wheel angle sensor information and steering wheel torque sensor information obtained when the lateral movement start instruction sent by the driver through the terminal device is obtained, the lateral movement direction of the vehicle may be wrong due to the steering wheel steering not being changed in time. Therefore, the present application determines the steering wheel angle sensor information and steering wheel torque sensor information of the vehicle after the steering wheel is returned to the correct position based on the steering wheel angle sensor information and steering wheel torque sensor information obtained in real time as the target lateral movement information of the vehicle, which can reduce the possibility of errors in the lateral movement direction, angle, etc. of the vehicle, and help improve the accuracy of the lateral movement of the vehicle.

[0049] In other embodiments, the computing device may also trigger the acquisition of the target lateral movement information of the vehicle according to other triggering methods. The embodiment of the present application does not specifically limit the method of triggering the acquisition of the target lateral movement information of the vehicle.

[0050] In one embodiment, the computing device can directly obtain the target lateral movement information carried in the lateral movement start instruction input by the driver through the terminal device, and trigger the acquisition of the vehicle's driving information. When obtaining the vehicle's target lateral movement information, the computing device can obtain the vehicle's target lateral movement direction and target lateral movement distance sent by the terminal device; determine the second steering wheel torque and the second steering wheel angle of the vehicle's steering wheel based on the vehicle's driving information, the target lateral movement direction and the target lateral movement distance, and determine the second steering wheel torque and the second steering wheel angle as the target steering wheel angle and the target steering wheel torque in the vehicle's target lateral movement information.

[0051] Optionally, when the computing device determines the second steering wheel torque and the second steering wheel angle of the steering wheel of the vehicle based on the target lateral movement direction and the target lateral movement distance of the vehicle, it can calculate the second steering wheel torque and the second steering wheel angle of the steering wheel of the vehicle according to the target lateral movement direction and the target lateral movement distance of the vehicle according to a preset calculation formula. The preset calculation formula is not specifically limited here.

[0052] By this method of the user inputting the target lateral movement information of the vehicle's lateral movement from the terminal device, when the triggering and determining of the target lateral movement information by using the above-mentioned steering wheel angle sensor information and steering wheel torque sensor information fails, the terminal device can be used to directly input the user's target lateral movement information of the vehicle's lateral movement, thereby further improving the effectiveness of the vehicle's lateral movement.

[0053] S203: Controlling the wheels and suspension of the vehicle according to the driving information and the target lateral movement information to control the lateral movement of the vehicle.

[0054] In the embodiment of the present application, the computing device can control the wheels and suspension of the vehicle according to the driving information and the target lateral movement information to control the lateral movement of the vehicle. The lateral movement of the vehicle refers to the movement of the vehicle in the vertical direction of the vehicle body, that is, moving to both sides of the vehicle body.

[0055] In one embodiment, before the computing device controls the wheels and suspension of the vehicle according to the driving information and the target lateral movement information, it can control the direction of rotation of the steering wheel according to the target steering wheel torque; when it is detected that the rotation angle of the steering wheel in the rotation direction is consistent with a preset angle threshold, the step of controlling the wheels and suspension of the vehicle according to the driving information and the target lateral movement information is executed.

[0056] In some embodiments, the preset angle threshold is a preset smaller angle value. If the vehicle suspension is adjusted directly when the target lateral movement information is determined and the steering wheel has not been turned, the steering wheel may not turn after the suspension is adjusted due to a steering wheel or vehicle failure, resulting in the problem that the lateral movement of the vehicle cannot be achieved. Therefore, the embodiment of the present application can reduce the situation where the vehicle cannot achieve lateral movement by triggering the adjustment of the vehicle suspension after detecting that the steering wheel rotates by a preset angle threshold in a determined rotation direction, which helps to improve the reliability of the lateral movement of the vehicle.

[0057] In one embodiment, the driving information includes ranging radar information; when the computing device controls the wheels and suspension of the vehicle according to the driving information and the target lateral movement information, it can determine the adjustment wheels and rotating wheels of the vehicle according to the target steering wheel torque and ranging radar information in the lateral movement information; and adjust the suspension of the vehicle to adjust the vertical force of the wheel through the suspension; and control the rotation of the rotating wheel according to the target steering wheel angle and target steering wheel torque in the lateral movement information. The adjustment wheels of the vehicle are any two diagonal wheels of the vehicle, such as the left front wheel and the right rear wheel as a diagonal wheel, and the right front wheel and the left rear wheel as a diagonal wheel.

[0058] In one embodiment, the ranging radar information can be obtained by a ranging radar, which can be set at the front and / or rear of the vehicle to detect whether there are obstacles in the front direction and / or rear direction of the vehicle, and to obtain the distance between the obstacle and the vehicle body, such as the distance between the obstacle in the front direction and the front edge of the vehicle or the distance between the obstacle in the rear direction and the rear edge of the vehicle. In other embodiments, the ranging radar can also be set on the left side and / or right side of the vehicle body to detect whether there are obstacles on the left and right sides of the vehicle body, and to obtain the distance between the obstacle and the vehicle body on both sides.

[0059] When the computing device determines that there is an obstacle on the side of the vehicle body corresponding to the direction of the vehicle's lateral movement according to the target steering wheel torque and the ranging radar information in the target lateral movement information, the computing device can obtain the distance between the obstacle and the side of the vehicle body. If the distance is less than or equal to the target lateral movement distance of the vehicle, it is determined that the lateral movement of the vehicle is not to be performed. In this way, the possibility of the vehicle colliding with the obstacle during lateral movement can be reduced, thereby improving the safety of the vehicle.

[0060] The following describes a scenario where there are obstacles in the front direction and / or rear direction of the vehicle, assuming that there are no obstacles on both sides of the vehicle body or the distance between the obstacle in the direction of the vehicle's lateral movement and the vehicle body is greater than the target lateral movement distance of the vehicle.

[0061] In one embodiment, when the computing device determines the adjustment wheels and rotating wheels of the vehicle based on the target steering wheel torque and ranging radar information in the target lateral movement information, if an obstacle is detected in the front direction and / or the rear direction of the vehicle based on the ranging radar information, the computing device obtains a first distance between the obstacle in the front direction and the vehicle and / or a second distance between the obstacle in the rear direction and the vehicle based on the ranging radar information; the adjustment wheels and rotating wheels of the vehicle are determined based on the target steering wheel torque and according to the first distance and / or the second distance.

[0062] In one embodiment, if the computing device detects that there is an obstacle in the front direction of the vehicle based on the ranging radar information, it can obtain the first distance between the obstacle in the front direction of the vehicle and the vehicle based on the ranging radar information, and determine the adjustment wheels and rotating wheels of the vehicle based on the target steering wheel torque and the first distance.

[0063] In another embodiment, if the computing device detects that there are obstacles in the front direction and parking space direction of the vehicle based on the ranging radar information, it can obtain a first distance between the obstacle in the front direction and the vehicle and a second distance between the obstacle in the rear direction and the vehicle based on the ranging radar information, and determine the adjustment wheels and rotating wheels of the vehicle based on the target steering wheel torque, the first distance and the second distance.

[0064] The embodiment of the present application determines the adjustment wheel and the rotating wheel according to the distance between the obstacle and the vehicle, which helps to effectively avoid the collision between the vehicle and the obstacle during the subsequent lateral movement of the vehicle, thereby improving the safety of the lateral movement of the vehicle. It also helps to reduce the friction between the adjustment wheel and the ground by adjusting the wheel, that is, reduce the resistance of the adjustment wheel to the vehicle during the lateral movement, thereby improving the efficiency of the lateral movement of the vehicle.

[0065] In one embodiment, if the computing device detects that there are no obstacles in the front and rear directions of the vehicle according to the ranging radar information, it can detect whether the vehicle is tilted. If the vehicle is detected to be tilted, the vehicle tilt direction is obtained, and the adjustment wheel and the rotating wheel of the vehicle are determined according to the target steering wheel torque and the vehicle tilt direction. If it is detected that the vehicle is not tilted, the adjustment wheel and the rotating wheel of the vehicle are determined according to the target steering wheel torque.

[0066] In one embodiment, when the computing device determines the adjustment wheels and rotating wheels of the vehicle according to the target steering wheel torque and the vehicle tilt direction, if the vehicle tilt direction is rightward (i.e., the front of the vehicle is on the right and the rear of the vehicle is on the left), and the lateral movement direction of the vehicle is determined to be rightward according to the target steering wheel torque, the adjustment wheels of the vehicle can be determined to be the left front wheel and the right rear wheel of the vehicle, and the rotating wheels can be determined to be the left rear wheel and the right front wheel of the vehicle. If the vehicle tilt direction is rightward (i.e., the front of the vehicle is on the right and the rear of the vehicle is on the left), and the lateral movement direction of the vehicle is determined to be leftward according to the target steering wheel torque, the adjustment wheels of the vehicle can be determined to be the left front wheel and the right rear wheel of the vehicle, and the rotating wheels can be determined to be the left rear wheel and the right front wheel of the vehicle.

[0067] If the vehicle is tilted to the left (i.e., the front of the vehicle is on the right and the rear of the vehicle is on the left), and the lateral movement direction of the vehicle is determined to be the right direction according to the target steering wheel torque, the adjustment wheels of the vehicle can be determined to be the right front wheel and the left rear wheel of the vehicle, and the rotating wheels are the left front wheel and the right rear wheel of the vehicle. If the vehicle is tilted to the left (i.e., the front of the vehicle is on the right and the rear of the vehicle is on the left), and the lateral movement direction of the vehicle is determined to be the left direction according to the target steering wheel torque, the adjustment wheels of the vehicle can be determined to be the right front wheel and the left rear wheel of the vehicle, and the rotating wheels are the left front wheel and the right rear wheel of the vehicle.

[0068] When there are no obstacles in front or behind the vehicle, the embodiment of the present application determines whether to adjust the wheels and rotate the wheels according to the tilt direction of the vehicle, which helps to improve the effectiveness of the vehicle's lateral movement during the subsequent lateral movement of the vehicle, and helps to reduce the resistance of the adjusting wheels to the lateral movement of the vehicle by adjusting the wheels, thereby improving the efficiency of the vehicle's lateral movement.

[0069] In one embodiment, when the computing device determines the adjustment wheels and rotating wheels of the vehicle based on the target steering wheel torque and according to the first distance and / or the second distance, when it is determined that the lateral movement direction of the vehicle is to the right according to the target steering wheel torque, if it is detected that the first distance is greater than the first preset threshold or the first distance is greater than the second distance, it can be determined that the adjustment wheels of the vehicle are the right front wheel and the left rear wheel of the vehicle, and the rotating wheels are the right rear wheel and the left front wheel of the vehicle; or, if it is detected that the second distance is greater than the second preset threshold or the first distance is less than or equal to the second distance, it can be determined that the adjustment wheels of the vehicle are the left front wheel and the right rear wheel of the vehicle, and the rotating wheels are the right front wheel and the left rear wheel of the vehicle.

[0070] When there is an obstacle in the front direction of the vehicle, if it is detected that the first distance between the obstacle in the front direction and the vehicle is greater than a first preset threshold, it can be determined that the adjusted wheels of the vehicle are the right front wheel and the left rear wheel of the vehicle, and the rotating wheels are the right rear wheel and the left front wheel of the vehicle.

[0071] When there is an obstacle at the rear of the vehicle, if it is detected that the second distance between the obstacle at the rear of the vehicle and the vehicle is greater than the first preset threshold, it can be determined that the adjusted wheels of the vehicle are the left front wheel and the right rear wheel of the vehicle, and the rotating wheels are the right front wheel and the left rear wheel of the vehicle.

[0072] When there are obstacles in both the vehicle's front direction and the parking direction, if the first distance is detected to be greater than the second distance, it can be determined that the vehicle's adjustment wheels are the vehicle's right front wheel and left rear wheel, and the rotating wheels are the vehicle's right rear wheel and left front wheel. If the first distance is detected to be less than or equal to the second distance, it can be determined that the vehicle's adjustment wheels are the vehicle's left front wheel and right rear wheel, and the rotating wheels are the vehicle's right front wheel and left rear wheel.

[0073] In one embodiment, when it is determined that the lateral movement direction of the vehicle is the right direction, the adjustment wheels of the vehicle are the right front wheel and the left rear wheel of the vehicle, and the rotating wheels are the right rear wheel and the left front wheel of the vehicle, the computing device can brake the left rear wheel, the right front wheel, and the right rear wheel when adjusting the suspension of the vehicle to adjust the vertical force of the wheels through the suspension, and after braking the left rear wheel, the right front wheel, and the right rear wheel, adjust the suspension of the vehicle to increase the vertical force of the right front wheel and the left rear wheel through the suspension. In some embodiments, the method of braking the wheels can be to clamp the wheel brakes corresponding to each wheel.

[0074] The purpose of braking the right front wheel in the embodiment of the present application is to prevent the right front wheel from spinning when the front wheel is driven, resulting in insufficient front wheel driving torque; the purpose of braking the left rear wheel is to prevent the left rear wheel from spinning when the front wheel is driven, resulting in insufficient rear wheel driving torque. The purpose of braking the right rear wheel is to ensure that the right rear wheel can provide sufficient friction during the driving process to drive the left front wheel to turn right. By adjusting the suspension, the vertical force of the right front wheel and the left rear wheel is greatly reduced, so the influence of the right front wheel and the left rear wheel on the vehicle can be ignored, and the vehicle will rotate around the right rear wheel, which helps to improve the efficiency of the vehicle's lateral movement.

[0075] When it is determined that the lateral movement direction of the vehicle is to the right, the adjustment wheels of the vehicle are the left front wheel and the right rear wheel of the vehicle, and the rotating wheels are the left rear wheel and the right front wheel of the vehicle, the computing device can brake the left front wheel, the right front wheel and the right rear wheel when adjusting the suspension of the vehicle to adjust the vertical force of the wheels through the suspension, and after braking the left front wheel, the right front wheel and the right rear wheel, adjust the suspension of the vehicle to increase the vertical force of the left front wheel and the right rear wheel through the suspension.

[0076] The purpose of braking the right rear wheel in the embodiment of the present application is to prevent the right rear wheel from spinning when the rear wheels are driven, resulting in insufficient rear wheel driving torque; the purpose of braking the left front wheel is to prevent the left front wheel from spinning when the rear wheels are driven, resulting in insufficient front wheel driving torque. The purpose of braking the right front wheel is to ensure that the right front wheel can provide sufficient friction during the driving process to drive the left rear wheel to turn right. By adjusting the suspension, the vertical force on the left front wheel and the right rear wheel is greatly reduced, so the influence of the left front wheel and the right rear wheel on the vehicle can be ignored, and the vehicle will rotate around the left rear wheel, which helps to improve the efficiency of the vehicle's lateral movement.

[0077] In one embodiment, when the computing device controls the rotation of the rotating wheels according to the target steering wheel angle and the target steering wheel torque in the lateral movement information, when it is determined that the adjustment wheels of the vehicle are the right front wheel and the left rear wheel of the vehicle, and the rotating wheels are the right rear wheel and the left front wheel of the vehicle, the computing device may control the left front wheel to turn right according to the target steering wheel angle with the right rear wheel as the rotation center, and after controlling the left front wheel to turn right according to the target steering wheel angle, brake the right front wheel, the left front wheel and the left rear wheel, release the brakes on the right rear wheel, and control the right rear wheel to turn right according to the target steering wheel angle with the left front wheel as the rotation center.

[0078] When the computing device determines that the adjustment wheels of the vehicle are the left front wheel and the right rear wheel of the vehicle, and the rotating wheels are the right front wheel and the left rear wheel of the vehicle, the computing device controls the left rear wheel to turn right according to the target steering wheel angle with the right front wheel as the rotation center, and after controlling the left rear wheel to turn right according to the target steering wheel angle, the right rear wheel, the left front wheel and the left rear wheel are braked, the brakes on the right front wheel are released, and the right front wheel is controlled to turn right according to the target steering wheel angle with the left rear wheel as the rotation center.

[0079] In one embodiment, when the computing device determines the adjustment wheels and rotating wheels of the vehicle based on the target steering wheel torque and according to the first distance and / or the second distance, when it is determined that the lateral movement direction of the vehicle is to the left according to the target steering wheel torque, if it is detected that the first distance is greater than the first preset threshold or the first distance is greater than the second distance, the adjustment wheels of the vehicle can be determined to be the left front wheel and the right rear wheel of the vehicle, and the rotating wheels can be determined to be the left rear wheel and the right front wheel of the vehicle.

[0080] When the computing device adjusts the suspension of the vehicle to adjust the vertical force of the wheel through the suspension, the left rear wheel, the left front wheel and the right rear wheel can be braked, and after braking the left rear wheel, the left front wheel and the right rear wheel, the computing device can adjust the suspension of the vehicle to increase the vertical force of the left front wheel and the right rear wheel through the suspension.

[0081] The purpose of braking the left front wheel in the embodiment of the present application is to prevent the left front wheel from spinning when the front wheel is driven, resulting in insufficient front wheel driving torque; the purpose of braking the right rear wheel is to prevent the right rear wheel from spinning when the front wheel is driven, resulting in insufficient rear wheel driving torque. The purpose of braking the left rear wheel is to ensure that the left rear wheel can provide sufficient friction during the driving process to drive the right front wheel to turn left. By adjusting the suspension, the vertical force on the left front wheel and the right rear wheel is greatly reduced, so the influence of the left front wheel and the right rear wheel on the vehicle can be ignored, and the vehicle will rotate around the left rear wheel, which helps to improve the efficiency of the vehicle's lateral movement.

[0082] When the computing device controls the rotation of the rotating wheels according to the target steering wheel angle and the target steering wheel torque in the lateral movement information, when it is determined that the adjustment wheels of the vehicle are the left front wheel and the right rear wheel of the vehicle, and the rotating wheels are the left rear wheel and the right front wheel of the vehicle, the computing device can control the right front wheel to turn left according to the target steering wheel angle with the left rear wheel as the rotation center, and after controlling the right front wheel to turn left according to the target steering wheel angle, brake the right front wheel, the left front wheel and the right rear wheel, release the brake on the left rear wheel, and control the left rear wheel to turn left according to the target steering wheel angle with the right front wheel as the rotation center.

[0083] In one embodiment, if the computing device detects that the second distance is greater than the second preset threshold or the first distance is less than or equal to the second distance, it can determine that the adjusted wheels of the vehicle are the left rear wheel and the right front wheel of the vehicle, and the rotated wheels are the left front wheel and the right rear wheel of the vehicle.

[0084] When the computing device adjusts the suspension of the vehicle to adjust the vertical force of the wheels through the suspension, the left front wheel, the right front wheel and the left rear wheel can be braked, and after braking the left front wheel, the right front wheel and the left rear wheel, the computing device can adjust the suspension of the vehicle to increase the vertical force of the right front wheel and the left rear wheel through the suspension.

[0085] The purpose of braking the left rear wheel in the embodiment of the present application is to prevent the left rear wheel from spinning when the rear wheels are driven, resulting in insufficient rear wheel driving torque; the purpose of braking the right front wheel is to prevent the right front wheel from spinning when the rear wheels are driven, resulting in insufficient front wheel driving torque. The purpose of braking the left front wheel is to ensure that the left front wheel can provide sufficient friction during the driving process to drive the right rear wheel to turn left. By adjusting the suspension, the vertical force on the right front wheel and the left rear wheel is greatly reduced, so the influence of the right front wheel and the left rear wheel on the vehicle can be ignored, and the vehicle will rotate around the left front wheel, which helps to improve the efficiency of the vehicle's lateral movement.

[0086] When the computing device determines that the adjustment wheels of the vehicle are the right front wheel and the left rear wheel of the vehicle, and the rotating wheels are the left front wheel and the right rear wheel of the vehicle, the computing device controls the right rear wheel to turn left according to the target steering wheel angle with the left front wheel as the rotation center, and after controlling the right rear wheel to turn left according to the target steering wheel angle, the computing device brakes the right rear wheel, the right front wheel and the left rear wheel, releases the brakes on the left front wheel, and controls the left front wheel to turn left according to the target steering wheel angle with the right rear wheel as the rotation center.

[0087] The embodiment of the present application can improve the efficiency of the lateral movement of the vehicle by controlling the lateral movement of the vehicle according to the target steering wheel angle based on the determined adjustment wheels and rotation wheels.

[0088] In one embodiment, after the computing device controls the rotation of the rotating wheel according to the target steering wheel angle and the target steering wheel torque in the lateral movement information, the state of the suspension can be kept unchanged, and the target lateral movement distance of the vehicle can be determined according to the target lateral movement information; the actual lateral movement distance of the vehicle after the rotating wheel is controlled to rotate according to the target steering wheel angle and the target steering wheel torque in the lateral movement information is detected to be consistent with the target lateral movement distance; if the detection result is consistent, it is determined that the lateral movement of the vehicle is completed, and the suspension of the vehicle is adjusted to the initial state, and the brakes on each wheel of the vehicle are released; if the detection result is inconsistent, the step of controlling the rotation of the rotating wheel according to the target steering wheel angle and the target steering wheel torque in the lateral movement information is executed. In this way, the lateral movement distance after the lateral movement can be verified. If the verification result is that the lateral movement distance is inconsistent with the target lateral movement distance, the step of controlling the rotation of the rotating wheel according to the target steering wheel angle and the target steering wheel torque in the lateral movement information is executed again to ensure the accuracy of the lateral movement of the vehicle.

[0089] In one embodiment, the driving information also includes vehicle speed sensor information. Before the computing device controls the wheels and suspension of the vehicle according to the driving information and the target lateral movement information, it can obtain the vehicle speed sensor information, determine the current speed of the vehicle according to the vehicle speed sensor information, and if it is detected that the current speed of the vehicle is greater than a preset speed threshold, the step of controlling the wheels and suspension of the vehicle according to the driving information and the target lateral movement information is not performed, and the lateral movement of the vehicle is not controlled. In this way, it is possible to avoid executing the lateral movement of the vehicle when the vehicle speed is too fast, causing safety problems such as vehicle rollover, and ensure the safety of the vehicle.

[0090] The embodiment of the present application obtains the target lateral movement information of the vehicle and the driving information of the vehicle through the vehicle controller; the wheels and suspension of the vehicle are controlled according to the driving information and the target lateral movement information to control the lateral movement of the vehicle. During the lateral movement of the vehicle, the vertical force of the wheel can be adjusted by adjusting the suspension of the vehicle to reduce the friction between the wheel and the ground, thereby reducing the resistance of the lateral movement of the vehicle, improving the efficiency of the lateral movement of the vehicle, and reducing the problem of wheel wear caused by excessive lateral force.

[0091] See also Figure 3 , Figure 3 is a flow chart of another vehicle lateral movement control method provided by an embodiment of the present application, such as Figure 3 The vehicle lateral movement control method in the embodiment shown can be applied to a vehicle lateral movement control device, which is arranged in a vehicle controller of a computing device. The method may at least include the following steps.

[0092] S301: Acquire a target lateral moving direction and a target lateral moving distance of the vehicle.

[0093] In the embodiment of the present application, the computing device can trigger the acquisition of the target lateral movement direction and target lateral movement distance of the vehicle upon obtaining a lateral movement start instruction input by the driver through the terminal device.

[0094] In one embodiment, when obtaining the target lateral movement direction and target lateral movement distance of the vehicle, the computing device can obtain a first steering wheel angle of the steering wheel of the vehicle after it is returned to the center position based on the steering wheel angle information, and obtain a first steering wheel torque of the steering wheel of the vehicle after it is returned to the center position based on the steering wheel torque information; determine the first steering wheel angle and the first steering wheel torque as the target steering wheel angle and the target steering wheel torque in the target lateral movement information of the vehicle; thereby determining the target lateral movement distance of the vehicle based on the first steering wheel angle and the first steering wheel torque, and determining the target lateral movement direction of the vehicle based on the first steering wheel torque.

[0095] In one embodiment, when acquiring the target lateral moving direction and target lateral moving distance of the vehicle, the computing device may acquire the target lateral moving direction and target lateral moving distance of the vehicle sent by the driver through the terminal device.

[0096] S302: Detect whether the target lateral movement direction is rightward. If it is detected that the target lateral movement direction is rightward, execute step S303; if it is detected that the target lateral movement direction is leftward, execute step S313.

[0097] S303: Detect whether the steering wheel is turning right and whether the steering wheel turning angle is consistent with a preset angle threshold. If the detection result is yes, execute step S304; if the detection result is no, repeat step S303.

[0098] S304: Braking the left rear wheel, the right front wheel and the right rear wheel.

[0099] In the embodiment of the present application, the computing device can achieve braking of the left rear wheel, the right front wheel and the right rear wheel by respectively clamping the wheel brake of the left rear wheel, the wheel brake of the right front wheel and the wheel brake of the right rear wheel.

[0100] The purpose of braking the right front wheel in the embodiment of the present application is to prevent the right front wheel from spinning when the front wheel is driven, resulting in insufficient front wheel driving torque; the purpose of braking the left rear wheel is to prevent the left rear wheel from spinning when the front wheel is driven, resulting in insufficient rear wheel driving torque. The purpose of braking the right rear wheel is to ensure that the right rear wheel can provide sufficient friction during the driving process to drive the left front wheel to turn right.

[0101] S305: Adjust the suspension of the vehicle to increase the vertical force of the right front wheel and the left rear wheel through the suspension.

[0102] In the embodiment of the present application, the computing device can adjust the suspension of the vehicle to reduce the vertical load on the right front wheel and the left rear wheel, thereby increasing the vertical force on the right front wheel and the left rear wheel.

[0103] Specific as Figure 4 As shown, Figure 4 is a schematic diagram of a vehicle wheel load provided in an embodiment of the present application, such as Figure 4 As shown, each dark gray wheel in 41 is used to indicate the normal load of the four wheels in the initial state of the vehicle. After adjusting the suspension of the vehicle and reducing the vertical load of the right front wheel and the left rear wheel, the distribution of the load of each wheel of the vehicle is shown in 42. The light gray right front wheel and left rear wheel are used to indicate that the load of the right front wheel and the left rear wheel is reduced to a small load, and the black left front wheel and right rear wheel are used to indicate that the load of the left front wheel and the right rear wheel is increased to a large load. Increasing the load of the left front wheel and the right rear wheel helps to provide a sufficiently large friction force for the left front wheel and the right rear wheel. By reducing the load of the right front wheel and the left rear wheel, the friction between the right front wheel and the left rear wheel and the ground can be reduced, and the resistance of the right front wheel and the left rear wheel to the movement of the vehicle can be reduced.

[0104] S306: With the right rear wheel as the rotation center, the left front wheel is controlled to turn right according to the target steering wheel angle.

[0105] Specific can Figure 5 For example, Figure 5 is a schematic diagram of a vehicle lateral movement provided by an embodiment of the present application, such as Figure 5 As shown, with the right rear wheel 51 as the rotation center, the left front wheel 52 is controlled to turn right according to the target steering wheel angle.

[0106] In one embodiment, the force analysis during the vehicle's lateral movement to the right can be Figure 6 Take this as an example to illustrate: Figure 6 is a schematic diagram of force analysis of a wheel of a vehicle moving laterally provided in an embodiment of the present application, such as Figure 6 As shown, the left front wheel 61 and the right rear wheel 62 of the vehicle are driving wheels, and the right rear wheel 62 is the rotation center, driving the left front wheel 61 to rotate rightward. During the process of the left front wheel 61 rotating rightward, F fl_tor is the left front wheel driving force, F fl_x_α F fl_tor The projection force of the x-axis in the left front wheel coordinate system, F fl_y_α F fl_tor The relationship between the left front wheel force component and the driving force can be expressed as shown in the following formula (1):

[0107] F fl_x_α =Ffl_tor *cosα;F fl_y_α =F fl_tor *sinα (1)

[0108] Where α is the angle between the left front wheel driving force direction and the line connecting the two wheels. rr_x_α The right rear wheel is F fl_x_α The two forces are equal in magnitude and opposite in direction. Assuming that the road surface is uniform and high-adhesion when the function is turned on, the left front wheel driving force is smaller than the vertical force, that is, F fl_tor <F fl_z ; and from the above statement, we can know that F fl_x_α F fl_tor Component force and α≠0, so F fl_x_α <F fl_tor , and there exists a relationship F fl_z ≈F rr_z Therefore, there exists F rr_xα <F rr_z . F rr_z It can be equal to the maximum static friction of the right rear wheel. Furthermore, the static friction of the right rear wheel under F can be ignored. rr_xα Sliding displacement during action. rr_α The torque F on the rear wheel is fl_y_α , which can be expressed as shown in the following formula (2):

[0109] M rr_α =F fl_y_α *b (2)

[0110] Where b is the distance from the left front wheel to the right rear wheel center. rr_α If the torque is greater than the maximum static torsional friction force of the right rear wheel, the vehicle can rotate around the right rear wheel under the action of the driving wheel. Because the torsional stiffness of the tire is low, the vehicle can easily meet the conditions for rotating around the wheel under this working condition.

[0111] S307: Detect whether the angle of the left front wheel turning to the right matches the target steering wheel angle. If so, execute S308; if not, execute step S306.

[0112] S308: Brake the right front wheel, the left front wheel and the left rear wheel, and release the brake on the right rear wheel.

[0113] In the embodiment of the present application, the computing device can implement the braking of the left rear wheel, the right front wheel and the left front wheel by clamping the wheel brake of the left rear wheel, the wheel brake of the right front wheel and the wheel brake of the left front wheel. Similarly, when releasing the braking of the right rear wheel, the computing device can release the clamping operation of the wheel brake of the right rear wheel to release the braking of the right rear wheel.

[0114] S309: With the left front wheel as the rotation center, the right rear wheel is controlled to turn right according to the target steering wheel angle.

[0115] Specific can Figure 7 For example, Figure 7 is a schematic diagram of another vehicle lateral movement provided in an embodiment of the present application, such as Figure 7 As shown, the left front wheel 71 is used as the rotation center, and the right rear wheel 72 is controlled to rotate right according to the target steering wheel angle. The force analysis of the embodiment of the present application in the process of controlling the right rear wheel to rotate right according to the target steering wheel angle is similar to the above Figure 6 The analysis shown is similar and will not be repeated here.

[0116] S310: Detect whether the rightward turning angle of the right rear wheel matches the target steering wheel angle. If so, execute S311; if not, execute step S309.

[0117] In the embodiment of the present application, when the computing device detects that the angle at which the right rear wheel turns to the right matches the target steering wheel angle, it may determine to stop rotating the right rear wheel.

[0118] S311: Detect whether the actual lateral moving distance of the vehicle is consistent with the target lateral moving distance. If the detection result is yes, execute S312; if the detection result is no, execute S306.

[0119] S312: Determine that the lateral movement of the vehicle to the right is completed, adjust the suspension of the vehicle to the initial state, and release the brakes on each wheel of the vehicle.

[0120] In the embodiment of the present application, when the computing device determines that the lateral movement of the vehicle to the right has ended, it adjusts the suspension of the vehicle to an initial state and releases the brakes on each wheel of the vehicle.

[0121] Specific as Figure 8 As shown, Figure 8 is a schematic diagram of a vehicle lateral movement distance provided in an embodiment of the present application, combined with Figure 5 and Figure 7 , after completing Figure 5 The right rear wheel 51 is used as the rotation center, and the left front wheel 52 is controlled to turn right according to the target steering wheel angle, and the Figure 7 With the left front wheel 71 as the rotation center, after controlling the right rear wheel 72 to turn right according to the target steering wheel angle, the suspension of the vehicle is adjusted to the initial state, and the brakes on each wheel of the vehicle are released so that the load of the vehicle's wheels returns to the normal load state in dark gray. The lateral movement distance of the vehicle is shown as 81.

[0122] S313: Detect whether the steering wheel is turning left and whether the steering wheel turning angle is consistent with a preset angle threshold. If the detection result is yes, execute step S314; if the detection result is no, repeat step S313.

[0123] S314: Brake the left rear wheel, left front wheel and right rear wheel.

[0124] S315: Adjust the suspension of the vehicle to increase the vertical force of the left front wheel and the right rear wheel through the suspension.

[0125] S316: With the left rear wheel as the rotation center, the right front wheel is controlled to turn left according to the target steering wheel angle.

[0126] S317: Detect whether the leftward turning angle of the right front wheel matches the target steering wheel angle. If so, execute S318; if not, execute step S316.

[0127] S318: Brake the left front wheel, the right front wheel and the left rear wheel, and release the brake on the left rear wheel.

[0128] S319: With the right front wheel as the rotation center, the left rear wheel is controlled to turn left according to the target steering wheel angle.

[0129] S320: Detect whether the leftward rotation angle of the left rear wheel matches the target steering wheel angle. If so, execute S321; if not, execute step S319.

[0130] S321: Detect whether the actual lateral moving distance of the vehicle is consistent with the target lateral moving distance. If the detection result is yes, execute S322; if the detection result is no, execute S316.

[0131] S322: Determine that the lateral movement of the vehicle to the left is completed, adjust the suspension of the vehicle to the initial state, and release the brakes on each wheel of the vehicle.

[0132] In the embodiment of the present application, the computing device can brake the left rear wheel, the right front wheel and the right rear wheel when it is detected that the target lateral movement direction is to the right and whether the steering wheel rotation angle is consistent with the preset angle threshold, adjust the suspension of the vehicle to increase the vertical force of the right front wheel and the left rear wheel through the suspension, take the right rear wheel as the rotation center, control the left front wheel to turn right according to the target steering wheel angle, and when it is detected that the angle of the left front wheel turning right matches the target steering wheel angle, brake the right front wheel, the left front wheel and the left rear wheel, release the brake on the right rear wheel, take the left front wheel as the rotation center, control the right rear wheel to turn right according to the target steering wheel angle, and when it is detected that the angle of the right rear wheel turning right matches the target steering wheel angle and the actual lateral movement distance of the vehicle is consistent with the target lateral movement distance, determine that the lateral movement of the vehicle to the right is over. In this way, the efficiency and accuracy of the vehicle's lateral movement to the right and the safety of the vehicle during the lateral movement to the right can be improved. Similarly, when it is detected that the steering wheel is turning to the left and the steering wheel angle is consistent with the preset angle threshold, the left rear wheel, the left front wheel and the right rear wheel are braked, and the suspension of the vehicle is adjusted to increase the vertical force of the left front wheel and the right rear wheel through the suspension. The left rear wheel is used as the rotation center, and the right front wheel is controlled to turn left according to the target steering wheel angle. When it is detected that the angle of the right front wheel turning left matches the target steering wheel angle, the left front wheel, the right front wheel and the left rear wheel are braked, the brake on the left rear wheel is released, and the left rear wheel is controlled to turn left according to the target steering wheel angle with the right front wheel as the rotation center. When it is detected that the angle of the left rear wheel turning left matches the target steering wheel angle, and the actual lateral movement distance of the vehicle is consistent with the target lateral movement distance, it is determined that the lateral movement of the vehicle to the left is completed. In this way, the efficiency and accuracy of the vehicle's lateral movement to the left, as well as the safety of the vehicle during the lateral movement to the left, can be improved.

[0133] See also Fig. 9 , Fig. 9 is a schematic diagram of the structure of a vehicle lateral movement control device provided in an embodiment of the present application, such as Fig. 9 As shown, the vehicle lateral movement control device includes an acquisition unit 901 and a control unit 902, wherein:

[0134] The acquisition unit 901 is used to acquire the driving information of the vehicle; and acquire the target lateral movement information of the vehicle;

[0135] The control unit 902 is used to control the wheels and suspension of the vehicle according to the driving information and the target lateral movement information to control the lateral movement of the vehicle.

[0136] Furthermore, when the acquisition unit 901 acquires the driving information of the vehicle, it is specifically used to:

[0137] The steering wheel rotation information of the vehicle is obtained, where the steering wheel rotation information includes steering wheel angle information and steering wheel torque information.

[0138] Furthermore, when the acquisition unit 901 acquires the target lateral movement information of the vehicle, it is specifically used to:

[0139] Acquire a first steering wheel angle of the vehicle after the steering wheel is returned to the center position according to the steering wheel angle information;

[0140] Acquire a first steering wheel torque of the steering wheel of the vehicle after the steering wheel is returned to the center position according to the steering wheel torque information;

[0141] The first steering wheel angle and the first steering wheel torque are determined as a target steering wheel angle and a target steering wheel torque in the target lateral movement information of the vehicle.

[0142] Furthermore, when the acquisition unit 901 acquires the target lateral movement information of the vehicle, it is specifically used to:

[0143] Acquire the target lateral moving direction and target lateral moving distance of the vehicle sent by the terminal device;

[0144] According to the driving information of the vehicle, the target lateral movement direction and the target lateral movement distance, a second steering wheel torque and a second steering wheel angle of the steering wheel of the vehicle are determined, and the second steering wheel torque and the second steering wheel angle are determined to be the target steering wheel angle and the target steering wheel torque in the target lateral movement information of the vehicle.

[0145] Furthermore, before the control unit 902 controls the wheels and suspension of the vehicle according to the target lateral movement information, it is also used to:

[0146] controlling the rotation direction of the steering wheel according to the target steering wheel torque;

[0147] When it is detected that the rotation angle of the steering wheel in the rotation direction is consistent with a preset angle threshold, the step of controlling the wheels and suspension of the vehicle according to the target lateral movement information is performed.

[0148] Further, the driving information includes ranging radar information; when the control unit 902 controls the wheels and suspension of the vehicle according to the driving information and the target lateral movement information, it is specifically used to:

[0149] determining an adjustment wheel and a rotation wheel of the vehicle according to a target steering wheel torque in the lateral movement information and the ranging radar information;

[0150] Adjusting the suspension of the vehicle to adjust the vertical force of the adjustment wheel through the suspension;

[0151] The rotating wheel is controlled to rotate according to the target steering wheel angle and the target steering wheel torque in the lateral movement information.

[0152] Further, when the control unit 902 determines the adjustment wheel and the rotation wheel of the vehicle according to the target steering wheel torque in the lateral movement information and the ranging radar information, it is specifically used to:

[0153] When an obstacle is detected in the front direction and / or the rear direction of the vehicle according to the ranging radar information, a first distance between the obstacle in the front direction and the vehicle and / or a second distance between the obstacle in the rear direction and the vehicle are acquired according to the ranging radar information;

[0154] Based on the target steering wheel torque, an adjusted wheel and a rotated wheel of the vehicle are determined according to the first distance and / or the second distance.

[0155] Further, when the control unit 902 determines the adjustment wheel and the rotation wheel of the vehicle based on the target steering wheel torque and according to the first distance and / or the second distance, it is specifically configured to:

[0156] When it is determined that the lateral movement direction of the vehicle is rightward according to the target steering wheel torque, if it is detected that the first distance is greater than a first preset threshold or the first distance is greater than the second distance, it is determined that the adjustment wheels of the vehicle are the right front wheel and the left rear wheel of the vehicle, and the rotating wheels are the right rear wheel and the left front wheel of the vehicle; or,

[0157] If it is detected that the second distance is greater than a second preset threshold or the first distance is less than or equal to the second distance, it is determined that the adjustment wheels of the vehicle are the left front wheel and the right rear wheel of the vehicle, and the rotating wheels are the right front wheel and the left rear wheel of the vehicle.

[0158] Further, when the control unit 902 adjusts the suspension of the vehicle to adjust the vertical force of the adjustment wheel through the suspension, it is specifically used to:

[0159] braking the left rear wheel, the right front wheel and the right rear wheel, and after braking the left rear wheel, the right front wheel and the right rear wheel, adjusting the suspension of the vehicle to increase the vertical force of the right front wheel and the left rear wheel through the suspension; or,

[0160] The left front wheel, the right front wheel and the right rear wheel are braked, and after the left front wheel, the right front wheel and the right rear wheel are braked, the suspension of the vehicle is adjusted to increase the vertical force of the left front wheel and the right rear wheel through the suspension.

[0161] Further, the control unit 902 controls the rotation of the rotating wheel according to the target steering wheel angle and the target steering wheel torque in the lateral movement information, specifically for:

[0162] When it is determined that the adjustment wheels of the vehicle are the right front wheel and the left rear wheel of the vehicle, and the rotating wheels are the right rear wheel and the left front wheel of the vehicle, the left front wheel is controlled to rotate right according to the target steering wheel angle with the right rear wheel as the rotation center, and after the left front wheel is controlled to rotate right according to the target steering wheel angle, the right front wheel, the left front wheel and the left rear wheel are braked, the brake on the right rear wheel is released, and the right rear wheel is controlled to rotate right according to the target steering wheel angle with the left front wheel as the rotation center; or,

[0163] When it is determined that the adjustment wheels of the vehicle are the left front wheel and the right rear wheel of the vehicle, and the rotating wheels are the right front wheel and the left rear wheel of the vehicle, the left rear wheel is controlled to turn right according to the target steering wheel angle with the right front wheel as the rotation center, and after the left rear wheel is controlled to turn right according to the target steering wheel angle, the right rear wheel, the left front wheel and the left rear wheel are braked, the brakes on the right front wheel are released, and the right front wheel is controlled to turn right according to the target steering wheel angle with the left rear wheel as the rotation center.

[0164] Further, when the control unit 902 determines the adjustment wheel and the rotation wheel of the vehicle based on the target steering wheel torque and according to the first distance and / or the second distance, it is specifically configured to:

[0165] When it is determined that the lateral movement direction of the vehicle is to the left according to the target steering wheel torque, if it is detected that the first distance is greater than a first preset threshold or the first distance is greater than the second distance, the adjustment wheels of the vehicle are determined to be the left front wheel and the right rear wheel of the vehicle, and the rotating wheels are determined to be the left rear wheel and the right front wheel of the vehicle; or,

[0166] If it is detected that the second distance is greater than a second preset threshold or the first distance is less than or equal to the second distance, it is determined that the adjustment wheels of the vehicle are the left rear wheel and the right front wheel of the vehicle, and the rotating wheels are the left front wheel and the right rear wheel of the vehicle.

[0167] Further, when the control unit 902 adjusts the suspension of the vehicle to adjust the vertical force of the adjustment wheel through the suspension, it is specifically used to:

[0168] braking the left rear wheel, the left front wheel and the right rear wheel, and after braking the left rear wheel, the left front wheel and the right rear wheel, adjusting the suspension of the vehicle to increase the vertical force of the left front wheel and the right rear wheel through the suspension; or,

[0169] The left front wheel, the right front wheel and the left rear wheel are braked, and after the left front wheel, the right front wheel and the left rear wheel are braked, the suspension of the vehicle is adjusted to increase the vertical force of the right front wheel and the left rear wheel through the suspension.

[0170] Further, the control unit 902 controls the rotation of the rotating wheel according to the target steering wheel angle and the target steering wheel torque in the lateral movement information, specifically for:

[0171] When it is determined that the adjustment wheels of the vehicle are the left front wheel and the right rear wheel of the vehicle, and the rotating wheels are the left rear wheel and the right front wheel of the vehicle, the right front wheel is controlled to turn left according to the target steering wheel angle with the left rear wheel as the rotation center, and after the right front wheel is controlled to turn left according to the target steering wheel angle, the right front wheel, the left front wheel and the right rear wheel are braked, the brake on the left rear wheel is released, and the left rear wheel is controlled to turn left according to the target steering wheel angle with the right front wheel as the rotation center; or,

[0172] When it is determined that the adjustment wheels of the vehicle are the right front wheel and the left rear wheel of the vehicle, and the rotating wheels are the left front wheel and the right rear wheel of the vehicle, the left front wheel is used as the rotation center and the right rear wheel is controlled to turn left according to the target steering wheel angle. After the right rear wheel is controlled to turn left according to the target steering wheel angle, the right rear wheel, the right front wheel and the left rear wheel are braked, the brake on the left front wheel is released, and the left front wheel is controlled to turn left according to the target steering wheel angle with the right rear wheel as the rotation center.

[0173] Further, after controlling the rotation of the rotating wheel according to the target steering wheel angle and the target steering wheel torque in the lateral movement information, the control unit 902 is further used to:

[0174] Determining a target lateral movement distance of the vehicle according to the target lateral movement information;

[0175] detecting whether an actual lateral movement distance of the vehicle after the rotating wheel is controlled to rotate according to the target steering wheel angle and the target steering wheel torque in the lateral movement information is consistent with the target lateral movement distance;

[0176] If the detection result is consistent, it is determined that the lateral movement of the vehicle is completed, and the suspension of the vehicle is adjusted to an initial state, and the brakes on each wheel of the vehicle are released;

[0177] If the detection results are inconsistent, the step of controlling the rotation of the rotating wheel according to the target steering wheel angle and the target steering wheel torque in the lateral movement information is performed.

[0178] In the embodiment of the present application, the vehicle lateral movement control device can obtain the target lateral movement information of the vehicle and the driving information of the vehicle; and control the wheels and suspension of the vehicle according to the driving information and the target lateral movement information to control the lateral movement of the vehicle. By adjusting the suspension of the vehicle during the lateral movement of the vehicle, the vertical force of the wheel can be adjusted to reduce the friction between the wheel and the ground, thereby reducing the resistance of the lateral movement of the vehicle, improving the efficiency of the lateral movement of the vehicle, and reducing the wheel wear problem caused by excessive lateral force.

[0179] See also Fig.10 , Fig.10 1 is a schematic diagram of the structure of a computing device provided in an embodiment of the present application. As shown in the figure, the computing device in this embodiment may include: one or more processors 1001, memory 1002, bus 1003 and communication interface 1004, the processor 1001, communication interface 1004 and memory 1002 are connected through bus 1003; memory 1002 is used to store programs; processor 1001 is used to call the program stored in the above memory through bus 1003, and perform the following steps:

[0180] Obtain vehicle driving information;

[0181] Acquiring target lateral movement information of the vehicle;

[0182] The wheels and suspension of the vehicle are controlled according to the driving information and the target lateral movement information to control the lateral movement of the vehicle.

[0183] Furthermore, when the processor 1001 obtains the driving information of the vehicle, it is specifically used to:

[0184] The steering wheel rotation information of the vehicle is obtained, where the steering wheel rotation information includes steering wheel angle information and steering wheel torque information.

[0185] Further, when the processor 1001 obtains the target lateral movement information of the vehicle, it is specifically used to:

[0186] Acquire a first steering wheel angle of the vehicle after the steering wheel is returned to the center position according to the steering wheel angle information;

[0187] Acquire a first steering wheel torque of the steering wheel of the vehicle after the steering wheel is returned to the center position according to the steering wheel torque information;

[0188] The first steering wheel angle and the first steering wheel torque are determined as a target steering wheel angle and a target steering wheel torque in the target lateral movement information of the vehicle.

[0189] Further, when the processor 1001 obtains the target lateral movement information of the vehicle, it is specifically used to:

[0190] Acquire the target lateral moving direction and target lateral moving distance of the vehicle sent by the terminal device;

[0191] According to the driving information of the vehicle, the target lateral movement direction and the target lateral movement distance, a second steering wheel torque and a second steering wheel angle of the steering wheel of the vehicle are determined, and the second steering wheel torque and the second steering wheel angle are determined to be the target steering wheel angle and the target steering wheel torque in the target lateral movement information of the vehicle.

[0192] Furthermore, before the processor 1001 controls the wheels and suspension of the vehicle according to the target lateral movement information, it is also used to:

[0193] controlling the rotation direction of the steering wheel according to the target steering wheel torque;

[0194] When it is detected that the rotation angle of the steering wheel in the rotation direction is consistent with a preset angle threshold, the step of controlling the wheels and suspension of the vehicle according to the target lateral movement information is performed.

[0195] Further, the driving information includes ranging radar information; when the control unit 902 controls the wheels and suspension of the vehicle according to the driving information and the target lateral movement information, it is specifically used to:

[0196] determining an adjustment wheel and a rotation wheel of the vehicle according to a target steering wheel torque in the lateral movement information and the ranging radar information;

[0197] Adjusting the suspension of the vehicle to adjust the vertical force of the adjustment wheel through the suspension;

[0198] The rotating wheel is controlled to rotate according to the target steering wheel angle and the target steering wheel torque in the lateral movement information.

[0199] Further, when the processor 1001 determines the adjustment wheel and the rotation wheel of the vehicle according to the target steering wheel torque in the lateral movement information and the ranging radar information, it is specifically used to:

[0200] When an obstacle is detected in the front direction and / or the rear direction of the vehicle according to the ranging radar information, a first distance between the obstacle in the front direction and the vehicle and / or a second distance between the obstacle in the rear direction and the vehicle are acquired according to the ranging radar information;

[0201] Based on the target steering wheel torque, an adjusted wheel and a rotated wheel of the vehicle are determined according to the first distance and / or the second distance.

[0202] Further, when the processor 1001 determines the adjustment wheel and the rotation wheel of the vehicle based on the target steering wheel torque and according to the first distance and / or the second distance, it is specifically configured to:

[0203] When it is determined that the lateral movement direction of the vehicle is rightward according to the target steering wheel torque, if it is detected that the first distance is greater than a first preset threshold or the first distance is greater than the second distance, it is determined that the adjustment wheels of the vehicle are the right front wheel and the left rear wheel of the vehicle, and the rotating wheels are the right rear wheel and the left front wheel of the vehicle; or,

[0204] If it is detected that the second distance is greater than a second preset threshold or the first distance is less than or equal to the second distance, it is determined that the adjustment wheels of the vehicle are the left front wheel and the right rear wheel of the vehicle, and the rotating wheels are the right front wheel and the left rear wheel of the vehicle.

[0205] Further, when the processor 1001 adjusts the suspension of the vehicle to adjust the vertical force of the adjustment wheel through the suspension, it is specifically used to:

[0206] braking the left rear wheel, the right front wheel and the right rear wheel, and after braking the left rear wheel, the right front wheel and the right rear wheel, adjusting the suspension of the vehicle to increase the vertical force of the right front wheel and the left rear wheel through the suspension; or,

[0207] The left front wheel, the right front wheel and the right rear wheel are braked, and after the left front wheel, the right front wheel and the right rear wheel are braked, the suspension of the vehicle is adjusted to increase the vertical force of the left front wheel and the right rear wheel through the suspension.

[0208] Further, the processor 1001 controls the rotation of the rotating wheel according to the target steering wheel angle and the target steering wheel torque in the lateral movement information, specifically for:

[0209] When it is determined that the adjustment wheels of the vehicle are the right front wheel and the left rear wheel of the vehicle, and the rotating wheels are the right rear wheel and the left front wheel of the vehicle, the left front wheel is controlled to rotate right according to the target steering wheel angle with the right rear wheel as the rotation center, and after the left front wheel is controlled to rotate right according to the target steering wheel angle, the right front wheel, the left front wheel and the left rear wheel are braked, the brake on the right rear wheel is released, and the right rear wheel is controlled to rotate right according to the target steering wheel angle with the left front wheel as the rotation center; or,

[0210] When it is determined that the adjustment wheels of the vehicle are the left front wheel and the right rear wheel of the vehicle, and the rotating wheels are the right front wheel and the left rear wheel of the vehicle, the left rear wheel is controlled to turn right according to the target steering wheel angle with the right front wheel as the rotation center, and after the left rear wheel is controlled to turn right according to the target steering wheel angle, the right rear wheel, the left front wheel and the left rear wheel are braked, the brakes on the right front wheel are released, and the right front wheel is controlled to turn right according to the target steering wheel angle with the left rear wheel as the rotation center.

[0211] Further, when the processor 1001 determines the adjustment wheel and the rotation wheel of the vehicle based on the target steering wheel torque and according to the first distance and / or the second distance, it is specifically configured to:

[0212] When it is determined that the lateral movement direction of the vehicle is to the left according to the target steering wheel torque, if it is detected that the first distance is greater than a first preset threshold or the first distance is greater than the second distance, the adjustment wheels of the vehicle are determined to be the left front wheel and the right rear wheel of the vehicle, and the rotating wheels are determined to be the left rear wheel and the right front wheel of the vehicle; or,

[0213] If it is detected that the second distance is greater than a second preset threshold or the first distance is less than or equal to the second distance, it is determined that the adjustment wheels of the vehicle are the left rear wheel and the right front wheel of the vehicle, and the rotating wheels are the left front wheel and the right rear wheel of the vehicle.

[0214] Further, when the processor 1001 adjusts the suspension of the vehicle to adjust the vertical force of the adjustment wheel through the suspension, it is specifically used to:

[0215] braking the left rear wheel, the left front wheel and the right rear wheel, and after braking the left rear wheel, the left front wheel and the right rear wheel, adjusting the suspension of the vehicle to increase the vertical force of the left front wheel and the right rear wheel through the suspension; or,

[0216] The left front wheel, the right front wheel and the left rear wheel are braked, and after the left front wheel, the right front wheel and the left rear wheel are braked, the suspension of the vehicle is adjusted to increase the vertical force of the right front wheel and the left rear wheel through the suspension.

[0217] Further, the processor 1001 controls the rotation of the rotating wheel according to the target steering wheel angle and the target steering wheel torque in the lateral movement information, specifically for:

[0218] When it is determined that the adjustment wheels of the vehicle are the left front wheel and the right rear wheel of the vehicle, and the rotating wheels are the left rear wheel and the right front wheel of the vehicle, the right front wheel is controlled to turn left according to the target steering wheel angle with the left rear wheel as the rotation center, and after the right front wheel is controlled to turn left according to the target steering wheel angle, the right front wheel, the left front wheel and the right rear wheel are braked, the brake on the left rear wheel is released, and the left rear wheel is controlled to turn left according to the target steering wheel angle with the right front wheel as the rotation center; or,

[0219] When it is determined that the adjustment wheels of the vehicle are the right front wheel and the left rear wheel of the vehicle, and the rotating wheels are the left front wheel and the right rear wheel of the vehicle, the left front wheel is used as the rotation center and the right rear wheel is controlled to turn left according to the target steering wheel angle. After the right rear wheel is controlled to turn left according to the target steering wheel angle, the right rear wheel, the right front wheel and the left rear wheel are braked, the brake on the left front wheel is released, and the left front wheel is controlled to turn left according to the target steering wheel angle with the right rear wheel as the rotation center.

[0220] Further, after controlling the rotation of the rotating wheel according to the target steering wheel angle and the target steering wheel torque in the lateral movement information, the processor 1001 is further configured to:

[0221] Determining a target lateral movement distance of the vehicle according to the target lateral movement information;

[0222] detecting whether an actual lateral movement distance of the vehicle after the rotating wheel is controlled to rotate according to the target steering wheel angle and the target steering wheel torque in the lateral movement information is consistent with the target lateral movement distance;

[0223] If the detection result is consistent, it is determined that the lateral movement of the vehicle is completed, and the suspension of the vehicle is adjusted to an initial state, and the brakes on each wheel of the vehicle are released;

[0224] If the detection results are inconsistent, the step of controlling the rotation of the rotating wheel according to the target steering wheel angle and the target steering wheel torque in the lateral movement information is performed.

[0225] In the embodiment of the present application, the computing device can obtain the target lateral movement information of the vehicle and the driving information of the vehicle; and control the wheels and suspension of the vehicle according to the driving information and the target lateral movement information to control the lateral movement of the vehicle. By adjusting the suspension of the vehicle during the lateral movement of the vehicle, the vertical force of the wheel can be adjusted to reduce the friction between the wheel and the ground, thereby reducing the resistance of the lateral movement of the vehicle, improving the efficiency of the lateral movement of the vehicle, and reducing the wheel wear problem caused by excessive lateral force.

[0226] It should be understood that in the embodiment of the present application, the processor 1001 may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0227] The memory 1002 may include a read-only memory and a random access memory, and provide instructions and data to the processor 1001. A portion of the memory 1002 may also include a non-volatile random access memory. For example, the memory 1002 may also store information about the device type.

[0228] In a specific implementation, the processor 1001 described in the embodiment of the present application can execute the implementation method described in the vehicle lateral movement control method provided in the embodiment of the present application, and can also execute the implementation method of the vehicle lateral movement control device described in the embodiment of the present application, which will not be repeated here.

[0229] An embodiment of the present application also provides a vehicle, which includes an active suspension system and a vehicle lateral movement control device, and the vehicle lateral movement control device is used to execute any of the vehicle lateral movement control methods to control the lateral movement of the vehicle.

[0230] An embodiment of the present application also provides a computer-readable storage medium, in which program instructions are stored. When the program instructions are executed, any of the above-mentioned vehicle lateral movement control methods is implemented.

[0231] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0232] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the terminals and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0233] In the several embodiments provided in the present application, it should be understood that the disclosed computing devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, or it can be an electrical, mechanical or other form of connection.

[0234] The steps in the method of the embodiment of the present application can be adjusted in order, combined and deleted according to actual needs.

[0235] The units in the terminal in the embodiment of the present application can be merged, divided and deleted according to actual needs.

[0236] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0237] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0238] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0239] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A vehicle lateral movement control method, characterized in that: The method comprises: Obtain vehicle driving information; Acquiring target lateral movement information of the vehicle; The wheels and suspension of the vehicle are controlled according to the driving information and the target lateral movement information to control the lateral movement of the vehicle.

2. The method according to claim 1, characterized in that The obtaining of the vehicle's driving information includes: The steering wheel rotation information of the vehicle is obtained, where the steering wheel rotation information includes steering wheel angle information and steering wheel torque information.

3. The method according to claim 2, characterized in that The obtaining of the target lateral movement information of the vehicle includes: Determining a first steering wheel angle of the vehicle after the steering wheel is returned to the center position according to the steering wheel angle information; determining a first steering wheel torque of the steering wheel of the vehicle after the steering wheel is returned to the center position according to the steering wheel torque information; The first steering wheel angle and the first steering wheel torque are determined as a target steering wheel angle and a target steering wheel torque in the target lateral movement information of the vehicle.

4. The method according to claim 2, characterized in that: The step of obtaining the target lateral movement information of the vehicle includes: Acquire the target lateral moving direction and target lateral moving distance of the vehicle sent by the terminal device; According to the driving information of the vehicle, the target lateral movement direction and the target lateral movement distance, a second steering wheel torque and a second steering wheel angle of the steering wheel of the vehicle are determined, and the second steering wheel torque and the second steering wheel angle are determined to be the target steering wheel angle and the target steering wheel torque in the target lateral movement information of the vehicle.

5. The method according to claim 3 or 4, characterized in that: Before controlling the wheels and suspension of the vehicle according to the driving information and the target lateral movement information, the method further includes: controlling the rotation direction of the steering wheel according to the target steering wheel torque; When it is detected that the rotation angle of the steering wheel in the rotation direction is consistent with a preset angle threshold, the step of controlling the wheels and suspension of the vehicle according to the driving information and the target lateral movement information is performed.

6. The method according to claim 3 or 4, characterized in that: The driving information includes ranging radar information; and controlling the wheels and suspension of the vehicle according to the driving information and the target lateral movement information includes: determining an adjustment wheel and a rotation wheel among the vehicle wheels according to the target steering wheel torque in the lateral movement information and the ranging radar information; Adjusting the suspension of the vehicle to adjust the vertical force of the adjustment wheel through the suspension; The rotating wheel is controlled to rotate according to the target steering wheel angle and the target steering wheel torque in the lateral movement information.

7. The method according to claim 6, characterized in that The step of determining the adjustment wheel and the rotation wheel of the vehicle according to the target steering wheel torque in the lateral movement information and the ranging radar information comprises: When an obstacle is detected in the front direction and / or the rear direction of the vehicle according to the ranging radar information, a first distance between the obstacle in the front direction and the vehicle and / or a second distance between the obstacle in the rear direction and the vehicle are acquired according to the ranging radar information; Based on the target steering wheel torque, an adjusted wheel and a rotated wheel of the vehicle are determined according to the first distance and / or the second distance.

8. The method according to claim 7, characterized in that The step of determining the adjustment wheel and the rotation wheel of the vehicle based on the target steering wheel torque and according to the first distance and / or the second distance includes: When it is determined that the lateral movement direction of the vehicle is rightward according to the target steering wheel torque, if it is detected that the first distance is greater than a first preset threshold or the first distance is greater than the second distance, it is determined that the adjustment wheels of the vehicle are the right front wheel and the left rear wheel of the vehicle, and the rotating wheels are the right rear wheel and the left front wheel of the vehicle; or, If it is detected that the second distance is greater than a second preset threshold or the first distance is less than or equal to the second distance, it is determined that the adjustment wheels of the vehicle are the left front wheel and the right rear wheel of the vehicle, and the rotating wheels are the right front wheel and the left rear wheel of the vehicle.

9. The method according to claim 8, characterized in that The adjusting the suspension of the vehicle to adjust the vertical force of the wheel through the suspension includes: braking the left rear wheel, the right front wheel and the right rear wheel, and after braking the left rear wheel, the right front wheel and the right rear wheel, adjusting the suspension of the vehicle to increase the vertical force of the right front wheel and the left rear wheel through the suspension; or, The left front wheel, the right front wheel and the right rear wheel are braked, and after the left front wheel, the right front wheel and the right rear wheel are braked, the suspension of the vehicle is adjusted to increase the vertical force of the left front wheel and the right rear wheel through the suspension.

10. The method according to claim 9, characterized in that The step of controlling the rotation of the rotating wheel according to the target steering wheel angle and the target steering wheel torque in the lateral movement information comprises: When it is determined that the adjustment wheels of the vehicle are the right front wheel and the left rear wheel of the vehicle, and the rotating wheels are the right rear wheel and the left front wheel of the vehicle, the left front wheel is controlled to rotate right according to the target steering wheel angle with the right rear wheel as the rotation center, and after the left front wheel is controlled to rotate right according to the target steering wheel angle, the right front wheel, the left front wheel and the left rear wheel are braked, the brake on the right rear wheel is released, and the right rear wheel is controlled to rotate right according to the target steering wheel angle with the left front wheel as the rotation center; or, When it is determined that the adjustment wheels of the vehicle are the left front wheel and the right rear wheel of the vehicle, and the rotating wheels are the right front wheel and the left rear wheel of the vehicle, the left rear wheel is controlled to turn right according to the target steering wheel angle with the right front wheel as the rotation center, and after the left rear wheel is controlled to turn right according to the target steering wheel angle, the right rear wheel, the left front wheel and the left rear wheel are braked, the brakes on the right front wheel are released, and the right front wheel is controlled to turn right according to the target steering wheel angle with the left rear wheel as the rotation center.

11. The method according to claim 7, characterized in that The step of determining the adjustment wheel and the rotation wheel of the vehicle based on the target steering wheel torque and according to the first distance and / or the second distance includes: When it is determined that the lateral movement direction of the vehicle is to the left according to the target steering wheel torque, if it is detected that the first distance is greater than a first preset threshold or the first distance is greater than the second distance, the adjustment wheels of the vehicle are determined to be the left front wheel and the right rear wheel of the vehicle, and the rotating wheels are determined to be the left rear wheel and the right front wheel of the vehicle; or, If it is detected that the second distance is greater than a second preset threshold or the first distance is less than or equal to the second distance, it is determined that the adjustment wheels of the vehicle are the left rear wheel and the right front wheel of the vehicle, and the rotating wheels are the left front wheel and the right rear wheel of the vehicle.

12. The method according to claim 11, characterized in that The adjusting the suspension of the vehicle to adjust the vertical force of the wheel through the suspension includes: braking the left rear wheel, the left front wheel and the right rear wheel, and after braking the left rear wheel, the left front wheel and the right rear wheel, adjusting the suspension of the vehicle to increase the vertical force of the left front wheel and the right rear wheel through the suspension; or, The left front wheel, the right front wheel and the left rear wheel are braked, and after the left front wheel, the right front wheel and the left rear wheel are braked, the suspension of the vehicle is adjusted to increase the vertical force of the right front wheel and the left rear wheel through the suspension.

13. The method according to claim 12, characterized in that The step of controlling the rotation of the rotating wheel according to the target steering wheel angle and the target steering wheel torque in the lateral movement information comprises: When it is determined that the adjustment wheels of the vehicle are the left front wheel and the right rear wheel of the vehicle, and the rotating wheels are the left rear wheel and the right front wheel of the vehicle, the right front wheel is controlled to turn left according to the target steering wheel angle with the left rear wheel as the rotation center, and after the right front wheel is controlled to turn left according to the target steering wheel angle, the right front wheel, the left front wheel and the right rear wheel are braked, the brake on the left rear wheel is released, and the left rear wheel is controlled to turn left according to the target steering wheel angle with the right front wheel as the rotation center; or, When it is determined that the adjustment wheels of the vehicle are the right front wheel and the left rear wheel of the vehicle, and the rotating wheels are the left front wheel and the right rear wheel of the vehicle, the left front wheel is used as the rotation center and the right rear wheel is controlled to turn left according to the target steering wheel angle. After the right rear wheel is controlled to turn left according to the target steering wheel angle, the right rear wheel, the right front wheel and the left rear wheel are braked, the brake on the left front wheel is released, and the left front wheel is controlled to turn left according to the target steering wheel angle with the right rear wheel as the rotation center.

14. The method according to claim 6, characterized in that After controlling the rotation of the rotating wheel according to the target steering wheel angle and the target steering wheel torque in the lateral movement information, the method further includes: Determining a target lateral movement distance of the vehicle according to the target lateral movement information; detecting whether an actual lateral movement distance of the vehicle after the rotating wheel is controlled to rotate according to the target steering wheel angle and the target steering wheel torque in the lateral movement information is consistent with the target lateral movement distance; If the detection result is consistent, it is determined that the lateral movement of the vehicle is completed, and the suspension of the vehicle is adjusted to an initial state, and the brakes on each wheel of the vehicle are released; If the detection results are inconsistent, the step of controlling the rotation of the rotating wheel according to the target steering wheel angle and the target steering wheel torque in the lateral movement information is performed.

15. A vehicle lateral movement control device, characterized in that: The device comprises: An acquisition unit, used to acquire the driving information of the vehicle; and to acquire the target lateral movement information of the vehicle; A control unit is used to control the wheels and suspension of the vehicle according to the driving information and the target lateral movement information to control the lateral movement of the vehicle.

16. A computing device, characterized in that The method comprises a processor and a memory, wherein the processor and the memory are connected to each other, wherein the memory is used to store a computer program, and the processor is configured to call the computer program to execute the method according to any one of claims 1 to 14.

17. A vehicle, characterized in that: The vehicle comprises an active suspension system and a vehicle lateral movement control device, and the vehicle lateral movement control device is used to execute the method according to any one of claims 1 to 14 to control the lateral movement of the vehicle.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program instructions, which, when executed, implement the method according to any one of claims 1 to 14.

19. A computer program product, characterized in that The computer program product comprises program instructions, and when the program instructions are executed by a processor, the method according to any one of claims 1 to 14 is implemented.

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