Vehicle control method and device under deceleration strip working condition, vehicle, medium and program

Abstract

The invention relates to the technical field of vehicle control, and discloses a vehicle control method and device under a deceleration strip working condition, a vehicle, a medium and a program.The method comprises the steps that when a deceleration strip exists in front of the vehicle, according to a first distance between a front wheel and the deceleration strip and an initial state parameter of the vehicle, a second distance between the front wheel and the deceleration strip when adjustment begins in the future is determined; when the current distance is smaller than the second distance, the torque of the front-axle motor is reduced, the torque of the rear-axle motor is increased, the damping of the front and rear suspensions is adjusted, and the follow-up front wheels are prevented from moving forwards when passing through the deceleration strip; when the front wheels pass through the speed bump, the torque of the front-axle motor is increased, the torque of the rear-axle motor is reduced, the damping of the front and rear suspensions is adjusted, and the rear wheels are prevented from moving forwards when passing through the speed bump. Finally, when the rear wheels pass through the speed bump, the torque and damping of the vehicle are recovered to the initial states, the consistency of the states before and after the vehicle passes through the speed bump is guaranteed, and therefore the driving experience of a user is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle control method, device, vehicle, medium and program under speed bump conditions. Background Art

[0002] When a vehicle passes over a speed bump at a high speed, the wheels may be impacted by the speed bump and bounce in the air. Since the driver often brakes and decelerates when passing over a speed bump, when a wheel is in the air, it will not be able to provide braking force to the vehicle, which will result in a temporary reduction in the deceleration of the entire vehicle. The driver will feel the vehicle jumping forward, affecting the driving experience.

[0003] At present, wheel speed signal processing or intelligent identification of speed bumps can be used to send a torque-increasing prohibition command to the motor of the wheel axle that is passing through the speed bump to prevent the drag torque control (DTC) function from increasing torque due to the increased slip rate of the suspended wheel when the wheel is suspended, thereby avoiding insufficient braking torque when the wheel touches the ground again. However, the braking torque of the suspended wheel will still be lost, and there will still be a brief forward rush. It is also possible to divide the vehicle's passage through the speed bump into stages, and adjust the damping of the front and rear suspensions for each stage to weaken the impact of the speed bump on the vehicle. However, when the vehicle speed and the speed bump height exceed the upper limit of its ability to prevent the wheel from being suspended, the problem of braking torque loss of the suspended wheel will occur, causing the vehicle to rush forward.

[0004] Therefore, how to prevent the vehicle from moving forward due to the loss of torque on the suspended wheels when passing through speed bumps has become a key issue that needs to be solved urgently. Summary of the invention

[0005] In view of this, the present invention provides a vehicle control method, device, vehicle, medium and program under speed bump conditions to solve the problem of vehicle rushing forward due to loss of torque of suspended wheels when the vehicle passes through a speed bump in related control methods.

[0006] In a first aspect, the present invention provides a vehicle control method under speed bump conditions, which is applied to a vehicle body motion controller, and the method comprises:

[0007] When there is a speed bump in front of the vehicle, obtaining a first distance between the front wheels of the vehicle and the speed bump and an initial state parameter of the vehicle, and determining a second distance between the front wheels of the vehicle and the speed bump when starting to adjust the motor torque and suspension damping of the vehicle in the future based on the initial state parameter and the first distance;

[0008] When it is detected that the first distance is smaller than the second distance, the front axle motor torque of the vehicle is reduced, the rear axle motor torque of the vehicle is increased, and the front suspension damping of the vehicle is controlled to be smaller than the rear suspension damping;

[0009] When the front wheels of the vehicle are passing through a speed bump, the front axle motor torque of the vehicle is increased, the rear axle motor torque of the vehicle is reduced, and the front suspension damping of the vehicle is controlled to be greater than the rear suspension damping;

[0010] When the rear wheels of the vehicle are passing through a speed bump, the motor torque and suspension damping of the vehicle are restored to the initial state based on the initial state parameters.

[0011] Beneficial effect: When there is a speed bump in front of the vehicle, the second distance between the front wheel and the speed bump when the adjustment starts in the future is determined according to the first distance between the front wheel and the speed bump and the vehicle's initial state parameters, so that when the current distance is less than the second distance, the front axle motor torque is reduced, the rear axle motor torque is increased, and the front and rear suspension damping is adjusted to prevent the front wheel from rushing forward when passing the speed bump in the future; when the front wheel passes the speed bump, the front axle motor torque is increased, the rear axle motor torque is reduced, and the front and rear suspension damping is adjusted to prevent the rear wheel from rushing forward when passing the speed bump in the future. Finally, when the rear wheel passes the speed bump, the vehicle torque and damping are restored to the initial state to ensure the consistency of the state of the vehicle before and after passing the speed bump.

[0012] In an optional implementation, the body motion controller is connected to the vehicle controller of the vehicle; reducing the front axle motor torque of the vehicle, increasing the rear axle motor torque of the vehicle, and controlling the front suspension damping of the vehicle to be less than the rear suspension damping, including:

[0013] The first torque distribution mode and the preset torque change gradient are sent to the vehicle controller, so that the vehicle controller gradually and completely transfers the front axle motor torque to the rear axle motor torque based on the driver's required torque, the first torque distribution mode and the preset torque change gradient; wherein the sum of the front axle motor torque and the rear axle motor torque is the driver's required torque, and the first torque distribution mode is used to characterize the proportion of the front axle motor torque and the rear axle motor torque in the driver's required torque;

[0014] The front suspension damping is adjusted to a first preset damping corresponding to the front suspension when the front wheels of the vehicle pass through a speed bump, and the rear suspension damping is adjusted to a second preset damping corresponding to the rear suspension when the front wheels of the vehicle pass through a speed bump; wherein the first preset damping is less than or equal to the second preset damping.

[0015] Beneficial effects: The body motion controller requests the vehicle controller to gradually reduce the front axle motor torque and increase the rear axle motor torque according to the preset torque change gradient, gradually and completely transfer the front axle motor torque to the rear axle motor torque, and concentrate the driver's required torque on the rear wheels that will not contact the speed bump in the next stage to prevent the vehicle from rushing forward. At the same time, the damping of the rear suspension is increased, the impact of the speed bump on the wheels is reduced, the body pitch is suppressed, and the risk of the wheels bouncing and hanging in the air is reduced, so that when the subsequent front wheels pass through the speed bump, the rear wheels that provide braking torque are well grounded.

[0016] In an optional implementation, increasing the front axle motor torque of the vehicle, reducing the rear axle motor torque of the vehicle, and controlling the front suspension damping of the vehicle to be greater than the rear suspension damping includes:

[0017] The second torque distribution mode and the preset torque change gradient are sent to the vehicle controller, so that the vehicle controller gradually and completely transfers the rear axle motor torque to the front axle motor torque based on the driver's required torque, the second torque distribution mode and the preset torque change gradient; wherein the sum of the front axle motor torque and the rear axle motor torque is the driver's required torque, and the second torque distribution mode is used to characterize the proportion of the front axle motor torque and the rear axle motor torque in the driver's required torque;

[0018] The front suspension damping is adjusted to the third preset damping corresponding to the front suspension when the rear wheels of the vehicle pass through the speed bump, and the rear suspension damping is adjusted to the fourth preset damping corresponding to the rear suspension when the rear wheels of the vehicle pass through the speed bump; wherein the third preset damping is greater than or equal to the fourth preset damping.

[0019] Beneficial effects: The body motion controller requests the vehicle controller to gradually increase the front axle motor torque and reduce the rear axle motor torque according to the preset torque change gradient, gradually and completely transfer the rear axle motor torque to the front axle motor torque, and distribute the driver's required torque to the front wheels that will not contact the speed bump in the next stage to prevent the vehicle from rushing forward. At the same time, the damping of the front suspension is increased, the impact of the speed bump on the wheels is reduced, the body pitch is suppressed, and the risk of the wheels bouncing and hanging in the air is reduced, so that when the rear wheels pass the speed bump later, the front wheels that provide braking torque are well grounded.

[0020] In an optional implementation, based on the initial state parameter and the first distance, determining a second distance between the front wheel of the vehicle and the speed bump when adjusting the motor torque and suspension damping of the vehicle in the future includes:

[0021] Determine the torque adjustment time, the front suspension damping adjustment time and the rear suspension damping adjustment time based on the initial state parameters, and determine the longest adjustment time based on the maximum value of the torque adjustment time, the front suspension damping adjustment time and the rear suspension damping adjustment time;

[0022] Based on the initial state parameters, the first distance and the longest adjustment time, a second distance between the front wheels of the vehicle and the speed bump is calculated when the motor torque and suspension damping of the vehicle begin to be adjusted in the future.

[0023] Beneficial effect: By determining the longest adjustment time from the start of adjustment to the time when the front wheels of the vehicle pass through the speed bump, and calculating the second distance between the front wheels of the vehicle and the speed bump when the adjustment starts based on the initial state parameters of the vehicle and the first distance, it is convenient to control the front wheels of the vehicle in time before they pass through the speed bump.

[0024] In an optional implementation, the initial state parameters include the initial torque of the front axle motor, the initial damping of the front suspension, and the initial damping of the rear suspension; and determining the torque adjustment time, the front suspension damping adjustment time, and the rear suspension damping adjustment time based on the initial state parameters includes:

[0025] The torque adjustment time is calculated based on the ratio of the initial torque of the front axle motor to the preset torque change gradient;

[0026] The front suspension damping adjustment time is calculated based on the ratio of the difference between the initial damping of the front suspension and the first preset damping to the preset damping change gradient;

[0027] The rear suspension damping adjustment time is calculated based on the ratio of the difference between the initial damping of the rear suspension and the second preset damping to the preset damping change gradient.

[0028] Beneficial effect: By calculating the torque adjustment time, the front suspension damping adjustment time and the rear suspension damping adjustment time, it is convenient to determine the longest adjustment time from the start of adjustment to the time when the front wheel passes through the speed bump, so as to make torque and damping adjustments in time before the front wheel passes through the speed bump.

[0029] In an optional implementation, the initial state parameters further include vehicle speed and longitudinal acceleration; based on the initial state parameters, the first distance and the longest adjustment time, calculating the second distance between the front wheel of the vehicle and the speed bump when the motor torque and suspension damping of the vehicle are adjusted in the future, includes:

[0030] The time when the front wheel of the vehicle reaches the speed bump is calculated according to the vehicle speed, the longitudinal acceleration and the first distance;

[0031] Based on the vehicle speed, longitudinal acceleration, the longest adjustment time and the moment when the front wheels of the vehicle reach the speed bump, a second distance between the front wheels of the vehicle and the speed bump is calculated when the motor torque and suspension damping of the vehicle are adjusted in the future.

[0032] Beneficial effect: By calculating the moment when the front wheels of the vehicle reach the speed bump, and according to the vehicle speed, longitudinal acceleration and the longest adjustment time, the second distance between the front wheels of the vehicle and the speed bump when starting the adjustment is determined, which is simple and efficient.

[0033] In an optional implementation, the initial state parameters include the front axle motor initial torque, the rear axle motor initial torque, the front suspension initial damping, and the rear suspension initial damping; based on the initial state parameters, restoring the motor torque and suspension damping of the vehicle to the initial state includes:

[0034] Sending the initial torque of the front axle motor and the initial torque of the rear axle motor to the vehicle controller, so that the vehicle controller adjusts the torque of the front axle motor to the initial torque of the front axle motor and adjusts the torque of the rear axle motor to the initial torque of the rear axle motor;

[0035] Adjust the front suspension damping to the front suspension initial damping, and adjust the rear suspension damping to the rear suspension initial damping.

[0036] Beneficial effect: The front and rear suspension damping and the front and rear axle motor torque of the vehicle are restored to the initial state before the vehicle passes through the speed bump, ensuring the consistency of the state of the vehicle before and after passing through the speed bump, which is beneficial to improving the user's driving experience.

[0037] In an optional embodiment, the vehicle body motion controller is connected to an integrated brake controller of the vehicle; the method further comprises:

[0038] Receiving wheel status information sent by the integrated brake controller; the wheel status information is obtained by the integrated brake controller comparing the wheel speed, wheel acceleration and slip rate of the vehicle with the preset wheel speed, preset wheel acceleration and preset slip rate respectively;

[0039] According to the wheel status information, it is determined whether the front wheels and the rear wheels of the vehicle are passing through the speed bump.

[0040] Beneficial effect: The vehicle's existing integrated brake controller obtains wheel status information based on wheel speed, wheel acceleration and slip rate, making it easier for the vehicle body motion controller to determine whether the front and rear wheels are passing through speed bumps. No additional hardware equipment is required, the cost is low and it is easy to implement.

[0041] In an optional embodiment, the vehicle body motion controller is connected to an advanced driver assistance system of the vehicle; and the method further comprises:

[0042] Receiving speed bump information sent by an advanced driver assistance system; the speed bump information is obtained by the advanced driver assistance system through image recognition based on collected environment images;

[0043] Based on the speed bump information, it is determined whether there is a speed bump ahead of the vehicle.

[0044] Beneficial effect: The speed bump information in front of the vehicle is obtained through the vehicle's existing advanced driving assistance system, which makes it easier for the body motion controller to determine whether there is a speed bump in front of the vehicle without adding additional hardware, and the implementation cost is low.

[0045] In a second aspect, the present invention provides a vehicle control device under speed bump conditions, which is applied to a vehicle body motion controller, and the device comprises:

[0046] a first processing module, configured to obtain, when a speed bump exists in front of the vehicle, a first distance between the front wheels of the vehicle and the speed bump and an initial state parameter of the vehicle, and determine, based on the initial state parameter and the first distance, a second distance between the front wheels of the vehicle and the speed bump when starting to adjust the motor torque and suspension damping of the vehicle in the future;

[0047] a second processing module, configured to reduce the front axle motor torque of the vehicle, increase the rear axle motor torque of the vehicle, and control the front suspension damping of the vehicle to be smaller than the rear suspension damping when detecting that the first distance is smaller than the second distance;

[0048] a third processing module, for increasing the front axle motor torque of the vehicle, reducing the rear axle motor torque of the vehicle, and controlling the front suspension damping of the vehicle to be greater than the rear suspension damping when the front wheels of the vehicle are passing through a speed bump;

[0049] The fourth processing module is used to restore the motor torque and suspension damping of the vehicle to an initial state based on the initial state parameters when the rear wheels of the vehicle are passing through a speed bump.

[0050] In a third aspect, the present invention provides a vehicle, including a vehicle body motion controller;

[0051] The vehicle body motion controller includes a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the vehicle control method under speed bump conditions of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0052] In an optional embodiment, the vehicle further includes a vehicle controller, an integrated brake controller and an advanced driver assistance system, wherein the vehicle controller, the integrated brake controller and the advanced driver assistance system are respectively connected to the body motion controller;

[0053] The vehicle controller is used to adjust the front axle motor torque and rear axle motor torque of the vehicle;

[0054] The integrated brake controller is used to compare the wheel speed, wheel acceleration and slip ratio of the vehicle with the preset wheel speed, preset wheel acceleration and preset slip ratio respectively, and send the obtained wheel state information to the body motion controller;

[0055] The advanced driver assistance system is used to perform image recognition based on the collected environmental images and send the obtained speed bump information to the body motion controller.

[0056] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the vehicle control method under speed bump conditions of the first aspect or any corresponding embodiment thereof.

[0057] In a fifth aspect, the present invention provides a computer program product, comprising computer instructions for causing a computer to execute the vehicle control method under speed bump conditions of the first aspect or any corresponding embodiment thereof.

[0058] The beneficial effects of the present invention are:

[0059] When there is a speed bump in front of the vehicle, the second distance between the front wheel and the speed bump when the adjustment starts in the future is determined based on the first distance between the front wheel and the speed bump and the vehicle's initial state parameters. Therefore, when the current distance is less than the second distance, the front axle motor torque is reduced, the rear axle motor torque is increased, and the front and rear suspension damping is adjusted to prevent the front wheel from rushing forward when passing the speed bump in the future; when the front wheel passes the speed bump, the front axle motor torque is increased, the rear axle motor torque is reduced, and the front and rear suspension damping is adjusted to prevent the rear wheel from rushing forward when passing the speed bump in the future. Finally, when the rear wheel passes the speed bump, the vehicle torque and damping are restored to the initial state to ensure the consistency of the vehicle's state before and after passing the speed bump. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0061] Figure 1 is a structural block diagram of a vehicle according to an embodiment of the present invention;

[0062] Figure 2 is a structural schematic diagram of a vehicle according to an embodiment of the present invention;

[0063] Figure 3 is a schematic structural diagram of a vehicle internal system according to an embodiment of the present invention;

[0064] Figure 4 is a flow chart of a vehicle control method under speed bump conditions according to an embodiment of the present invention;

[0065] Figure 5 is a flow chart of a vehicle control method under another speed bump condition according to an embodiment of the present invention;

[0066] Figure 6 is a schematic diagram of a stage of a vehicle passing through a speed bump according to an embodiment of the present invention;

[0067] Figure 7 is a schematic diagram of a principle of estimating a starting distance according to an embodiment of the present invention;

[0068] Figure 8 is a flow chart of a vehicle control method under another speed bump condition according to an embodiment of the present invention;

[0069] Fig. 9is a structural block diagram of a vehicle control device under speed bump conditions according to an embodiment of the present invention;

[0070] Fig.10 It is a schematic diagram of the hardware structure of the vehicle body motion controller according to an embodiment of the present invention. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0072] When a vehicle passes over a speed bump at a high speed, the wheels may bounce in the air due to the impact of the speed bump. Since the driver often brakes and decelerates when passing over a speed bump, when a wheel is in the air, the wheel will not be able to provide braking force to the vehicle, which will be manifested as a temporary reduction in the deceleration of the entire vehicle. The driver will feel the vehicle rushing forward, affecting the driving experience. For example, when the two wheels on the front axle of the vehicle bounce in the air, the entire vehicle will instantly lose about 70% of its braking deceleration, and the feeling of rushing forward is very obvious.

[0073] At present, the related technology identifies the speed bump through wheel speed signal processing or intelligent driving system, and sends a torque-increasing prohibition command to the motor of the wheel axle that is passing through the speed bump, so as to prevent the DTC function from increasing torque due to the increased slip rate of the suspended wheel when the wheel is suspended, resulting in insufficient braking torque when the wheel touches the ground again. However, the braking torque of the suspended wheel in this method is still lost, resulting in a short forward rush.

[0074] In addition, the collision time between the vehicle and the speed bump can be calculated based on the width and height of the speed bump. The vehicle's passage through the speed bump can be divided into stages based on the collision time. The damping of the front and rear suspensions can be adjusted for each stage to weaken the impact of the speed bump on the vehicle, thereby suppressing the pitching motion of the vehicle body and keeping the vehicle body stable. However, when the vehicle speed and the speed bump height exceed the upper limit of the ability to prevent the wheels from hanging in the air, the problem of loss of braking torque on the hanging wheels will occur, which will still cause the vehicle to rush forward.

[0075] Therefore, the embodiment of the present invention provides a vehicle control method under speed bump conditions, which can effectively solve the problem of vehicle forward movement when passing through speed bumps by adjusting torque distribution and vehicle suspension damping, thereby improving the riding comfort and driving experience satisfaction of customers. In addition, the present invention can be implemented based on sensors, controllers, and actuators of some existing vehicle models, without increasing additional hardware costs, and has a low implementation cost.

[0076] According to an embodiment of the present invention, a vehicle is provided, such as Figure 1 As shown, the vehicle includes a vehicle motion controller (VMC) 101, wherein the vehicle motion controller 101, namely the VMC, is specifically used for:

[0077] First, when there is a speed bump in front of the vehicle, the first distance between the front wheels of the vehicle and the speed bump and the initial state parameters of the vehicle are obtained, and based on the initial state parameters and the first distance, the second distance between the front wheels of the vehicle and the speed bump is determined when the motor torque and suspension damping of the vehicle are adjusted in the future.

[0078] Next, when it is detected that the first distance is smaller than the second distance, the front axle motor torque of the vehicle is reduced, the rear axle motor torque of the vehicle is increased, and the front suspension damping of the vehicle is controlled to be smaller than the rear suspension damping.

[0079] Then, when the front wheels of the vehicle are passing through a speed bump, the front axle motor torque of the vehicle is increased, the rear axle motor torque of the vehicle is reduced, and the front suspension damping of the vehicle is controlled to be greater than the rear suspension damping.

[0080] Finally, when the rear wheels of the vehicle are passing through a speed bump, the motor torque and suspension damping of the vehicle are restored to the initial state based on the initial state parameters.

[0081] The specific working principle of the vehicle body motion controller 101 can be found in the description of the method embodiment below, which will not be repeated here.

[0082] Specifically, this embodiment is implemented based on intelligent driving technology, distributed drive technology and suspension damping control technology. Figure 2 As shown, the front part of the vehicle body is equipped with intelligent driving systems such as cameras and radars of the Advanced Driver Assistance Systems (ADAS). The front and rear axles each have an electric motor and are driven independently, and the front and rear suspensions are equipped with shock absorbers with adjustable damping.

[0083] It is important to understand that intelligent driving technology refers to the technology in which machines help people drive and completely replace human driving under special circumstances. The intelligent driving system senses the surrounding environment and makes driving decisions in real time, thereby realizing autonomous driving of the vehicle; distributed drive technology refers to the technology in which two or more motors drive their respective axles and control the movement of the wheels by controlling the torque or speed of the motors. The distributed drive system can individually adjust the drive / braking torque of each motor to achieve refined tire torque management and improve vehicle handling and driving stability; suspension damping control technology is a semi-active suspension control technology, which uses solenoid valves to continuously adjust the damping of the suspension shock absorber according to road conditions and form conditions to ensure optimal handling stability and ride comfort.

[0084] In some optional embodiments, such as Figure 3 As shown, the vehicle also includes a vehicle control unit (VCU), an integrated brake control unit (IBCU) and an advanced driver assistance system ADAS, wherein the vehicle control unit VCU, the integrated brake control unit IBCU and the advanced driver assistance system ADAS are respectively connected to the body motion controller VMC.

[0085] Specifically, the vehicle controller is used to adjust the torque of the front axle motor and the rear axle motor of the vehicle. For example, the VMC runs the main control program to control the damping of the front and rear suspensions, and sends anti-sprint function requests, torque distribution methods and torque change gradients to the VCU, so that the VCU can control the torque of the front and rear motors and feedback the actual torque of the front and rear axle motors to the VMC.

[0086] Specifically, the integrated brake controller is used to compare the vehicle's wheel speed, wheel acceleration and slip ratio with the preset wheel speed, preset wheel acceleration and preset slip ratio, and send the obtained wheel status information to the body motion controller. Exemplarily, the IBCU processes the wheel speed information collected by four wheel speed sensors, calculates the reference vehicle speed and longitudinal acceleration, identifies whether the front and rear wheels of the vehicle are passing through a speed bump through the wheel speed change gradient characteristics, generates wheel status information and sends it to the VMC.

[0087] Specifically, the advanced driver assistance system is used to perform image recognition based on the collected environmental images and send the obtained speed bump information to the body motion controller. For example, ADAS identifies whether there is a speed bump from the images collected by the camera and radar and extracts the distance information of the speed bump to the front wheel, generates the speed bump information and sends it to the VMC.

[0088] The embodiment of the present invention effectively solves the problem of vehicle rushing forward when passing through speed bumps by adjusting the motor torque and suspension damping at different stages before and after the vehicle passes through speed bumps, thereby improving customers' riding comfort and driving satisfaction. This embodiment is implemented based on the vehicle's existing sensors, controllers and actuators, does not increase additional hardware costs, and has a low cost.

[0089] According to an embodiment of the present invention, an embodiment of a vehicle control method under speed bump conditions is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0090] In this embodiment, a vehicle control method under speed bump conditions is provided, which can be used Figure 1 The body motion controller shown, such as MCU, single chip microcomputer, etc., Figure 4 is a flow chart of a vehicle control method under a speed bump condition according to an embodiment of the present invention. Figure 4 As shown, the process includes the following steps:

[0091] Step S401, when there is a speed bump in front of the vehicle, obtain the first distance between the front wheels of the vehicle and the speed bump and the initial state parameters of the vehicle, and based on the initial state parameters and the first distance, determine the second distance between the front wheels of the vehicle and the speed bump when starting to adjust the motor torque and suspension damping of the vehicle in the future.

[0092] Specifically, the vehicle body motion controller VMC is connected to the vehicle's advanced driving assistance system ADAS, and the vehicle body motion controller VMC receives the speed bump information sent by the advanced driving assistance system ADAS, and determines whether there is a speed bump in front of the vehicle based on the speed bump information. When it is determined that there is a speed bump in front of the vehicle, the second distance is estimated based on the current first distance between the front wheels of the vehicle and the speed bump and the initial state parameters of the vehicle such as the vehicle speed and the longitudinal acceleration, that is, the distance between the front wheels of the vehicle and the speed bump when the motor torque and the suspension damping are adjusted.

[0093] It should be noted that the speed bump operating condition in the present invention does not only refer to the deceleration under a standard speed bump, but can also include the deceleration behavior when the vehicle encounters special road surfaces such as protruding road surfaces and potholes during driving.

[0094] It should be noted that the speed bump information is obtained by the advanced driving assistance system ADAS through image recognition based on the collected environmental images, which mainly includes whether there is a speed bump in front of the vehicle, the distance information between the front wheels of the vehicle and the speed bump, etc. ADAS detects the image of the speed bump in front through cameras and radars, and can use neural network algorithms such as YOLO to identify and extract the existence status of the speed bump, the distance between the speed bump and the front wheels, and send it to the VMC in real time.

[0095] This embodiment uses the vehicle's existing advanced driver assistance system to obtain speed bump information in front of the vehicle, making it easier for the body motion controller to determine whether there is a speed bump in front of the vehicle without adding additional hardware, and the implementation cost is low.

[0096] Step S402, when it is detected that the first distance is smaller than the second distance, the front axle motor torque of the vehicle is reduced, the rear axle motor torque of the vehicle is increased, and the front suspension damping of the vehicle is controlled to be smaller than the rear suspension damping.

[0097] Specifically, when the current distance between the front wheel and the speed bump, that is, the first distance, is less than the estimated second distance, the suspension damping and the motor torque of the vehicle begin to be regulated.

[0098] It should be noted that, in different stages before and after the vehicle passes through the speed bump, the braking torque required by the driver needs to be concentrated on the wheels that will not contact the speed bump in the next stage (in this step S402, the next stage is that the front wheels pass through the speed bump, and the wheels that will not contact the speed bump are the rear wheels of the vehicle), and the damping of the front and rear suspensions is adjusted to reduce the impact of the speed bump on the wheels, suppress the pitch of the vehicle body, reduce the risk of wheels bouncing and hanging in the air, and ensure that the wheels providing the braking torque (when the front wheels pass through the speed bump in the next stage, the braking torque is temporarily provided by the rear wheels) are well grounded.

[0099] In addition, in terms of technical feasibility, since the braking deceleration in daily driving is usually between 0.1g and 0.3g, the braking torque can be provided entirely by motor energy recovery, and the torque response time of the motor and the damping response time of the electronically controlled shock absorber are usually tens of milliseconds, which is enough to complete the adjustment action in the process of passing through the speed bump.

[0100] Step S403, when the front wheels of the vehicle are passing through a speed bump, the front axle motor torque of the vehicle is increased, the rear axle motor torque of the vehicle is reduced, and the front suspension damping of the vehicle is controlled to be greater than the rear suspension damping.

[0101] Specifically, the vehicle body motion controller VMC is connected to the vehicle's integrated brake controller IBCU. The VMC receives wheel status information sent by the integrated brake controller IBCU and determines whether the front wheels and the rear wheels of the vehicle are passing through speed bumps based on the wheel status information.

[0102] It should be noted that the wheel status information is obtained by the integrated brake controller IBCU comparing the vehicle's wheel speed, wheel acceleration and slip rate with the preset wheel speed, preset wheel acceleration and preset slip rate. The IBCU filters and calculates the signal of the wheel speed sensor to obtain the wheel speed, wheel acceleration and slip rate of each wheel. When one or more of them exceeds the calibrated threshold, it is considered that the wheel is passing through a speed bump and the status of the wheel is sent to the VMC.

[0103] In this embodiment, the vehicle's existing integrated brake controller obtains wheel status information based on wheel speed, wheel acceleration and slip rate, which makes it easier for the body motion controller to determine whether the front and rear wheels are passing through speed bumps. There is no need to add additional hardware equipment, the cost is low, and it is easy to implement.

[0104] Specifically, at the current stage, the braking torque required by the driver needs to be concentrated on the wheels that will not contact the speed bump in the next stage (in this step S403, the next stage is when the rear wheels pass through the speed bump, and the wheels that will not contact the speed bump are the front wheels of the vehicle), and the damping of the front and rear suspensions must be adjusted to reduce the impact of the speed bump on the wheels, suppress the pitch of the vehicle body, and reduce the risk of the wheels bouncing and hanging in the air, so that the wheels that provide the braking torque (when the rear wheels pass through the speed bump, the front wheels temporarily provide the braking torque) are well grounded.

[0105] Step S404, when the rear wheels of the vehicle are passing through a speed bump, the motor torque and suspension damping of the vehicle are restored to an initial state based on the initial state parameters.

[0106] Specifically, the initial state of the vehicle before starting to adjust the damping and torque of the vehicle can be recorded in the initial state parameters, so that when the rear wheels of the vehicle pass through the speed bump, the motor torque and suspension damping of the vehicle can be restored to the initial state, thereby ensuring the consistency of the state of the vehicle before and after passing the speed bump.

[0107] On the one hand, compared with the method in the related art of calculating the speed bump collision time by the width and height of the speed bump and dividing the vehicle control stage according to the speed bump collision time, the present embodiment divides the vehicle control at different stages by calculating the distance between the front wheels of the vehicle and the speed bump when the vehicle starts to be regulated in the future and the moment when the front / rear wheels of the vehicle pass through the speed bump. It is not limited by the width and height of the speed bump and can achieve the effect of preventing the vehicle from rushing forward.

[0108] On the other hand, the related technology will distribute driving force / braking force to each wheel when the vehicle passes through a speed bump. However, applying driving force to other wheels when the wheels are suspended in the air will cause the other wheels to continue moving under the action of the driving force, which is more likely to cause the vehicle to rush forward. Although applying braking force to the wheels is beneficial to maintaining the stability of the vehicle body, the related technology maintains the stability of the vehicle body by distributing braking force to the wheels that are about to pass through the speed bump to prevent the wheels from being suspended in the air. Moreover, the related technology does not design the specific distribution of braking force between the front and rear wheels, which can easily lead to the braking force applied to the wheels not matching the braking torque required by the driver, greatly affecting the driver's driving experience.

[0109] Compared with the related art, the embodiment of the present invention distributes the braking torque required by the driver to other wheels that will not contact the speed bump in the next stage when the wheels pass through the speed bump. That is, the present invention does not suppress the wheels from being suspended in the air, but achieves the effect of preventing the vehicle from rushing forward by enhancing the grip of other wheels that are not suspended in the air. At the same time, the braking force is distributed according to the braking torque required by the driver, which is in line with the driver's needs and can improve the driver's comfort during driving; in addition, the vehicle state recovery is used to ensure the consistency of the state of the vehicle before and after passing the speed bump, further improving the driver's driving experience.

[0110] The vehicle control method under the speed bump condition provided in this embodiment is to determine the second distance between the front wheel and the speed bump when the adjustment starts in the future according to the first distance between the front wheel and the speed bump and the vehicle initial state parameters when there is a speed bump in front of the vehicle, so that when the current distance is less than the second distance, the front axle motor torque is reduced, the rear axle motor torque is increased, and the front and rear suspension damping is adjusted to prevent the front wheel from rushing forward when passing the speed bump in the future; when the front wheel passes the speed bump, the front axle motor torque is increased, the rear axle motor torque is reduced, and the front and rear suspension damping is adjusted to prevent the rear wheel from rushing forward when passing the speed bump in the future. Finally, when the rear wheel passes the speed bump, the vehicle torque and damping are restored to the initial state to ensure the consistency of the state of the vehicle before and after passing the speed bump.

[0111] In this embodiment, a vehicle control method under speed bump conditions is provided, which can be used Figure 1 The body motion controller shown, such as MCU, single chip microcomputer, etc., Figure 5 is a flow chart of a vehicle control method under a speed bump condition according to an embodiment of the present invention. Figure 5 As shown, the process includes the following steps:

[0112] Step S501, when there is a speed bump in front of the vehicle, obtain the first distance between the front wheels of the vehicle and the speed bump and the initial state parameters of the vehicle, and based on the initial state parameters and the first distance, determine the second distance between the front wheels of the vehicle and the speed bump when starting to adjust the motor torque and suspension damping of the vehicle in the future.

[0113] Specifically, the above step S501 includes:

[0114] Step S5011, when there is a speed bump in front of the vehicle, obtain a first distance between the front wheels of the vehicle and the speed bump and an initial state parameter of the vehicle.

[0115] like Figure 6As shown, the embodiment of the present invention is divided into four stages in chronological order of the vehicle's motion state: stage 1 is from the intelligent driving system identifying the speed bump ahead to the start of torque and damping control; stage 2 is from the start of torque and damping control to the front wheel colliding with the speed bump; stage 3 is from the front wheel colliding with the speed bump to the rear wheel colliding with the speed bump; stage 4 is from the rear wheel colliding with the speed bump to the completion of torque and damping recovery.

[0116] Specifically, when the VMC receives information that there is a speed bump ahead, it enters stage 1. Stage 1 needs to estimate the starting distance of stage 2, that is, the distance L2 from the speed bump to the front wheel when entering stage 2. The schematic diagram of estimating the starting distance of stage 2 is as follows: Figure 7 As shown, the current time is t, the time of entering stage 2 is t2, and the vehicle speed corresponding to time t2 is v2; the time of entering stage 3 is t3, and the vehicle speed corresponding to time t3 is v3, and t23 represents the longest adjustment time required for stage 2.

[0117] Specifically, the initial state parameters mainly include the initial torque of the front axle motor, the initial torque of the rear axle motor, the initial damping of the front suspension, the initial damping of the rear suspension, the vehicle speed, the longitudinal acceleration and other parameters. In addition, the VMC notifies the VCU to store the torque distribution method of stage 1, and the VMC itself stores the front and rear suspension damping of stage 1.

[0118] In some optional embodiments, ADAS sends the first distance L from the current deceleration belt to the front wheel to VMC in real time, IBCU sends the current vehicle speed v and longitudinal acceleration a to VMC in real time, VCU sends the current front axle motor initial torque TF and rear axle motor initial torque TR to VMC in real time, and VMC obtains the current front suspension initial damping DF and rear suspension initial damping DR in real time.

[0119] In addition, the preset torque change gradients of the front and rear motors are both calibrated values ​​kT, the preset damping change gradients of the front and rear suspensions are both calibrated values ​​kD, the front axle target torque in stage 2 is TF2=0, the front suspension target damping is the calibrated value DF2, and the rear suspension target damping is the calibrated value DR2. All calibration values ​​are stored in the VMC.

[0120] Step S5012, determining the torque adjustment time, the front suspension damping adjustment time and the rear suspension damping adjustment time based on the initial state parameters, and determining the longest adjustment time based on the maximum value of the torque adjustment time, the front suspension damping adjustment time and the rear suspension damping adjustment time.

[0121] In some optional implementations, the above step S5012 includes:

[0122] Step a1, calculating the torque adjustment time based on the ratio of the initial torque of the front axle motor to the preset torque change gradient.

[0123] For example, the torque adjustment time tT2 of stage 2 can be calculated according to the following formula:

[0124]

[0125] Step a2, calculating the front suspension damping adjustment time based on the ratio of the difference between the initial damping of the front suspension and the first preset damping (ie, the front suspension target damping DF2 in stage 2) and the preset damping change gradient.

[0126] For example, the front suspension damping adjustment time tDF2 in stage 2 can be calculated according to the following formula:

[0127]

[0128] Step a3, calculating the rear suspension damping adjustment time based on the ratio of the difference between the initial damping of the rear suspension and the second preset damping (ie, the rear suspension target damping DR2 in stage 2) and the preset damping change gradient.

[0129] For example, the rear suspension damping adjustment time tDR2 in stage 2 can be calculated according to the following formula:

[0130]

[0131] Step a4, determining the longest adjustment time based on the maximum value of the torque adjustment time, the front suspension damping adjustment time and the rear suspension damping adjustment time.

[0132] Exemplarily, the maximum adjustment time t23 required for stage 2 is:

[0133] t23=t3–t2=max[tT2, tDF2, tDR2]

[0134] This embodiment calculates the torque adjustment time, the front suspension damping adjustment time and the rear suspension damping adjustment time to determine the longest adjustment time from the start of adjustment to the time when the front wheel passes through the speed bump, so as to make torque and damping adjustments in time before the front wheel passes through the speed bump.

[0135] Step S5013, based on the initial state parameters, the first distance and the longest adjustment time, calculate the second distance between the front wheel of the vehicle and the speed bump when the motor torque and suspension damping of the vehicle begin to be adjusted in the future.

[0136] In some optional implementations, the above step S5013 includes:

[0137] Step b1, calculating the time when the front wheels of the vehicle reach the speed bump according to the vehicle speed, the longitudinal acceleration and the first distance.

[0138] Exemplarily, the estimated time t3 when the front wheel reaches the speed bump is:

[0139]

[0140] Step b2, based on the vehicle speed, longitudinal acceleration, maximum adjustment time and the moment when the front wheels of the vehicle reach the speed bump, calculate the second distance between the front wheels of the vehicle and the speed bump when the motor torque and suspension damping of the vehicle are adjusted in the future.

[0141] For example, the starting distance of stage 2, that is, the second distance L2 between the front wheel of the vehicle and the speed bump when the motor torque and suspension damping of the vehicle are adjusted in the future, is:

[0142]

[0143] Among them, c is the margin and can be calibrated.

[0144] This embodiment calculates the moment when the front wheels of the vehicle reach the speed bump, and determines the second distance between the front wheels of the vehicle and the speed bump when starting adjustment based on the vehicle speed, longitudinal acceleration and the longest adjustment time, which is simple and efficient.

[0145] In this embodiment, by determining the longest adjustment time from the start of adjustment to the time when the front wheels of the vehicle pass through the speed bump, and calculating the second distance between the front wheels of the vehicle and the speed bump when the adjustment starts based on the initial state parameters of the vehicle and the first distance, timely control is performed before the front wheels of the vehicle pass through the speed bump.

[0146] Step S502, when it is detected that the first distance is smaller than the second distance, the front axle motor torque of the vehicle is reduced, the rear axle motor torque of the vehicle is increased, and the front suspension damping of the vehicle is controlled to be smaller than the rear suspension damping.

[0147] Specifically, the vehicle body motion controller is connected to the vehicle controller of the vehicle, and the above step S502 includes:

[0148] Step S5021, when it is detected that the first distance is less than the second distance, the first torque distribution method and the preset torque change gradient are sent to the vehicle controller, so that the vehicle controller gradually and completely transfers the front axle motor torque to the rear axle motor torque based on the driver's required torque, the first torque distribution method and the preset torque change gradient.

[0149] The sum of the front axle motor torque and the rear axle motor torque is the driver's required torque, and the first torque distribution method is used to characterize the proportion of the front axle motor torque and the rear axle motor torque in the driver's required torque.

[0150] For example, when the VMC receives the current first distance L from the speed reduction belt to the front wheel sent by ADAS and L<L2, it enters stage 2. The VMC sends the first torque distribution mode of stage 2 (front axle motor torque accounts for 0%, rear axle motor torque accounts for 100%) and the preset torque change gradient kT (calibrated value) to the VCU, and the VCU gradually reduces the front axle motor torque and increases the rear axle motor torque according to the preset torque change gradient. At the same time, the VCU needs to ensure that the sum of the front and rear axle motor torques is always equal to the driver's required torque.

[0151] Step S5022, adjusting the front suspension damping to the first preset damping corresponding to the front suspension when the front wheels of the vehicle pass through the speed bump, and adjusting the rear suspension damping to the second preset damping corresponding to the rear suspension when the front wheels of the vehicle pass through the speed bump.

[0152] The first preset damping is less than or equal to the second preset damping.

[0153] Exemplarily, the VMC controls the suspension damping so that the front suspension damping is a first preset damping, that is, a calibration value DF2, and the rear suspension damping is a second preset damping, that is, a calibration value DR2, and DF2≤DR2 is satisfied.

[0154] In the embodiment of the present invention, the body motion controller requests the vehicle controller to gradually reduce the front axle motor torque and increase the rear axle motor torque according to the preset torque change gradient, gradually and completely transfer the front axle motor torque to the rear axle motor torque, and distribute the driver's required torque to the rear wheels that will not contact the speed bump in the next stage to prevent the vehicle from rushing forward. At the same time, the damping of the rear suspension is increased to reduce the impact of the speed bump on the wheels, suppress the pitch of the body, reduce the risk of the wheels bouncing and hanging in the air, and facilitate the rear wheels that provide braking torque to have a good ground connection when the subsequent front wheels pass through the speed bump.

[0155] Step S503, when the front wheels of the vehicle are passing through a speed bump, the front axle motor torque of the vehicle is increased, the rear axle motor torque of the vehicle is reduced, and the front suspension damping of the vehicle is controlled to be greater than the rear suspension damping.

[0156] Specifically, the above step S503 includes:

[0157] Step S5031, when the front wheels of the vehicle are passing through a speed bump, the second torque distribution method and the preset torque change gradient are sent to the vehicle controller, so that the vehicle controller gradually and completely transfers the rear axle motor torque to the front axle motor torque based on the driver's required torque, the second torque distribution method and the preset torque change gradient.

[0158] The sum of the front axle motor torque and the rear axle motor torque is the driver's required torque, and the second torque distribution method is used to characterize the proportion of the front axle motor torque and the rear axle motor torque in the driver's required torque.

[0159] For example, when the VMC receives the information from the IBCU that the front wheels are passing through the speed bump, it enters stage 3. The VMC sends the second torque distribution mode of stage 3 (front axle motor torque accounts for 100%, rear axle motor torque accounts for 0%) and the preset torque change gradient kT (calibrated value) to the VCU. The VCU gradually increases the front axle motor torque and reduces the rear axle motor torque according to the preset torque change gradient. At the same time, the VCU needs to ensure that the sum of the front and rear axle motor torques is always equal to the driver's required torque.

[0160] Step S5032, adjusting the front suspension damping to the third preset damping corresponding to the front suspension when the rear wheels of the vehicle pass through the speed bump, and adjusting the rear suspension damping to the fourth preset damping corresponding to the rear suspension when the rear wheels of the vehicle pass through the speed bump.

[0161] The third preset damping is greater than or equal to the fourth preset damping.

[0162] Exemplarily, the VMC controls the suspension damping so that the front suspension damping is a third preset damping, that is, a calibration value DF3, and the rear suspension damping is a fourth preset damping, that is, a calibration value DR3, and DF3≥DR3 is satisfied.

[0163] In the embodiment of the present invention, the body motion controller requests the vehicle controller to gradually increase the front axle motor torque and reduce the rear axle motor torque according to the preset torque change gradient, gradually and completely transfer the rear axle motor torque to the front axle motor torque, and distribute the driver's required torque to the front wheels that will not contact the speed bump in the next stage to prevent the vehicle from rushing forward. At the same time, the damping of the front suspension is increased to reduce the impact of the speed bump on the wheels, suppress the pitch of the body, reduce the risk of the wheels bouncing and hanging in the air, and facilitate the front wheels that provide braking torque to be well grounded when the rear wheels pass through the speed bump later.

[0164] Step S504, when the rear wheels of the vehicle are passing through a speed bump, the motor torque and suspension damping of the vehicle are restored to an initial state based on the initial state parameters.

[0165] Specifically, the above step S504 includes:

[0166] Step S5041, sending the initial torque of the front axle motor and the initial torque of the rear axle motor to the vehicle controller, so that the vehicle controller adjusts the front axle motor torque to the initial torque of the front axle motor, and adjusts the rear axle motor torque to the initial torque of the rear axle motor.

[0167] For example, when the VMC receives information from the IBCU that the rear wheels are passing through a speed bump, it enters stage 4. The VMC notifies the VCU to control the recovery of the torque distribution method stored in stage 1. In addition, the VCU needs to ensure that the sum of the front and rear axle motor torques is always equal to the driver's required torque.

[0168] Step S5042, adjusting the front suspension damping to the front suspension initial damping, and adjusting the rear suspension damping to the rear suspension initial damping.

[0169] Exemplarily, the VMC controls the front and rear suspension damping stored in stage 1 to restore, and when the VMC receives the torque distribution mode restoration completion from the VCU and detects that the front and rear suspension damping restoration is completed, stage 4 ends. At this point, the control method process of the embodiment of the present invention ends.

[0170] When the rear wheels of a vehicle are passing through a speed bump, the embodiment of the present invention restores the front and rear suspension damping of the vehicle and the front and rear axle motor torques to their initial states before the vehicle passes through the speed bump, thereby ensuring the consistency of the states of the vehicle before and after passing through the speed bump, which is beneficial to improving the user's driving experience.

[0171] The vehicle control method under the speed bump condition provided in this embodiment, when there is a speed bump in front of the vehicle, determines the second distance between the front wheel and the speed bump when the adjustment starts in the future according to the first distance between the front wheel and the speed bump and the vehicle initial state parameters, so that when the current distance is less than the second distance, the front axle motor torque is completely transferred to the rear axle motor torque, and the rear suspension damping is increased to prevent the front wheel from rushing forward when passing the speed bump in the future; when the front wheel passes the speed bump, the rear axle motor torque is completely transferred to the front axle motor torque, and the front suspension damping is increased to prevent the rear wheel from rushing forward when passing the speed bump in the future. Finally, when the rear wheel passes the speed bump, the vehicle torque and damping are restored to the initial state to ensure the consistency of the state of the vehicle before and after passing the speed bump, thereby improving the user experience.

[0172] The vehicle control under the speed bump working condition of the present invention is described in detail below with reference to a specific application example. Figure 8 As shown, the application example includes the following steps:

[0173] Step 1: When the intelligent driving system recognizes that there is a speed bump ahead, it enters stage 1. According to the current first distance from the speed bump to the front wheel (provided by the intelligent driving system), vehicle speed, longitudinal acceleration, front and rear axle motor torque, and front and rear suspension damping, the starting distance of stage 2 is estimated in real time, that is, the second distance between the front wheel of the vehicle and the speed bump when the motor torque and suspension damping of the vehicle are adjusted in the future.

[0174] Step 2: When the distance from the speed reduction belt to the front wheel is less than the starting distance of stage 2, enter stage 2. Transfer the front axle motor torque to the rear axle, and keep the sum of the motor torques of the front and rear axles unchanged; adjust the front suspension damping to a smaller value and the rear suspension damping to a larger value.

[0175] Step 3, when the front wheel passes through the speed bump, enter stage 3. The rear axle motor torque is transferred to the front axle, and the sum of the motor torques of the front and rear axles remains unchanged; the front suspension damping is adjusted to a larger value, and the rear suspension damping is adjusted to a smaller value.

[0176] Step 4: When the rear wheel passes through the speed bump, enter stage 4. Control the torque distribution mode of the front and rear axles and the front and rear suspension damping to return to the state before entering stage 2, that is, the initial state of stage 1. After the recovery is completed, exit stage 4 and the control process ends.

[0177] The present invention proposes a distributed drive torque distribution control method and a suspension damping adjustment control method for preventing the vehicle from rushing forward under speed bump conditions. The braking torque of the entire vehicle is always distributed to the wheels with good ground contact, and its size is always consistent with the driver's request or intention, thereby effectively solving the problem of rushing forward caused by the loss of braking torque of the suspended wheels.

[0178] In this embodiment, a vehicle control device under speed bump conditions is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0179] This embodiment provides a vehicle control device under speed bump conditions, such as Fig. 9 As shown, including:

[0180] The first processing module 901 is used to obtain a first distance between the front wheels of the vehicle and the speed bump and an initial state parameter of the vehicle when there is a speed bump in front of the vehicle, and determine a second distance between the front wheels of the vehicle and the speed bump when starting to adjust the motor torque and suspension damping of the vehicle in the future based on the initial state parameter and the first distance;

[0181] The second processing module 902 is used to reduce the front axle motor torque of the vehicle, increase the rear axle motor torque of the vehicle, and control the front suspension damping of the vehicle to be smaller than the rear suspension damping when it is detected that the first distance is smaller than the second distance;

[0182] The third processing module 903 is used to increase the front axle motor torque of the vehicle, reduce the rear axle motor torque of the vehicle, and control the front suspension damping of the vehicle to be greater than the rear suspension damping when the front wheels of the vehicle are passing through a speed bump;

[0183] The fourth processing module 904 is used to restore the motor torque and suspension damping of the vehicle to an initial state based on the initial state parameters when the rear wheels of the vehicle are passing through a speed bump.

[0184] In some optional embodiments, the body motion controller is connected to an integrated brake controller of the vehicle; the device is also used to:

[0185] Receiving wheel status information sent by the integrated brake controller; the wheel status information is obtained by the integrated brake controller comparing the wheel speed, wheel acceleration and slip rate of the vehicle with the preset wheel speed, preset wheel acceleration and preset slip rate respectively;

[0186] According to the wheel status information, it is determined whether the front wheels and the rear wheels of the vehicle are passing through the speed bump.

[0187] In some optional implementations, the first processing module 901 is further configured to:

[0188] Determine the torque adjustment time, the front suspension damping adjustment time and the rear suspension damping adjustment time based on the initial state parameters, and determine the longest adjustment time based on the maximum value of the torque adjustment time, the front suspension damping adjustment time and the rear suspension damping adjustment time;

[0189] Based on the initial state parameters, the first distance and the longest adjustment time, a second distance between the front wheels of the vehicle and the speed bump is calculated when the motor torque and suspension damping of the vehicle begin to be adjusted in the future.

[0190] In some optional implementations, the initial state parameters include the initial torque of the front axle motor, the initial damping of the front suspension, and the initial damping of the rear suspension; the first processing module 901 is further used for:

[0191] The torque adjustment time is calculated based on the ratio of the initial torque of the front axle motor to the preset torque change gradient;

[0192] The front suspension damping adjustment time is calculated based on the ratio of the difference between the initial damping of the front suspension and the first preset damping to the preset damping change gradient;

[0193] The rear suspension damping adjustment time is calculated based on the ratio of the difference between the initial damping of the rear suspension and the second preset damping to the preset damping change gradient.

[0194] In some optional implementations, the initial state parameters further include vehicle speed and longitudinal acceleration; the first processing module 901 is further used to:

[0195] The time when the front wheel of the vehicle reaches the speed bump is calculated according to the vehicle speed, the longitudinal acceleration and the first distance;

[0196] Based on the vehicle speed, longitudinal acceleration, the longest adjustment time and the moment when the front wheels of the vehicle reach the speed bump, a second distance between the front wheels of the vehicle and the speed bump is calculated when the motor torque and suspension damping of the vehicle are adjusted in the future.

[0197] In some optional embodiments, the body motion controller is connected to an advanced driver assistance system of the vehicle; the device is also used to:

[0198] Receiving speed bump information sent by an advanced driver assistance system; the speed bump information is obtained by the advanced driver assistance system through image recognition based on collected environment images;

[0199] Based on the speed bump information, it is determined whether there is a speed bump ahead of the vehicle.

[0200] In some optional implementations, the vehicle body motion controller is connected to the vehicle controller of the vehicle; the second processing module 902 is also used for:

[0201] The first torque distribution mode and the preset torque change gradient are sent to the vehicle controller, so that the vehicle controller gradually and completely transfers the front axle motor torque to the rear axle motor torque based on the driver's required torque, the first torque distribution mode and the preset torque change gradient; wherein the sum of the front axle motor torque and the rear axle motor torque is the driver's required torque, and the first torque distribution mode is used to characterize the proportion of the front axle motor torque and the rear axle motor torque in the driver's required torque;

[0202] The front suspension damping is adjusted to a first preset damping corresponding to the front suspension when the front wheels of the vehicle pass through a speed bump, and the rear suspension damping is adjusted to a second preset damping corresponding to the rear suspension when the front wheels of the vehicle pass through a speed bump; wherein the first preset damping is less than or equal to the second preset damping.

[0203] In some optional implementations, the third processing module 903 is further configured to:

[0204] The second torque distribution mode and the preset torque change gradient are sent to the vehicle controller, so that the vehicle controller gradually and completely transfers the rear axle motor torque to the front axle motor torque based on the driver's required torque, the second torque distribution mode and the preset torque change gradient; wherein the sum of the front axle motor torque and the rear axle motor torque is the driver's required torque, and the second torque distribution mode is used to characterize the proportion of the front axle motor torque and the rear axle motor torque in the driver's required torque;

[0205] The front suspension damping is adjusted to the third preset damping corresponding to the front suspension when the rear wheels of the vehicle pass through the speed bump, and the rear suspension damping is adjusted to the fourth preset damping corresponding to the rear suspension when the rear wheels of the vehicle pass through the speed bump; wherein the third preset damping is greater than or equal to the fourth preset damping.

[0206] In some optional implementations, the initial state parameters include the front axle motor initial torque, the rear axle motor initial torque, the front suspension initial damping, and the rear suspension initial damping; the fourth processing module 904 is further used to:

[0207] Sending the initial torque of the front axle motor and the initial torque of the rear axle motor to the vehicle controller, so that the vehicle controller adjusts the torque of the front axle motor to the initial torque of the front axle motor and adjusts the torque of the rear axle motor to the initial torque of the rear axle motor;

[0208] Adjust the front suspension damping to the front suspension initial damping, and adjust the rear suspension damping to the rear suspension initial damping.

[0209] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0210] The vehicle control device under speed bump conditions in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0211] The embodiment of the present invention also provides a vehicle body motion controller having the above Fig. 9 Vehicle control device for speed bump condition shown.

[0212] See also Fig.10 , Fig.10 is a structural schematic diagram of a vehicle body motion controller provided by an optional embodiment of the present invention, such as Fig.10 As shown, the vehicle body motion controller includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the vehicle body motion controller, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig.10 A processor 10 is taken as an example.

[0213] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0214] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0215] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function; the data storage area may store data created according to the use of the vehicle body motion controller, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the vehicle body motion controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0216] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0217] The vehicle body motion controller further includes a communication interface 30 for the vehicle body motion controller to communicate with other devices or a communication network.

[0218] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0219] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of computer program instructions in computer-readable media includes, but is not limited to, source files, executable files, installation package files, etc., and accordingly, the way in which computer program instructions are executed by a computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0220] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A vehicle control method under speed bump conditions, characterized in that: Applied to a vehicle body motion controller, the method comprises: When there is a speed bump in front of the vehicle, obtaining a first distance between the front wheels of the vehicle and the speed bump and an initial state parameter of the vehicle, and determining a second distance between the front wheels of the vehicle and the speed bump when adjusting the motor torque and suspension damping of the vehicle in the future based on the initial state parameter and the first distance; When it is detected that the first distance is smaller than the second distance, the front axle motor torque of the vehicle is reduced, the rear axle motor torque of the vehicle is increased, and the front suspension damping of the vehicle is controlled to be smaller than the rear suspension damping; When the front wheels of the vehicle are passing through the speed bump, the front axle motor torque of the vehicle is increased, the rear axle motor torque of the vehicle is reduced, and the front suspension damping of the vehicle is controlled to be greater than the rear suspension damping; When the rear wheels of the vehicle are passing through the speed bump, the motor torque and suspension damping of the vehicle are restored to an initial state based on the initial state parameters.

2. The method according to claim 1, characterized in that The body motion controller is connected to the vehicle controller of the vehicle; the method of reducing the front axle motor torque of the vehicle, increasing the rear axle motor torque of the vehicle, and controlling the front suspension damping of the vehicle to be smaller than the rear suspension damping includes: The first torque distribution mode and the preset torque change gradient are sent to the vehicle controller, so that the vehicle controller gradually and completely transfers the front axle motor torque to the rear axle motor torque based on the driver's required torque, the first torque distribution mode and the preset torque change gradient; wherein the sum of the front axle motor torque and the rear axle motor torque is the driver's required torque, and the first torque distribution mode is used to characterize the proportion of the front axle motor torque and the rear axle motor torque in the driver's required torque; The front suspension damping is adjusted to a first preset damping corresponding to the front suspension when the front wheels of the vehicle pass through a speed bump, and the rear suspension damping is adjusted to a second preset damping corresponding to the rear suspension when the front wheels of the vehicle pass through a speed bump; wherein the first preset damping is less than or equal to the second preset damping.

3. The method according to claim 2, characterized in that The method of increasing the front axle motor torque of the vehicle, reducing the rear axle motor torque of the vehicle, and controlling the front suspension damping of the vehicle to be greater than the rear suspension damping includes: The second torque distribution mode and the preset torque change gradient are sent to the vehicle controller, so that the vehicle controller gradually and completely transfers the rear axle motor torque to the front axle motor torque based on the driver's required torque, the second torque distribution mode and the preset torque change gradient; wherein the sum of the front axle motor torque and the rear axle motor torque is the driver's required torque, and the second torque distribution mode is used to characterize the proportion of the front axle motor torque and the rear axle motor torque in the driver's required torque; The front suspension damping is adjusted to a third preset damping corresponding to the front suspension when the rear wheels of the vehicle pass through a speed bump, and the rear suspension damping is adjusted to a fourth preset damping corresponding to the rear suspension when the rear wheels of the vehicle pass through a speed bump; wherein the third preset damping is greater than or equal to the fourth preset damping.

4. The method according to claim 2, characterized in that: The method of determining, based on the initial state parameter and the first distance, a second distance between the front wheel of the vehicle and the speed bump when adjusting the motor torque and suspension damping of the vehicle in the future comprises: Determining a torque adjustment time, a front suspension damping adjustment time, and a rear suspension damping adjustment time based on the initial state parameters, and determining a maximum adjustment time based on a maximum value among the torque adjustment time, the front suspension damping adjustment time, and the rear suspension damping adjustment time; Based on the initial state parameters, the first distance and the longest adjustment time, a second distance between the front wheels of the vehicle and the speed bump is calculated when the motor torque and suspension damping of the vehicle are adjusted in the future.

5. The method according to claim 4, characterized in that The initial state parameters include the initial torque of the front axle motor, the initial damping of the front suspension, and the initial damping of the rear suspension; the determining of the torque adjustment time, the front suspension damping adjustment time, and the rear suspension damping adjustment time based on the initial state parameters includes: Calculating the torque adjustment time based on the ratio of the initial torque of the front axle motor to the preset torque change gradient; The front suspension damping adjustment time is calculated based on the ratio of the difference between the initial damping of the front suspension and the first preset damping to the preset damping change gradient; The rear suspension damping adjustment time is calculated based on the ratio of the difference between the initial damping of the rear suspension and the second preset damping to the preset damping change gradient.

6. The method according to claim 5, characterized in that The initial state parameters also include vehicle speed and longitudinal acceleration; the calculating, based on the initial state parameters, the first distance and the longest adjustment time, the second distance between the front wheel of the vehicle and the speed bump when the motor torque and suspension damping of the vehicle are adjusted in the future includes: Calculating the time when the front wheels of the vehicle reach the speed bump according to the vehicle speed, the longitudinal acceleration and the first distance; Based on the vehicle speed, the longitudinal acceleration, the longest adjustment time and the time when the front wheels of the vehicle reach the speed bump, a second distance between the front wheels of the vehicle and the speed bump when adjusting the motor torque and suspension damping of the vehicle in the future is calculated.

7. The method according to any one of claims 2 to 4, characterized in that The initial state parameters include the initial torque of the front axle motor, the initial torque of the rear axle motor, the initial damping of the front suspension and the initial damping of the rear suspension; The step of restoring the motor torque and suspension damping of the vehicle to an initial state based on the initial state parameters includes: Sending the front axle motor initial torque and the rear axle motor initial torque to a vehicle controller, so that the vehicle controller adjusts the front axle motor torque to the front axle motor initial torque and adjusts the rear axle motor torque to the rear axle motor initial torque; The front suspension damping is adjusted to the front suspension initial damping, and the rear suspension damping is adjusted to the rear suspension initial damping.

8. The method according to any one of claims 2 to 4, characterized in that The vehicle body motion controller is connected to an integrated brake controller of the vehicle; the method further comprises: receiving wheel status information sent by the integrated brake controller; the wheel status information is obtained by the integrated brake controller comparing the wheel speed, wheel acceleration and slip ratio of the vehicle with the preset wheel speed, preset wheel acceleration and preset slip ratio respectively; According to the wheel status information, it is determined whether the front wheels of the vehicle and the rear wheels of the vehicle are passing through a speed bump.

9. The method according to any one of claims 2 to 4, characterized in that The vehicle body motion controller is connected to an advanced driver assistance system of the vehicle; the method further comprises: Receiving speed bump information sent by an advanced driver assistance system; the speed bump information is obtained by the advanced driver assistance system through image recognition based on a collected environment image; Based on the speed bump information, it is determined whether there is a speed bump ahead of the vehicle.

10. A vehicle control device under speed bump conditions, characterized in that: Applied to a vehicle body motion controller, the device comprises: a first processing module, configured to obtain, when there is a speed bump in front of the vehicle, a first distance between the front wheels of the vehicle and the speed bump and an initial state parameter of the vehicle, and determine, based on the initial state parameter and the first distance, a second distance between the front wheels of the vehicle and the speed bump when starting to adjust the motor torque and suspension damping of the vehicle in the future; a second processing module, configured to reduce the front axle motor torque of the vehicle, increase the rear axle motor torque of the vehicle, and control the front suspension damping of the vehicle to be smaller than the rear suspension damping when detecting that the first distance is smaller than the second distance; a third processing module, configured to increase the front axle motor torque of the vehicle, reduce the rear axle motor torque of the vehicle, and control the front suspension damping of the vehicle to be greater than the rear suspension damping when the front wheels of the vehicle are passing through the speed bump; The fourth processing module is used to restore the motor torque and suspension damping of the vehicle to an initial state based on the initial state parameters when the rear wheels of the vehicle are passing through the speed bump.

11. A vehicle, characterized in that: Includes body motion controller; The vehicle body motion controller includes a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the vehicle control method under the speed bump working condition described in any one of claims 1 to 9 by executing the computer instructions.

12. The vehicle according to claim 11, characterized in that The vehicle further comprises a vehicle controller, an integrated brake controller and an advanced driver assistance system, wherein the vehicle controller, the integrated brake controller and the advanced driver assistance system are respectively connected to the body motion controller; The vehicle controller is used to adjust the front axle motor torque and the rear axle motor torque of the vehicle; The integrated brake controller is used to compare the wheel speed, wheel acceleration and slip ratio of the vehicle with the preset wheel speed, preset wheel acceleration and preset slip ratio respectively, and send the obtained wheel state information to the vehicle body motion controller; The advanced driver assistance system is used to perform image recognition based on the collected environment image, and send the obtained speed bump information to the vehicle body motion controller.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the vehicle control method under the speed bump condition according to any one of claims 1 to 9.

14. A computer program product, characterized in that The method comprises computer instructions for causing a computer to execute the vehicle control method under speed-strip conditions according to any one of claims 1 to 9.

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