Vehicle control method, controller, storage medium and vehicle

Abstract

The invention relates to a vehicle control method, a controller, a storage medium and a vehicle, and relates to the technical field of vehicle control, and the vehicle control method comprises the following steps: establishing a target degree-of-freedom model comprising a multi-degree-of-freedom variable, and aiming at the control demand of a target function triggered by the vehicle; the control requirements of all the target functions are decomposed through the target degree-of-freedom model to obtain different target degree-of-freedom variables, and the target control quantity corresponding to each target degree-of-freedom variable is obtained, so that an execution mechanism of the vehicle is controlled according to the target control quantity corresponding to each target degree-of-freedom variable, and the control accuracy of the vehicle is improved. Therefore, all triggered target functions can be realized. By decomposing the control requirement of the target function into different target degree-of-freedom variables, the phenomena of calling conflict and control redundancy of the actuator can be avoided.

Description

Technical Field

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

[0002] On the basis of its original carrying and driving functions, the vehicle is realizing multi-dimensional control of the vehicle by linking multiple sensors and actuators to recognize and predict the vehicle status in real time, thereby improving the performance of the entire vehicle and meeting the goal of evolving the vehicle into a smart car.

[0003] When controlling a vehicle, there are redundant control targets between different functions of the vehicle, and different control targets may call the same actuator at the same time to meet functional requirements. In the related art, the priority of function triggering is directly determined according to the importance of the two functions, that is, when the two functions are triggered at the same time, only one function trigger is retained, thereby failing to achieve a good vehicle control effect. Summary of the invention

[0004] The purpose of the present disclosure is to provide a vehicle control method, a controller, a storage medium and a vehicle, by establishing a target degree of freedom model including multiple degree of freedom variables, and according to the control requirements of the target functions triggered by the vehicle, the control requirements of all target functions are decomposed through the target degree of freedom model, decomposed into different target degree of freedom variables, and the target control amount corresponding to each target degree of freedom variable is obtained, so as to control the actuator of the vehicle according to the target control amount corresponding to each target degree of freedom variable, so as to realize all triggered target functions. By decomposing the control requirements of the target functions into different target degree of freedom variables, the calling conflicts and control redundancy of the actuators can be avoided.

[0005] In order to achieve the above object, the present disclosure provides a vehicle control method, comprising:

[0006] Determining a target control amount corresponding to a target degree of freedom variable required to achieve a target function according to a target degree of freedom model corresponding to the vehicle, wherein the target degree of freedom model is constructed by using a plurality of degree of freedom variables;

[0007] The actuator of the vehicle is controlled according to the target control amount corresponding to the target degree of freedom variable.

[0008] Optionally, the method further comprises:

[0009] Determining a plurality of degree-of-freedom variables corresponding to the vehicle according to configuration parameters of the vehicle;

[0010] The target degree of freedom model of the vehicle is determined based on the plurality of degree of freedom variables.

[0011] Optionally, the method further comprises:

[0012] Acquiring state parameters of the vehicle, the state parameters including driving demand parameters, preference setting parameters and motion state estimation parameters;

[0013] The target function to be triggered is determined according to the state parameter.

[0014] Optionally, the target degree of freedom model includes an association relationship between the degree of freedom variables and state quantities;

[0015] Determining the target control amount corresponding to the target degree of freedom variable required to achieve the target function according to the target degree of freedom model corresponding to the vehicle includes:

[0016] Determining a target state quantity required to achieve the target function according to a target degree of freedom model corresponding to the vehicle;

[0017] According to the association relationship between the degree of freedom variable and the state quantity, the target degree of freedom variable corresponding to the target state quantity is determined, and according to the size of the target state quantity, the target control quantity corresponding to the target degree of freedom variable is determined.

[0018] Optionally, controlling the actuator of the vehicle according to the target control amount corresponding to the target degree of freedom variable includes:

[0019] Determining an execution control amount corresponding to the target degree of freedom variable according to a target control amount corresponding to the target degree of freedom variable and a boundary constraint amount corresponding to the target degree of freedom variable, wherein the boundary constraint amount corresponding to the target degree of freedom variable is obtained according to a target phase plane parameter and a monitoring identification parameter of the vehicle;

[0020] The actuator of the vehicle is controlled according to the execution control amount corresponding to the target degree of freedom variable.

[0021] Optionally, controlling the actuator of the vehicle according to the execution control amount corresponding to the target degree of freedom variable includes:

[0022] Determine the target actuator corresponding to each target degree of freedom variable;

[0023] For any target degree of freedom variable, the target execution mechanism corresponding to the target degree of freedom variable is controlled according to the execution control amount corresponding to the target degree of freedom variable.

[0024] Optionally, for any target degree of freedom variable, controlling a target execution mechanism corresponding to the target degree of freedom variable according to an execution control amount corresponding to the target degree of freedom variable includes:

[0025] For any target degree of freedom variable, when the target total output that can be provided by the target actuator corresponding to the target degree of freedom variable is less than or equal to the execution control amount corresponding to the target degree of freedom variable, the target actuator corresponding to the target degree of freedom variable is controlled to output at the maximum output capacity.

[0026] Optionally, for any target degree of freedom variable, controlling a target execution mechanism corresponding to the target degree of freedom variable according to an execution control amount corresponding to the target degree of freedom variable includes:

[0027] For any target degree of freedom variable, when the target total output amount that can be provided by the target actuator corresponding to the target degree of freedom variable is greater than the execution control amount corresponding to the target degree of freedom variable, the output amount of each target actuator corresponding to the target degree of freedom variable is determined with the minimum total energy consumption of the target actuator corresponding to the target degree of freedom variable as the goal;

[0028] According to the output of each target actuator corresponding to the target degree of freedom variable, each target actuator corresponding to the target degree of freedom variable is controlled respectively.

[0029] According to a second aspect of an embodiment of the present disclosure, there is provided a vehicle controller, comprising:

[0030] a memory having a computer program stored thereon;

[0031] A processor is used to execute the computer program in the memory so that the vehicle controller performs the steps of the vehicle control method provided in the first aspect of the present disclosure.

[0032] According to a third aspect of an embodiment of the present disclosure, a non-volatile storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the steps of the vehicle control method provided in the first aspect of the present disclosure are implemented.

[0033] According to a fourth aspect of an embodiment of the present disclosure, a vehicle is provided, comprising the vehicle controller provided by the second aspect of the present disclosure.

[0034] Through the above technical solution, by establishing a target degree of freedom model including multiple degree of freedom variables, and targeting the control requirements of the target functions triggered by the vehicle, the control requirements of all target functions are decomposed through the target degree of freedom model, decomposed into different target degree of freedom variables, and the target control amount corresponding to each target degree of freedom variable is obtained. Therefore, the actuator of the vehicle is controlled according to the target control amount corresponding to each target degree of freedom variable, so as to realize all triggered target functions. By decomposing the control requirements of the target function into different target degree of freedom variables, the calling conflict and control redundancy of the actuator can be avoided.

[0035] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0037] Figure 1 The present invention is a flow chart of a vehicle control method according to an exemplary embodiment.

[0038] Figure 2 is a schematic diagram of six degrees of freedom according to an exemplary embodiment.

[0039] Figure 3 The diagram is a data processing diagram of a vehicle control method according to an exemplary embodiment.

[0040] Figure 4 The present invention is a flowchart of a method for determining a target control amount according to an exemplary embodiment.

[0041] Figure 5 is a block diagram of a vehicle controller according to an exemplary embodiment. DETAILED DESCRIPTION

[0042] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0043] On the basis of the original carrying and driving functions, the vehicle is realizing multi-dimensional control of the vehicle by linking multiple sensors and actuators, real-time recognition and prediction of the vehicle status, thereby improving the performance of the whole vehicle and meeting the goal of the vehicle's evolution to a smart car. In this process, although the various vehicle motion control functions that are constantly derived from the vehicle can improve the vehicle's motion performance from different dimensions, these functions are usually not developed in accordance with a unified platform architecture, and there is a lack of a unified functional development architecture between the vehicle control functions. When the new functions are integrated with the existing vehicle control functions, it is necessary to evaluate the coupling degree between the new functions and all existing functions. When the new functions have the same dimensional control objectives as one or more existing functions, it is necessary to first split the new functions layer by layer, and split and reorganize them with the existing related functions at the level of strategy algorithms, actuators, etc., to avoid redundancy and conflict between functions. At the same time, with the increasing number of vehicle motion control integration functions, the difficulty of evaluating the coupling degree between new functions and existing functions has greatly increased, resulting in redundant control objectives between different functions, and different control objectives may call the same actuator at the same time to meet functional requirements. All these redundancy and conflict problems have led to the overall low cohesion and high coupling characteristics of the existing vehicle motion control function development. At the same time, this feature brings huge challenges to the current vehicle intelligent software maintenance iteration and platform transplantation.

[0044] In the related art, the priority of function triggering is directly determined according to the importance of the two functions, that is, when the two functions are triggered at the same time, only one function is retained, thereby failing to achieve a better vehicle control effect.

[0045] In view of the above technical problems, the present disclosure provides a vehicle control method, a controller, a storage medium and a vehicle, which establishes a target degree of freedom model including multiple degree of freedom variables, and decomposes the control requirements of all target functions through the target degree of freedom model according to the control requirements of the target functions triggered by the vehicle, decomposes them into different target degree of freedom variables, and obtains the target control amount corresponding to each target degree of freedom variable, thereby controlling the actuator of the vehicle according to the target control amount corresponding to each target degree of freedom variable, so as to realize all triggered target functions. By decomposing the control requirements of the target functions into different target degree of freedom variables, the calling conflicts and control redundancy of the actuators can be avoided.

[0046] Figure 1 is a flow chart of a vehicle control method according to an exemplary embodiment. Figure 2 is a schematic diagram of six degrees of freedom according to an exemplary embodiment. Figure 3 is a data processing schematic diagram of a vehicle control method according to an exemplary embodiment. Figures 1 to 3As shown, the method can be applied to a vehicle controller, and the method may include the following steps:

[0047] In step S101, a target control amount corresponding to a target degree of freedom variable required to achieve a target function is determined according to a target degree of freedom model corresponding to the vehicle, wherein the target degree of freedom model is constructed by using a plurality of degree of freedom variables.

[0048] In this embodiment, a target degree of freedom model can be pre-constructed, wherein different degree of freedom models can be constructed according to the specific configuration of different vehicles. The degree of freedom model can be constructed through multiple degree of freedom variables. Among them, based on the specific configuration parameters of the vehicle, combined with the six degrees of freedom of the three axes of horizontal, longitudinal and vertical, multiple degree of freedom variables corresponding to the vehicle can be obtained. Among them, the degree of freedom variables may include longitudinal control, lateral control, vertical control, roll control, pitch control and yaw control, etc. Among them, the target function is at least one function triggered by the current state parameter of the vehicle. For example, the target function may be an anti-lock function and a tire blowout control function. According to the target degree of freedom model corresponding to the vehicle, the control requirements of the triggered target function can be decomposed into different target degree of freedom variables, and the target control amount corresponding to each target degree of freedom variable can be obtained. The target control amount is the size of the control parameter corresponding to the target degree of freedom variable. For example, the target control amount corresponding to the yaw control is the size of the yaw moment, and the target control amount corresponding to the longitudinal control is the size of the longitudinal force. Among them, the target degree of freedom variable is at least one degree of freedom variable related to the control requirements of the target function, so that the control requirements of the target function can be decomposed into different target degree of freedom variables.

[0049] In step S102, the actuator of the vehicle is controlled according to the target control amount corresponding to the target degree of freedom variable.

[0050] In this embodiment, after obtaining the target control quantity corresponding to the target degree of freedom variable, the corresponding actuator can be controlled according to the target control quantity corresponding to each target degree of freedom variable, so that the actuator can output the target control quantity corresponding to each target degree of freedom variable, thereby achieving the target function.

[0051] In a possible implementation, the method for constructing the target degree of freedom model may be:

[0052] According to the configuration parameters of the vehicle, a plurality of degree-of-freedom variables corresponding to the vehicle are determined; according to the plurality of degree-of-freedom variables, a target degree-of-freedom model of the vehicle is determined.

[0053] In this embodiment, the actual configuration parameters of the vehicle can be obtained so as to determine the function of the vehicle according to the configuration parameters of the vehicle, thereby determining the corresponding multiple degree-of-freedom variables based on the function of the vehicle, and then constructing the target degree-of-freedom model of the vehicle based on the multiple degree-of-freedom variables.

[0054] In a possible implementation, the triggering method of the target function may be:

[0055] The vehicle's state parameters are obtained, the state parameters including driving demand parameters, preference setting parameters and motion state estimation parameters; and the triggered target function is determined according to the state parameters.

[0056] In this embodiment, the state parameters of the vehicle may include driving demand parameters, preference setting parameters and motion state estimation parameters, wherein the driving demand parameters may include the user's input of the steering wheel angle, speed, and the input of the brake pedal, accelerator pedal, etc.; the preference setting may be the user's setting of parameters and modes related to the vehicle's motion performance, such as suspension height, vehicle driving mode, etc.; the motion state estimation parameters are all estimation parameters related to the real-time motion state of the vehicle, including but not limited to vehicle speed, yaw rate, center of mass sideslip angle, tire slip rate, etc. The triggered target function may be determined based on the vehicle's state parameters and the triggering conditions of each function.

[0057] Figure 4 is a flow chart showing a method for determining a target control amount according to an exemplary embodiment. Figure 4 As shown, in a possible implementation, the target degree of freedom model includes an association relationship between degree of freedom variables and state quantities, and each degree of freedom variable may correspond to at least one state quantity.

[0058] Determining the target control amount corresponding to the target degree of freedom variable required to achieve the target function according to the target degree of freedom model corresponding to the vehicle may include the following steps:

[0059] In step S401, the target state quantity required to achieve the target function is determined according to the target degree of freedom model corresponding to the vehicle.

[0060] In this embodiment, each degree of freedom variable may correspond to at least one state quantity, and the control requirements required to achieve the target function may be decomposed to obtain multiple target state quantities according to the target degree of freedom model corresponding to the vehicle. Among them, the state quantity corresponding to the longitudinal control may include the longitudinal speed and the longitudinal acceleration; the state quantity corresponding to the lateral control may include the lateral speed and the lateral acceleration; the state quantity corresponding to the vertical control may include the vertical force, the vertical speed and the vertical displacement; the state quantity corresponding to the roll control around the longitudinal axis may include the roll angle and the roll angular velocity; the state quantity corresponding to the pitch control around the lateral axis may include the pitch angle and the pitch angular velocity; the state quantity corresponding to the yaw control around the vertical axis may include the yaw angle and the yaw angular velocity.

[0061] In step S402, the target degree of freedom variable corresponding to the target state quantity is determined according to the association relationship between the degree of freedom variable and the state quantity, and the target control quantity corresponding to the target degree of freedom variable is determined according to the size of the target state quantity.

[0062] In this embodiment, the target degree of freedom variable corresponding to the target state quantity can be determined according to the association relationship between the degree of freedom variable and the state quantity, that is, the correspondence relationship between the degree of freedom variable and the state quantity. For example, if the target control quantity is the target yaw angle, the target yaw angular velocity, the target pitch angle, and the target pitch angular velocity, then according to the association relationship between the degree of freedom variable and the state quantity, the target degree of freedom variable corresponding to the target control quantity is determined to be the pitch control and the yaw control. Then, according to the magnitude of the target control quantity, that is, the value of the target yaw angle and the value of the target yaw angle, the value of the yaw moment corresponding to the yaw control, that is, the target control quantity corresponding to the yaw control, is determined, and according to the value of the target pitch angle and the value of the target pitch angular velocity, the value of the pitch moment corresponding to the pitch control, that is, the target control quantity corresponding to the pitch control, is determined.

[0063] In a possible implementation manner, according to the target control amount corresponding to the target degree of freedom variable, the method for controlling the actuator of the vehicle may be:

[0064] According to the target control amount corresponding to the target degree of freedom variable and the boundary constraint amount corresponding to the target degree of freedom variable, the execution control amount corresponding to the target degree of freedom variable is determined, and the boundary constraint amount corresponding to the target degree of freedom variable is obtained according to the target phase plane parameters and monitoring identification parameters of the vehicle; according to the execution control amount corresponding to the target degree of freedom variable, the vehicle's actuator is controlled.

[0065] In this embodiment, the boundary constraint corresponding to each target degree of freedom variable can also be determined by the target phase plane parameters and monitoring identification parameters of the vehicle, wherein the target phase plane parameters can be any selected phase plane, for example, the center of mass slip angle-yaw velocity phase plane, the center of mass slip angle-center of mass slip velocity phase plane, and any other phase plane can be selected based on the vehicle motion control requirements. The boundaries of the stable area and the unstable area in the target phase plane parameters can be divided and a boundary model can be established. The boundary model changes in real time with the vehicle driving state, and at the same time, according to the boundary model, the first safety boundary threshold based on each target degree of freedom variable can be obtained to ensure the safety of vehicle driving. The monitoring identification parameters may include fault identification parameters and preview monitoring parameters, wherein the fault identification parameters may include all faults related to the vehicle motion control, such as sensor calibration fault, sensor signal fault, actuator fault, etc. The preview monitoring parameters may include the identified road type, as well as parameters obtained by real-time collection and analysis of the road trajectory ahead of the vehicle and obstacles around the vehicle during the vehicle's driving process. According to the preview monitoring parameters, a second safety boundary threshold based on each target degree of freedom variable may be obtained, thereby determining the boundary constraint amount corresponding to each target degree of freedom variable according to the first safety boundary threshold and the second safety boundary threshold. Then, based on the target control amount corresponding to each target degree of freedom variable and the boundary constraint amount corresponding to each target degree of freedom variable, the execution control amount corresponding to each target degree of freedom variable is determined. That is, when the target control amount is less than the boundary constraint amount, the target control amount is determined as the execution control amount; when the target control amount is greater than or equal to the boundary constraint amount, the boundary constraint amount is determined as the execution control amount.

[0066] Among them, the target phase plane parameters and the monitoring identification parameters can also affect each other, and the priority of the monitoring identification parameters is greater than the priority of the target phase plane parameters. The monitoring identification parameters can correct the target phase plane parameters, and the target phase plane parameters can verify the reliability of the monitoring identification parameters.

[0067] After obtaining the execution control amount corresponding to each target degree of freedom variable, the corresponding actuator of the vehicle can be controlled according to the execution control amount corresponding to each target degree of freedom variable, so that the corresponding actuator can output the execution control amount.

[0068] In a possible implementation manner, according to the execution control amount corresponding to the target degree of freedom variable, the method for controlling the actuator of the vehicle may be:

[0069] Determine the target actuator corresponding to each target degree of freedom variable; for any target degree of freedom variable, control the target actuator corresponding to the target degree of freedom variable according to the execution control amount corresponding to the target degree of freedom variable.

[0070] In this embodiment, each degree of freedom variable has a corresponding actuator, and the target actuator corresponding to each target degree of freedom variable can be determined. Among them, the actuator of longitudinal control may include a braking system and a drive system; the actuator of lateral control may include a front wheel steering system and a rear wheel steering system; the actuator of vertical control may include an active suspension system and a semi-active suspension system; the actuator of roll control may include an active suspension system and a semi-active suspension system; the actuator of pitch control may include a braking system, a drive system, an active suspension system, and a semi-active suspension system; the actuator of yaw control may include a braking system, a drive system, a front wheel steering system, and a rear wheel steering system. For any target degree of freedom variable, the target actuator corresponding to the target degree of freedom variable can be controlled according to the execution control amount corresponding to the target degree of freedom variable.

[0071] In a possible implementation, for any target degree of freedom variable, according to the execution control amount corresponding to the target degree of freedom variable, a method for controlling the target execution mechanism corresponding to the target degree of freedom variable may be:

[0072] For any target degree of freedom variable, when the target total output that can be provided by the target actuator corresponding to the target degree of freedom variable is less than or equal to the execution control amount corresponding to the target degree of freedom variable, the target actuator corresponding to the target degree of freedom variable is controlled to output at the maximum output capacity.

[0073] In this embodiment, the output amount corresponding to the target degree of freedom variable that each actuator can output is limited, that is, each actuator has an output amount threshold corresponding to the target degree of freedom variable. In the case where the target total output amount that the target actuator corresponding to the target degree of freedom variable can provide is less than or equal to the execution control amount corresponding to the target degree of freedom variable, that is, the target total output amount that the target actuator corresponding to the target degree of freedom variable can provide is less than or equal to the execution control amount corresponding to the target degree of freedom variable, the execution control amount of the target degree of freedom variable cannot be satisfied. It can only be satisfied as much as possible, that is, the target actuator corresponding to the target degree of freedom variable can be controlled to output the force or torque corresponding to the target degree of freedom variable with the maximum output capacity.

[0074] In a possible implementation, for any target degree of freedom variable, according to the execution control amount corresponding to the target degree of freedom variable, a method for controlling the target execution mechanism corresponding to the target degree of freedom variable may be:

[0075] For any target degree of freedom variable, when the target total output that can be provided by the target actuator corresponding to the target degree of freedom variable is greater than the execution control amount corresponding to the target degree of freedom variable, the output of each target actuator corresponding to the target degree of freedom variable is determined with the goal of minimizing the total energy consumption of the target actuator corresponding to the target degree of freedom variable; and each target actuator corresponding to the target degree of freedom variable is controlled respectively according to the output of each target actuator corresponding to the target degree of freedom variable.

[0076] In this embodiment, when the target total output amount that the target actuator corresponding to the target degree of freedom variable can provide is greater than the execution control amount corresponding to the target degree of freedom variable, that is, the target total output amount that the target actuator corresponding to the target degree of freedom variable can provide is greater than the execution control amount corresponding to the target degree of freedom variable, a reasonable allocation can be performed to minimize the total energy consumption of the target actuator corresponding to the target degree of freedom variable, and obtain the output amount of each target actuator corresponding to the target degree of freedom variable. Then, according to the output amount of each target actuator corresponding to the target degree of freedom variable, each target actuator corresponding to the target degree of freedom variable is controlled respectively.

[0077] Taking the anti-lock braking function and tire blowout control function as examples, the tire blowout control function will generate a differential braking torque through the braking system to correct the unexpected yaw of the vehicle caused by a tire blowout; the anti-lock braking function will compare the tire slip rate of the locked wheel and the non-locked wheel, and change the braking force of the wheel on the slipping side to meet the yaw stability of the vehicle. These two functions determine the target control quantity as yaw angular velocity or yaw angle through the vehicle model solution module. Based on the six-degree-of-freedom control target module, the yaw angular velocity or yaw angle control variables are summarized as yaw control. Taking the yaw torque corresponding to yaw control as an example, the yaw torque corresponding to the anti-lock braking function and the tire blowout control function are yaw torque ΔM respectively. a and yaw moment ΔM t The yaw moment that can be provided by the braking system, driving system, front wheel steering system and rear wheel steering system called by the yaw control is M b 、M c 、M f and M r ,but:

[0078] ΔM a +ΔM t =a1×M b +a2×M c +a3×M f +a4×M r (1)

[0079] Among them, a i(i=1, 2, 3, 4) is the weight coefficient, and 0≤a i ≤1. Assume that the optimal solution of the selected weight coefficient corresponds to the minimum total energy consumption of the actuator system, and assume that the nonlinear relationship between the yaw moment M and the energy J required to generate the corresponding yaw moment is:

[0080] M=K×J (2)

[0081] Among them, K describes the nonlinear transformation relationship between M and J.

[0082] Solve for the optimal weight coefficient a i The objective equation can be summarized as:

[0083] Min(a1×K b ×J b +a2×K c ×J c +a3×K f ×J f +a4×K r ×J r ) (3)

[0084] By combining equations (1) to (3), we can obtain the equation that satisfies the yaw moment ΔM through the quadratic programming algorithm: a and yaw moment ΔM t The optimal weight coefficient a i (i=1, 2, 3, 4).

[0085] Assumptions is the optimal weight coefficient obtained, which satisfies the realization of yaw moment ΔM a and yaw moment ΔM t The target output of the yaw moment corresponding to each actuator system is and That is, if the braking system, drive system, front wheel steering system and rear wheel steering system output and The yaw moment can satisfy the yaw control adjustment required by the anti-lock braking function and the tire blowout control function at the same time.

[0086] In a possible implementation, each target actuator corresponding to the target degree of freedom variable may be prioritized, and a target actuator with a high priority is output first, so that the output amount corresponding to each target actuator is determined according to the priority corresponding to each target actuator.

[0087] Among them, the vehicle control method provided by the present disclosure can be implemented based on the whole vehicle motion control platform in the vehicle.

[0088] Focusing on the low cohesion and high coupling situation of the current development of the whole vehicle motion control function of electric vehicles, the present disclosure provides a whole vehicle motion control platform based on the concept of six degrees of freedom in the horizontal, vertical and vertical axes, which can provide the same standard development architecture for all whole vehicle motion control functions. The platform can unify the control objectives of different functions into one or more control indicators of different dimensions in the six degrees of freedom in the horizontal, vertical and vertical axes, and also provide modules such as state estimation and fault monitoring required for the development of traditional whole vehicle motion control functions. At the same time, the platform decouples the control indicators and actuators of different dimensions, and coordinates different actuators through the fusion decision algorithm to achieve the control and improvement of the whole vehicle motion performance. In addition, the platform introduces a phase plane stability domain boundary module to correct the model control output in real time, further ensuring the stability and safety of the platform.

[0089] Figure 5 is a block diagram of a vehicle controller according to an exemplary embodiment. Figure 5 The vehicle controller 500 includes a processor 522, which may be one or more, and a memory 532 for storing a computer program executable by the processor 522. The computer program stored in the memory 532 may include one or more modules, each corresponding to a set of instructions. In addition, the processor 522 may be configured to execute the computer program so that the vehicle controller 500 performs the above-mentioned vehicle control method.

[0090] In addition, the vehicle controller 500 may further include a power supply component 526 and a communication component 550, wherein the power supply component 526 may be configured to perform power management of the vehicle controller 500, and the communication component 550 may be configured to implement communication, for example, wired or wireless communication, of the vehicle controller 500. In addition, the vehicle controller 500 may further include an input / output interface 558. The vehicle controller 500 may operate based on an operating system stored in the memory 532.

[0091] In another exemplary embodiment, a vehicle is provided, comprising the vehicle controller provided in the above embodiment.

[0092] In another exemplary embodiment, a non-volatile storage medium including program instructions is also provided, and when the program instructions are executed by the processor, the steps of the above-mentioned vehicle control method are implemented. For example, the non-volatile storage medium can be the above-mentioned memory 532 including program instructions, and the above-mentioned program instructions can be executed by the processor 522 of the vehicle controller 500 to complete the above-mentioned vehicle control method.

[0093] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device. The computer program has a code portion for executing the above-mentioned vehicle control method when executed by the programmable device.

[0094] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

Claims

1. A vehicle control method, characterized in that: include: Determining a target control amount corresponding to a target degree of freedom variable required to achieve a target function according to a target degree of freedom model corresponding to the vehicle, wherein the target degree of freedom model is constructed by using a plurality of degree of freedom variables; The actuator of the vehicle is controlled according to the target control amount corresponding to the target degree of freedom variable.

2. The vehicle control method according to claim 1, characterized in that: The method further comprises: Determining a plurality of degree-of-freedom variables corresponding to the vehicle according to configuration parameters of the vehicle; The target degree of freedom model of the vehicle is determined based on the plurality of degree of freedom variables.

3. The vehicle control method according to claim 1, characterized in that: The method further comprises: Acquiring state parameters of the vehicle, the state parameters including driving demand parameters, preference setting parameters and motion state estimation parameters; The target function to be triggered is determined according to the state parameter.

4. The vehicle control method according to claim 1, characterized in that: The target degree of freedom model includes the association relationship between the degree of freedom variables and the state quantity; The step of determining the target control amount corresponding to the target degree of freedom variable required to achieve the target function according to the target degree of freedom model corresponding to the vehicle includes: Determining a target state quantity required to achieve the target function according to a target degree of freedom model corresponding to the vehicle; According to the association relationship between the degree of freedom variable and the state quantity, the target degree of freedom variable corresponding to the target state quantity is determined, and according to the size of the target state quantity, the target control quantity corresponding to the target degree of freedom variable is determined.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that: The controlling the actuator of the vehicle according to the target control amount corresponding to the target degree of freedom variable includes: Determining an execution control amount corresponding to the target degree of freedom variable according to a target control amount corresponding to the target degree of freedom variable and a boundary constraint amount corresponding to the target degree of freedom variable, wherein the boundary constraint amount corresponding to the target degree of freedom variable is obtained according to a target phase plane parameter and a monitoring identification parameter of the vehicle; The actuator of the vehicle is controlled according to the execution control amount corresponding to the target degree of freedom variable.

6. The vehicle control method according to claim 5, characterized in that: The controlling of the actuator of the vehicle according to the execution control amount corresponding to the target degree of freedom variable includes: Determine the target actuator corresponding to each target degree of freedom variable; For any target degree of freedom variable, the target execution mechanism corresponding to the target degree of freedom variable is controlled according to the execution control amount corresponding to the target degree of freedom variable.

7. The vehicle control method according to claim 6, characterized in that: The controlling of a target execution mechanism corresponding to any target degree of freedom variable according to the execution control amount corresponding to the target degree of freedom variable comprises: For any target degree of freedom variable, when the target total output that can be provided by the target actuator corresponding to the target degree of freedom variable is less than or equal to the execution control amount corresponding to the target degree of freedom variable, the target actuator corresponding to the target degree of freedom variable is controlled to output at the maximum output capacity.

8. The vehicle control method according to claim 6, characterized in that: The controlling of a target execution mechanism corresponding to any target degree of freedom variable according to the execution control amount corresponding to the target degree of freedom variable comprises: For any target degree of freedom variable, when the target total output amount that can be provided by the target actuator corresponding to the target degree of freedom variable is greater than the execution control amount corresponding to the target degree of freedom variable, the output amount of each target actuator corresponding to the target degree of freedom variable is determined with the minimum total energy consumption of the target actuator corresponding to the target degree of freedom variable as the goal; According to the output of each target actuator corresponding to the target degree of freedom variable, each target actuator corresponding to the target degree of freedom variable is controlled respectively.

9. A non-volatile storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the vehicle control method described in any one of claims 1 to 8 are implemented.

10. A vehicle controller, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory so that the vehicle controller executes the steps of the vehicle control method according to any one of claims 1 to 8.

11. A vehicle, characterized in that: Includes the vehicle controller as claimed in claim 10.

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