Vehicle control method, device, electronic device and storage medium

Abstract

The present application relates to a vehicle control method, device, electronic device and storage medium, wherein the vehicle control method includes: determining whether the vehicle currently has a differential steering demand; when the vehicle currently does not have the differential steering demand, adjusting the projection point position of the kingpin corresponding to the tire in the vehicle on the ground to control the target distance to be reduced to a preset value; the target distance is the distance between the contact point position of the tire on the ground and the projection point position of the kingpin corresponding to the tire on the ground. In this way, the present application reduces the driving force arm of the tire by reducing the target distance, so that when the driving force difference of the tires on both sides is caused by abnormal working conditions, the lateral swing torque generated by the driving force difference can be reduced based on the reduction of the force arm, thereby improving driving stability.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a vehicle control method, device, electronic equipment and storage medium. Background Art

[0002] The distributed drive system currently used in vehicles has eliminated the differential, so there is no mechanical mechanism to ensure that the driving force of the wheels on both sides is always equal in non-differential steering scenarios. Due to abnormal operating conditions such as differences in communication and response between the left and right drive motors, differences in the adhesion of the left and right wheels on the road surface, and unilateral failure of the electric drive during driving, the driving force on the wheels on both sides will be unequal. At this time, yaw torque and driving force difference will be generated, which will cause the vehicle to lose tracking stability and the vehicle will not be able to drive along the trajectory expected by the driver, resulting in dangers such as running out of the lane. Summary of the invention

[0003] The present application provides a vehicle control method, device, electronic device and storage medium to solve the technical problem of unstable tracking of distributed drive vehicles.

[0004] In a first aspect, the present application provides a vehicle control method, comprising: determining whether the vehicle currently has a differential steering demand; when the vehicle currently does not have the differential steering demand, adjusting the projection point position of the kingpin corresponding to the tire in the vehicle on the ground to control the target distance to be reduced to a preset value; the target distance is the distance between the contact point position of the tire on the ground and the projection point position of the kingpin corresponding to the tire on the ground.

[0005] Further, the adjusting the position of the projection point of the kingpin corresponding to the tire in the vehicle on the ground includes: adjusting the position of the projection point of the kingpin corresponding to the tire in the vehicle on the ground by adjusting the suspension height of the vehicle.

[0006] Further, the adjusting the suspension height of the vehicle includes: querying a first suspension height corresponding to the projection point position when the target distance is a preset value; and adjusting the suspension height of the vehicle to the first suspension height.

[0007] Furthermore, the method also includes: when the vehicle currently has the differential steering demand, determining the projection point position required for the differential steering demand; querying the second suspension height corresponding to the projection point position required for the differential steering demand; and adjusting the suspension height of the vehicle to the second suspension height.

[0008] Further, the determining whether the vehicle currently has a differential steering demand includes: in response to receiving a lateral control request, determining whether the vehicle currently has a differential steering demand based on the lateral control request and a steering assist capability of the vehicle.

[0009] Furthermore, determining whether the vehicle currently has a differential steering demand based on the lateral control request and the steering assist capability of the vehicle includes: obtaining steering parameters indicated by the lateral control request and current posture parameters of the vehicle; determining control parameters required for the lateral control request based on the steering parameters and the current posture parameters; and determining whether the vehicle currently has a differential steering demand based on the control parameters and the steering assist capability of the vehicle.

[0010] Furthermore, the determining whether the vehicle currently has a differential steering demand based on the control parameters and the steering assist capability of the vehicle includes: processing the control parameters through a feedback control algorithm to obtain a first steering torque; processing the steering parameters through a feedforward control algorithm to obtain a second steering torque; determining a total steering torque required for the lateral control request based on the first steering torque and the second steering torque; and determining whether the vehicle currently has a differential steering demand based on the total steering torque and the steering assist capability of the vehicle.

[0011] In a second aspect, the present application provides a vehicle control device, comprising: a determination module for determining whether the vehicle currently has a differential steering demand; an adjustment module for adjusting the projection point position of the kingpin corresponding to the tire of the vehicle on the ground when the vehicle currently does not have the differential steering demand, so as to control the target distance to be reduced to a preset value; the target distance is the distance between the contact point position of the tire on the ground and the projection point position of the kingpin corresponding to the tire on the ground.

[0012] In a third aspect, the present application provides an electronic device comprising: at least one communication interface; at least one bus connected to the at least one communication interface; at least one processor connected to the at least one bus; and at least one memory connected to the at least one bus, wherein the processor is configured to implement the vehicle control method described in any one of the first aspects above.

[0013] In a fourth aspect, the present application provides a computer storage medium storing computer executable instructions, wherein the computer executable instructions are used to execute the vehicle control method described in any one of the first aspects above.

[0014] Beneficial effects of this application:

[0015] The present application reduces the lever arm corresponding to the driving force on the tire by adjusting the position of the kingpin projection point to shorten the distance between the kingpin projection point and the tire contact point in scenarios where differential steering is not required. In this way, even if there is a difference in the driving force generated by the tires on both sides due to abnormal working conditions, since the lever arm is reduced, the torque generated by the driving force on the tire rotating around the kingpin is equal to the driving force multiplied by the lever arm, which also decreases accordingly. The yaw moment caused by the driving force difference is equal to the torque difference corresponding to the tires on both sides, and the yaw moment will also decrease as the lever arm decreases. Therefore, the yaw moment caused by the driving force difference between the tires on both sides due to abnormal working conditions can be greatly reduced, the vehicle tracking stability can be maintained, and safety can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic flow chart of a vehicle control method provided by an embodiment of the present application;

[0017] Figure 2 A schematic diagram of a projection point position and a contact point position in a front-to-back direction provided by an embodiment of the present application;

[0018] Figure 3 A schematic diagram of tire driving and projection point position in the up and down directions provided by one embodiment of the present application;

[0019] Figure 4 A schematic diagram of tire driving and projection point position in the up and down directions provided by one embodiment of the present application;

[0020] Figure 5 A schematic flow chart of a vehicle control method provided by an embodiment of the present application;

[0021] Figure 6 A schematic flow chart of a vehicle control method provided by an embodiment of the present application;

[0022] Figure 7 A schematic diagram of the structure of a vehicle control device provided by one embodiment of the present application;

[0023] Figure 8 A structural diagram of an electronic device provided for one embodiment of the present application. DETAILED DESCRIPTION

[0024] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0025] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. For example, the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0026] For ease of description, spatial relative terms may be used herein to describe the relative positional relationship or movement of one element or feature relative to another element or feature as shown in the figure, such as "inside", "outside", "inner side", "outer side", "below", "below", "above", "above", "front", "back", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure undergoes a position flip or a change in posture or a change in motion state, then these directional indications will also change accordingly, for example: an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented as "above other elements or features" or "above other elements or features". Therefore, the example term "below..." can include both upper and lower orientations. The device can be oriented otherwise (rotated 90 degrees or in other directions) and the spatial relative descriptors used herein are interpreted accordingly.

[0027] In order to solve the technical problem of poor tracking stability of distributed drive vehicles in the prior art, the present application provides a vehicle control method, which can reduce the impact of the difference in driving force of tires on both sides of the vehicle caused by abnormal working conditions and improve the tracking stability.

[0028] Figure 1 A vehicle control method provided in an embodiment of the present application is as follows: Figure 1 As shown, the method may include:

[0029] S10: Determine whether the vehicle currently has a differential steering demand;

[0030] S20: When there is no current differential steering demand for the vehicle, adjust the position of the projection point of the kingpin corresponding to the tire in the vehicle on the ground to control the target distance to be reduced to a preset value; the target distance is the distance between the contact point position of the tire on the ground and the projection point position of the kingpin corresponding to the tire on the ground.

[0031] In this embodiment, the vehicle may be a vehicle with intelligent driving or assisted driving functions, and determining whether the vehicle currently has a differential steering demand may refer to when the intelligent driving or assisted driving is turned on, or when the driver is operating the vehicle. The differential steering demand may refer to the need to provide differential steering assistance to the wheels on both sides of the vehicle.

[0032] In one embodiment, Figure 2 As shown, from the front and rear direction of the vehicle, each tire of the vehicle has a corresponding kingpin, and the kingpin can be used to connect the tire and the suspension of the vehicle body. The projection point position of the kingpin on the ground can refer to the intersection of the extension line of the kingpin along the length direction and the ground. Here, the projection point position of the kingpin on the ground and the contact point position of the tire are on the same horizontal plane, that is, the ground. The contact point position of the tire on the ground can refer to the position of the center point of the contact surface between the tire and the ground.

[0033] In one embodiment, adjusting the projection point position of the kingpin corresponding to the tire of the vehicle on the ground may refer to adjusting the projection point position of the kingpin corresponding to the tire on one side of the vehicle on the ground, or adjusting the projection point position of the kingpin corresponding to the tires on both sides of the vehicle on the ground. One side may refer to the left side or the right side, wherein adjusting the projection point position of the kingpin corresponding to the tire on one side of the vehicle on the ground may include adjusting the projection point position of the kingpin corresponding to one or more tires on one side of the vehicle on the ground.

[0034] In one embodiment, the tires and kingpin on both sides of the vehicle are symmetrically designed, that is, the distance between the contact point position of the left tire on the ground and the projection point position of the kingpin corresponding to the left tire on the ground is always equal to the distance between the contact point position of the right tire on the ground and the projection point position of the kingpin corresponding to the right tire on the ground.

[0035] In one embodiment, the target distance between the contact point of the tire on the ground and the projection point of the kingpin corresponding to the tire on the ground is equal to the kingpin projection lever arm corresponding to the tire. Here, the kingpin projection lever arm is the lever arm corresponding to the driving force on the tire.

[0036] For example, Figure 3As shown, from the up and down direction of the vehicle, the driving force on the left tire is F1, and the driving force on the right tire is F2. The target distance between the contact point of the left tire on the ground and the projection point of the kingpin corresponding to the left tire on the ground is d1, and the target distance between the contact point of the right tire on the ground and the projection point of the kingpin corresponding to the right tire on the ground is d2. At this time, the torque generated by the driving force on the left tire around the kingpin is F1*d1, and the torque generated by the driving force on the right tire around the kingpin is F2*d2. When the vehicle is in a steady-state driving state, such as straight-line driving, there is no need for differential steering. At this time, if F1 and F2 are not equal due to abnormal working conditions such as uneven ground or drive motor response differences, the steering mechanism is subjected to a steering torque of F1*d1-F2*d2, causing wheel deflection and unstable tracking.

[0037] In one embodiment, Figure 4 As shown, the target distance is reduced, and controlling the target distance to be reduced to a preset value may refer to moving the projection point position closer to the contact point position. Here, the preset value may be a fixed value, such as 0, 0.01m or 0.03m, etc., so that the steering torque is reduced by minimizing d1 and d2 in the steering torque = F1*d1-F2*d2.

[0038] In one embodiment, preferably, the preset value can be 0. At this time, controlling the target distance to be reduced to the preset value is equivalent to controlling the projection point position of the kingpin corresponding to the tire in the vehicle on the ground to coincide with the contact point position of the tire on the ground. At this time, d1=d2=0, no matter how big or small the difference between F1 and F2 is, the steering torque is 0, and no wheel deflection will be caused.

[0039] In one embodiment, controlling the target distance to be reduced to a preset value may include: determining the preset value based on the current driving state of the vehicle; controlling the target distance to be reduced to the preset value. Wherein, determining the preset value based on the current driving state of the vehicle may include: determining the preset value based on the current driving state of the vehicle and the road condition.

[0040] Here, the current driving state may be determined based on at least one of the following: driving speed, driving track, steering wheel angle, etc. The road surface condition may include road surface flatness, etc.

[0041] In one embodiment, determining the preset value based on the current driving state of the vehicle may include: when the current driving state of the vehicle is in straight-line driving and there is no differential steering demand within a predetermined time, determining the preset value to be 0. Here, there is no differential steering demand within the predetermined time, which may mean that there is no differential steering demand within the predetermined time in the route planned by intelligent driving. Therefore, when driving on the route based on intelligent planning, the projection point and the contact point are controlled to coincide only when differential steering is not required within a certain time, so as to avoid affecting the differential steering control.

[0042] In one embodiment, determining the preset value based on the current driving state of the vehicle may include: determining the preset value based on the current driving state of the vehicle and the current position of the projection point and the contact point of the vehicle. In this way, the current driving demand and the current structural state can be matched as much as possible on the basis of reducing the target distance, and the amount of change can be reduced.

[0043] In one embodiment, adjusting the position of the projection point of the kingpin corresponding to the tire in the vehicle on the ground may include: adjusting the position of the projection point of the kingpin corresponding to the tire in the vehicle on the ground by adjusting the height of the tire relative to the vehicle body.

[0044] Here, when adjusting the height of a tire relative to the vehicle body, the kingpin projection arm corresponding to the tire will change with the change of the tire height. Therefore, the relationship between the relative height h between the tire and the vehicle body and the kingpin projection arm d is determined. Assume that: d = f(h), where h represents the relative height between a tire and the vehicle body; d represents the kingpin projection arm corresponding to the tire (the distance between the kingpin projection point on the ground and the corresponding wheel contact point with the ground). Therefore, if you want to obtain a kingpin projection arm d = preset value x for a certain tire, you can achieve this by controlling the relative height between the tire and the vehicle body.

[0045] In one embodiment, adjusting the height of the tire relative to the vehicle body may include: adjusting the suspension height of the vehicle.

[0046] In this way, when differential steering is not needed, the kingpin is moved to a position where the projection point is close to the tire contact point, and the target distance is shortened, that is, the driving force arm corresponding to the tire is shortened. Therefore, even if there is a difference in the driving force generated by the tires on both sides due to abnormal working conditions, since the arm is reduced, the torque generated by the driving force on the tire rotating around the kingpin is equal to the driving force multiplied by the arm, which is also reduced accordingly. The yaw moment caused by the driving force difference is equal to the torque difference corresponding to the tires on both sides, and the yaw moment will also decrease as the arm is reduced. Therefore, the yaw moment caused by the driving force difference between the tires on both sides due to abnormal working conditions can be greatly reduced, maintaining vehicle tracking stability and improving safety.

[0047] In some embodiments, in the above step S20, adjusting the projection point position of the kingpin corresponding to the tire of the vehicle on the ground may include:

[0048] By adjusting the suspension height of the vehicle, the projection point position of the kingpin corresponding to the tire of the vehicle on the ground is adjusted.

[0049] In one embodiment, adjusting the suspension height of the vehicle may include determining a projection point position to be adjusted based on the current contact point position of the tire on the ground and a target distance; and adjusting the suspension height of the vehicle based on the projection point position to be adjusted.

[0050] In one embodiment, adjusting the suspension height of the vehicle may include: adjusting the suspension height of the vehicle based on a first suspension height corresponding to the target distance. Here, the first suspension height corresponding to the target distance may be determined based on the position of the suspension when the distance between the tire contact point on the ground and the tire corresponding to the kingpin projection point on the ground is the target distance.

[0051] In one embodiment, adjusting the suspension height of the vehicle may include: adjusting the suspension height of the vehicle based on the kingpin posture and / or kingpin position corresponding to the target distance. For example, it may include adjusting the suspension height of the vehicle based on the kingpin posture and / or kingpin position corresponding to the target distance, and the current posture and / or current position of the kingpin.

[0052] In this way, by adjusting the suspension height, the relative height of the tire to the vehicle body can be adjusted more conveniently and accurately, so that the kingpin position can be quickly adjusted to achieve the adjustment of the kingpin projection point position, thereby improving the efficiency and accuracy of vehicle adjustment control.

[0053] Since the position of the above-mentioned projection point is adjusted in real time during the driving process of the vehicle, if the position and suspension height need to be calculated in real time, computing resources are often required and the efficiency is low.

[0054] Therefore, in some embodiments, adjusting the suspension height of the vehicle may include:

[0055] Querying a first suspension height corresponding to the projection point position when the target distance is a preset value;

[0056] The suspension height of the vehicle is adjusted to the first suspension height.

[0057] In one embodiment, querying the first suspension height corresponding to the projection point position when the target distance is a preset value may include: querying the first suspension height corresponding to the projection point position when the target distance is a preset value based on a preset corresponding relationship. Here, the preset corresponding relationship may include at least one set of corresponding relationships between target distances and suspension heights, or at least one set of corresponding relationships between projection point positions and suspension heights.

[0058] In one embodiment, the preset corresponding relationship can be recorded in a preset projection point table, which can record the suspension heights corresponding to different projection point positions. Optionally, the table can also record the target distances and corresponding suspension heights corresponding to different projection point positions.

[0059] In one embodiment, the projection point table may be generated based on calibration data. For example, the projection point table may be generated based on calibration data obtained through calibration and simulation processes. Here, the projection point table may be updated at a predetermined period, for example, the projection point table may be updated at a predetermined period according to the use status of the vehicle. Here, the use status of the vehicle may include at least one of the following: the change status of the position of the tire contact point with the ground, the change status of the kingpin posture and / or the kingpin position, the change status of the suspension position, etc. In this way, the projection point may be updated accordingly according to the use process of the vehicle, thereby improving the accuracy of the projection point adjustment.

[0060] In one embodiment, adjusting the suspension height of the vehicle to the first suspension height may include: determining a suspension adjustment method based on the first suspension height and the current suspension height; and adjusting the suspension height of the vehicle to the first suspension height based on the suspension adjustment method. Here, determining the suspension adjustment method based on the first suspension height and the current suspension height may refer to determining the suspension adjustment method based on the difference between the first suspension height and the current suspension height.

[0061] In this way, the suspension height required for adjusting to the desired projection point position can be quickly obtained by querying, without the need for real-time calculation and occupying computing resources, thereby improving the efficiency and accuracy of the adjustment and further realizing rapid vehicle control during driving.

[0062] Since when the vehicle needs differential steering assistance, it is also necessary to provide differential driving forces to the tires to achieve differential steering assistance. Therefore, in some embodiments, Figure 5 As shown, the method may also include:

[0063] S30: When the vehicle currently has a differential steering demand, determining a projection point position required for the differential steering demand;

[0064] S40: Querying a second suspension height corresponding to a projection point position required for differential steering requirements;

[0065] S50: Adjusting the suspension height of the vehicle to a second suspension height.

[0066] In this embodiment, determining the projection point position required for the differential steering requirement may refer to determining the differential steering driving force required for the differential steering requirement, and determining the required projection point position based on the differential steering driving force. Here, the differential steering driving force is provided to the tire, and different differential steering driving forces correspond to different kingpin positions and / or kingpin postures, and also correspond to different projection point positions.

[0067] In one embodiment, determining the projection point position required for the differential steering requirement may include: determining the projection point position required for the differential steering requirement based on the differential steering requirement and the steering assist capability of the vehicle. For example, it may include: determining the differential steering driving force required for the differential steering requirement; determining the projection point position required for the differential steering requirement based on the differential steering driving force and the steering assist capability of the vehicle.

[0068] In one embodiment, querying the second suspension height corresponding to the projection point position required for the differential steering requirement may include: querying the second suspension height corresponding to the projection point position required for the differential steering requirement based on a preset corresponding relationship. For example, determining the target distance corresponding to the projection point position required for the differential steering requirement; querying the second suspension height corresponding to the target distance corresponding to the projection point position required for the differential steering requirement based on the preset corresponding relationship.

[0069] Here, the preset corresponding relationship may include at least one set of corresponding relationship between target distance and suspension height, or at least one set of corresponding relationship between projection point position and suspension height.

[0070] In one embodiment, adjusting the suspension height of the vehicle to the second suspension height may include: determining a suspension adjustment method based on the second suspension height and the current suspension height; and adjusting the suspension height of the vehicle to the second suspension height based on the suspension adjustment method. Here, determining the suspension adjustment method based on the second suspension height and the current suspension height may refer to determining the suspension adjustment method based on the difference between the second suspension height and the current suspension height.

[0071] In this way, when differential steering is required, the tire force arm can be adjusted based on the movement adjustment of the kingpin projection point position, thereby providing driving force to provide differential torque and realize differential steering assistance. Moreover, the suspension height required for adjusting to the desired projection point position can be quickly obtained by querying, without the need for real-time calculation and occupying computing resources, thereby improving the efficiency and accuracy of the adjustment, and further realizing rapid vehicle control during driving.

[0072] In some embodiments, in the above step S10, determining whether the vehicle currently has a differential steering demand may include:

[0073] In response to receiving the lateral control request, it is determined whether the vehicle currently has a differential steering demand based on the lateral control request and a steering assist capability of the vehicle.

[0074] In one embodiment, the lateral control request may refer to a lateral drive control request for tires on both sides of the vehicle, and the request may correspond to the deflection angle that the tires need to achieve. For example, the lateral control request may be issued based on the driver's operation of the steering wheel, or may be issued by the controller based on the planning of intelligent driving or assisted driving. The lateral control request may carry at least one of the following parameters: expected steering wheel angle, expected turning radius, planned trajectory, etc.

[0075] Here, receiving the lateral control request may refer to a steering control module in the vehicle receiving the lateral control request.

[0076] In one embodiment, determining whether the vehicle currently has a differential steering demand based on the lateral control request and the vehicle's steering assist capability may include: determining a steering parameter indicated by the lateral control request; and comparing the steering parameter with the vehicle's steering assist capability to determine whether the vehicle currently has a differential steering demand.

[0077] Here, the steering parameter may include at least one of the following: a desired steering wheel angle, a desired turning radius, a planned trajectory, and the like.

[0078] In this way, based on the lateral control request and the vehicle's steering assist capability, it can be determined whether a differential steering control function needs to be provided additionally, which is conducive to quickly and accurately identifying the current scene so as to accurately control the adjustment method of the kingpin projection point position.

[0079] In some embodiments, determining whether the vehicle currently has a differential steering demand based on the lateral control request and the steering assist capability of the vehicle may include:

[0080] Obtaining the steering parameters indicated by the lateral control request and the current posture parameters of the vehicle;

[0081] Determining control parameters required for the lateral control request based on the steering parameter and the current posture parameter;

[0082] Based on the control parameter and the steering assist capability of the vehicle, it is determined whether the vehicle currently has a differential steering demand.

[0083] In one embodiment, the steering parameter indicated by the lateral control request may include at least one of the following: expected steering wheel angle, expected turning radius, and planned trajectory, etc. The current posture parameter of the vehicle may include at least one of the following: current steering wheel angle, current turning radius, current kingpin posture, current kingpin position, and current tire posture, etc.

[0084] Here, the current posture parameters of the vehicle can be determined by at least one of a steering wheel angle sensor, an inertial navigation sensor, and a positioning system.

[0085] In one embodiment, determining the control parameter required for the lateral control request based on the steering parameter and the current posture parameter may include: determining the control parameter required for the lateral control request based on the difference between the steering parameter and the current posture parameter. For example, the control parameter is equal to the difference, or, based on the difference between multiple steering parameters and multiple current posture parameters and the weight corresponding to each steering parameter, multiple differences are weightedly calculated to obtain the control parameter.

[0086] In one embodiment, determining whether the vehicle currently has a differential steering demand based on the control parameters and the steering assist capability of the vehicle may include: determining whether the steering assist capability of the vehicle satisfies the control parameters; if the steering assist capability satisfies the control parameters, determining that the vehicle currently has no differential steering demand; if the steering assist capability does not satisfy the control parameters, determining that the vehicle currently has a differential steering demand.

[0087] In this way, based on the steering parameters expected by the lateral control request and the current posture parameters, the control parameters required to be provided can be accurately determined. Combined with the vehicle's own steering assist capability, it is possible to more intuitively and accurately determine whether differential steering is needed, thereby improving the accuracy of vehicle control.

[0088] In some embodiments, determining whether the vehicle currently has a differential steering demand based on the control parameter and the steering assist capability of the vehicle includes:

[0089] Processing the control parameters through a feedback control algorithm to obtain a first steering torque;

[0090] Processing the steering parameter by a feedforward control algorithm to obtain a second steering torque;

[0091] determining a total steering torque required for the lateral control request based on the first steering torque and the second steering torque;

[0092] Based on the total steering torque and the steering assist capability of the vehicle, it is determined whether the vehicle currently has a differential steering demand.

[0093] In one embodiment, processing the control parameter by a feedback control algorithm to obtain the first steering torque may include: inputting the control parameter into a feedback control algorithm model to obtain a feedback control amount, wherein the feedback control amount represents the required steering torque calculated by the feedback control algorithm. Here, the feedback control algorithm may refer to a lateral feedback control algorithm, and the feedback control algorithm model may refer to a lateral feedback control algorithm model.

[0094] In one embodiment, processing the steering parameter by a feedforward control algorithm to obtain the second steering torque may include: inputting the steering parameter into a feedforward control algorithm model to obtain a feedforward control amount, wherein the feedforward control amount represents the required steering torque calculated by the feedforward control algorithm. Here, the feedforward control algorithm may refer to a lateral feedforward control algorithm, and the feedforward control algorithm model may refer to a lateral feedforward control algorithm model.

[0095] In one embodiment, determining the total steering torque required for the lateral control request based on the first steering torque and the second steering torque may include: determining a difference between the first steering torque and the second steering torque as the total steering torque required for the lateral control request.

[0096] In one embodiment, determining whether the vehicle currently has a differential steering demand based on the total steering torque and the steering assist capability of the vehicle may include: determining whether the steering assist capability of the vehicle meets the total steering torque; if the steering assist capability meets the total steering torque, determining that the vehicle currently has no differential steering demand; if the steering assist capability does not meet the total steering torque, determining that the vehicle currently has a differential steering demand.

[0097] In this way, the desired steering parameters and the control parameters to be executed are processed respectively by the feedforward algorithm and the feedback algorithm, so that the total steering torque to be executed can be obtained more accurately, reducing the inaccurate torque calculation caused by the error between the control parameters and the steering parameters, avoiding the error in the torque calculated only based on the control parameters, and improving the accuracy of the torque calculation, so as to improve the accuracy of the differential steering demand judgment.

[0098] As a possible implementation method, a vehicle control method is provided. When the vehicle does not need differential steering, the kingpin projection point is controlled to coincide with the tire contact point by adjusting the suspension height, and the kingpin projection force arm d1=d2=0 is controlled. Thereafter, when the vehicle does not need differential steering, no matter what abnormal working conditions are encountered, resulting in F1 and F2 being unequal, the steering torque applied to the steering mechanism is always F1*d1-F2*d2=0, that is, the lateral control will not be disturbed by the driving force difference, that is, the yaw torque, and the vehicle can maintain lateral control and tracking stability. This is a good solution to the problem of vehicle tracking instability caused by unexpected left and right driving force differences under a distributed drive architecture.

[0099] In this embodiment, when the driver uses the steering wheel or other drive-by-wire devices or turns on the automatic driving function, the driver and the automatic driving controller form a lateral control request and send it to the steering control module. The steering control module decides whether differential steering assistance is needed based on user needs and the vehicle's own power steering capabilities. If necessary, the suspension is used to adjust the vehicle height change, control the kingpin projection point position change, obtain a larger kingpin projection force arm, and realize the differential steering assistance function; if not, the suspension is used to adjust the vehicle height change, control the kingpin projection point position change, so that the kingpin projection force arm approaches 0, thereby suppressing the lateral control and tracking instability caused by unexpected left and right side driving force inconsistency, and ensuring the safety of the driver and passengers.

[0100] Specifically, Figure 6 As shown, the following steps are included:

[0101] (1) After the steering control module receives a lateral control request from the driver or the self-driving controller, such as an expected steering wheel angle, an expected turning radius, or a planned trajectory, the steering control module measures the actual steering wheel angle, actual turning radius, and other vehicle posture information of the vehicle based on the steering wheel angle sensor, inertial navigation sensor, and positioning system, and then subtracts the lateral control expected value from the vehicle's actual lateral posture information to obtain a lateral control deviation;

[0102] (2) Inputting the lateral control deviation into the lateral feedback control algorithm model to obtain the feedback control quantity Tf, where Tf represents the required steering torque calculated by the feedback control algorithm module;

[0103] (3) Inputting the lateral control expected value into the lateral feedforward control algorithm model to obtain the feedforward control quantity Tp, where Tp represents the required steering torque calculated by the feedforward control algorithm module;

[0104] (4) The feedforward control value Tp plus the feedback control value Tf obtains the steering assist torque required by the user;

[0105] (5) Determine whether differential steering assistance is required based on the required steering assistance torque and the vehicle's steering assistance capability. If necessary, adjust the kingpin projection point position to meet the user's differential steering assistance requirements;

[0106] (6) The steering control module queries the projection point table to find out the height to which the suspension system needs to be adjusted for the corresponding working condition, and then obtains the required projection point position;

[0107] (7) The projection point table is the desktop calibration data obtained by the calibration engineer based on the simulation theory analysis, and then calibrated on the actual vehicle to obtain the final suspension relative height and projection point table data. The subsequent algorithm modules query the table to obtain the relative height that the suspension needs to control for the corresponding working condition and send it to the suspension system, which executes the relevant request;

[0108] (8) If differential power steering is not required, the steering control module queries the projection point table to find the corresponding suspension height when the kingpin projection point coincides with the tire contact point, and sends the request to the suspension system for execution;

[0109] (9) The suspension system controls the suspension to a corresponding height according to the request of the steering control module;

[0110] (10) Subsequently, as the driving conditions change, the projection point table is queried in real time. If the required suspension height is found to have changed, steps (8) and (9) are repeated.

[0111] The present application embodiment provides a vehicle control device, such as Figure 7 FIG. 1 is a block diagram of a vehicle control device provided in an embodiment of the present application. The device can be implemented as part or all of an electronic device through software, hardware, or a combination of both. The vehicle control device includes:

[0112] A determination module 100 is used to determine whether the vehicle currently has a differential steering demand;

[0113] The adjustment module 200 is used to adjust the projection point position of the kingpin corresponding to the tire of the vehicle on the ground when the vehicle currently does not have the differential steering demand, so as to control the target distance to be reduced to a preset value; the target distance is the distance between the contact point position of the tire on the ground and the projection point position of the kingpin corresponding to the tire on the ground.

[0114] Furthermore, the adjustment module 200 is specifically used for:

[0115] By adjusting the suspension height of the vehicle, the projection point position of the kingpin corresponding to the tire of the vehicle on the ground is adjusted.

[0116] Furthermore, the adjustment module 200 is specifically used for:

[0117] Querying a first suspension height corresponding to the projection point position when the target distance is a preset value;

[0118] The suspension height of the vehicle is adjusted to the first suspension height.

[0119] Furthermore, the adjustment module 200 is also used for:

[0120] When the vehicle currently has the differential steering demand, determining the projection point position required for the differential steering demand;

[0121] Querying a second suspension height corresponding to the projection point position required for the differential steering requirement;

[0122] The suspension height of the vehicle is adjusted to the second suspension height.

[0123] Furthermore, the determination module 100 is specifically configured to:

[0124] In response to receiving the lateral control request, it is determined whether the vehicle currently has a differential steering demand based on the lateral control request and a steering assist capability of the vehicle.

[0125] Furthermore, the determination module 100 is specifically configured to:

[0126] Obtaining the steering parameters indicated by the lateral control request and the current posture parameters of the vehicle;

[0127] Determining control parameters required for the lateral control request based on the steering parameter and the current posture parameter;

[0128] Based on the control parameter and the steering assist capability of the vehicle, it is determined whether the vehicle currently has a differential steering demand.

[0129] Furthermore, the determination module 100 is specifically configured to:

[0130] Processing the control parameters through a feedback control algorithm to obtain a first steering torque;

[0131] Processing the steering parameter by a feedforward control algorithm to obtain a second steering torque;

[0132] determining a total steering torque required for the lateral control request based on the first steering torque and the second steering torque;

[0133] Based on the total steering torque and the steering assist capability of the vehicle, it is determined whether the vehicle currently has a differential steering demand.

[0134] like Figure 8 As shown, an embodiment of the present application provides an electronic device, including a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114. The processor 111 is used to implement the vehicle control method described in any one or more of the aforementioned method embodiments.

[0135] In one embodiment of the present application, the memory 113 is used to store computer programs; the processor 111 is used to implement the vehicle control method described in any one or more of the aforementioned method embodiments when executing the program stored in the memory 113, which at least includes: determining whether the vehicle currently has a differential steering demand; when the vehicle currently does not have the differential steering demand, adjusting the projection point position of the kingpin corresponding to the tire of the vehicle on the ground to control the target distance to be reduced to a preset value; the target distance is the distance between the contact point position of the tire on the ground and the projection point position of the kingpin corresponding to the tire on the ground.

[0136] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the vehicle control method as described in any one or more of the aforementioned method embodiments are implemented.

[0137] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0138] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0139] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0140] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A vehicle control method, characterized in that: The method comprises: Determine whether there is a current differential steering demand for the vehicle; When the vehicle currently does not have the differential steering demand, the position of the projection point of the kingpin corresponding to the tire in the vehicle on the ground is adjusted to control the target distance to be reduced to a preset value; the target distance is the distance between the contact point position of the tire on the ground and the projection point position of the kingpin corresponding to the tire on the ground.

2. The method according to claim 1, characterized in that The adjusting the projection point position of the kingpin corresponding to the tire of the vehicle on the ground includes: By adjusting the suspension height of the vehicle, the projection point position of the kingpin corresponding to the tire of the vehicle on the ground is adjusted.

3. The method according to claim 2, characterized in that The adjusting the suspension height of the vehicle comprises: Querying a first suspension height corresponding to the projection point position when the target distance is a preset value; The suspension height of the vehicle is adjusted to the first suspension height.

4. The method according to claim 1, characterized in that: The method further comprises: When the vehicle currently has the differential steering demand, determining the projection point position required for the differential steering demand; Querying a second suspension height corresponding to the projection point position required for the differential steering requirement; The suspension height of the vehicle is adjusted to the second suspension height.

5. The method according to claim 1, characterized in that The determining whether the vehicle currently has a differential steering demand includes: In response to receiving the lateral control request, it is determined whether the vehicle currently has a differential steering demand based on the lateral control request and a steering assist capability of the vehicle.

6. The method according to claim 5, characterized in that The determining whether the vehicle currently has a differential steering demand based on the lateral control request and the steering assist capability of the vehicle includes: Obtaining the steering parameters indicated by the lateral control request and the current posture parameters of the vehicle; Determining control parameters required for the lateral control request based on the steering parameter and the current posture parameter; Based on the control parameter and the steering assist capability of the vehicle, it is determined whether the vehicle currently has a differential steering demand.

7. The method according to claim 6, characterized in that The determining whether the vehicle currently has a differential steering demand based on the control parameter and the steering assist capability of the vehicle includes: Processing the control parameters through a feedback control algorithm to obtain a first steering torque; Processing the steering parameter by a feedforward control algorithm to obtain a second steering torque; determining a total steering torque required for the lateral control request based on the first steering torque and the second steering torque; Based on the total steering torque and the steering assist capability of the vehicle, it is determined whether the vehicle currently has a differential steering demand.

8. A vehicle control device, characterized in that: The device comprises: A determination module, used to determine whether the vehicle currently has a differential steering demand; An adjustment module is used to adjust the projection point position of the kingpin corresponding to the tire of the vehicle on the ground when the vehicle currently does not have the differential steering demand, so as to control the target distance to be reduced to a preset value; the target distance is the distance between the contact point position of the tire on the ground and the projection point position of the kingpin corresponding to the tire on the ground.

9. An electronic device, characterized in that: include: at least one communication interface; at least one bus connected to the at least one communication interface; at least one processor coupled to the at least one bus; At least one memory connected to the at least one bus, wherein the processor is configured to implement the vehicle control method according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that: Computer executable instructions are stored, and the computer executable instructions are used to execute the vehicle control method according to any one of claims 1 to 7.

Images