Vehicle motion control method and device, electronic equipment, vehicle and storage medium

Abstract

The invention provides a vehicle motion control method and device, electronic equipment, a vehicle and a storage medium. The method comprises the following steps: acquiring motion state information of a vehicle, wherein the motion state information comprises a current first motion mode of the vehicle, a current vehicle speed and a current position of a rocker in rocker equipment of the vehicle; according to a first motion mode in the motion state information, the current vehicle speed and / or the current position, whether a mode switching condition is met or not is determined, and a second motion mode to be switched when the mode switching condition is met is determined; and when the mode switching condition is met, the vehicle is controlled to run in the second motion mode. Therefore, the vehicle can automatically switch the motion modes, the motion modes of the vehicle are enriched, and the user experience is improved.

Description

Technical Field

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

[0002] With the development of new energy vehicle technology, users' driving experience needs are becoming more and more diverse and personalized. For example, the driving control of traditional vehicles is achieved through devices such as steering wheels and shift levers. Joystick devices that integrate functions such as steering, acceleration, and deceleration provide another way to control vehicle driving. At present, when users use joystick devices to control the driving of vehicles, the vehicles usually run in a fixed sports mode, which is single and does not have the ability to automatically adjust the sports mode. Summary of the invention

[0003] In view of this, the purpose of the embodiments of the present application is to provide a vehicle motion control method, device, electronic device, vehicle and storage medium, which can improve the problem of a single motion mode and a lack of the ability to automatically adjust the motion mode when using a joystick device to control the vehicle driving.

[0004] In order to achieve the above technical objectives, the technical solutions adopted in this application are as follows:

[0005] In a first aspect, an embodiment of the present application provides a vehicle motion control method, the method comprising:

[0006] Acquiring motion state information of the vehicle, the motion state information including a current first motion mode of the vehicle, a current vehicle speed, and a current position of a joystick in a joystick device of the vehicle;

[0007] Determining whether a mode switching condition is satisfied according to the first motion mode, the current vehicle speed and / or the current position in the motion state information, and the second motion mode to be switched to when the mode switching condition is satisfied;

[0008] When the mode switching condition is met, the vehicle is controlled to run in the second sport mode.

[0009] In combination with the first aspect, in some optional implementations, determining whether a mode switching condition is met, and a second motion mode to be switched to when the mode switching condition is met, according to the first motion mode, the current vehicle speed and / or the current position in the motion state information, includes:

[0010] When the first motion mode is a speed mode, based on a pre-established first association relationship between a relative position of a joystick in the joystick device in a first direction and a requested vehicle speed, obtaining a requested vehicle speed corresponding to the current position as a target requested vehicle speed;

[0011] In the speed mode, when the target requested vehicle speed is greater than the first vehicle speed threshold and the current vehicle speed, and the position change speed of the joystick in the first direction is greater than a first preset speed, it is determined that the mode switching condition is met, and the acceleration mode is used as the second motion mode to be switched;

[0012] Alternatively, when the first motion mode is the speed mode, the target requested vehicle speed is less than the current vehicle speed, and the position change speed of the joystick in the first direction is greater than a first preset speed, it is determined that the mode switching condition is met, and the acceleration mode is used as the second motion mode to be switched;

[0013] Alternatively, when the first motion mode is the speed mode and the target requested vehicle speed is less than the current vehicle speed, it is confirmed that the mode switching condition is satisfied and the acceleration mode is used as the second motion mode to be switched.

[0014] In combination with the first aspect, in some optional implementations, determining whether a mode switching condition is met, and a second motion mode to be switched to when the mode switching condition is met, according to the first motion mode, the current vehicle speed and / or the current position in the motion state information, includes:

[0015] When the first motion mode is the speed mode, and the duration of the joystick at the current position is greater than or equal to the first preset duration, it is confirmed that the mode switching condition is met, and the cruise mode is used as the second motion mode to be switched.

[0016] In combination with the first aspect, in some optional implementations, determining whether a mode switching condition is met, and a second motion mode to be switched to when the mode switching condition is met, according to the first motion mode, the current vehicle speed and / or the current position in the motion state information, includes:

[0017] When the first motion mode is the acceleration mode, based on a pre-established first association relationship between a relative position of a joystick in the joystick device in a first direction and a requested vehicle speed, obtaining a requested vehicle speed corresponding to the current position as a target requested vehicle speed;

[0018] In the acceleration mode, when the target requested vehicle speed is greater than or equal to the current vehicle speed, and the difference between the target requested vehicle speed and the current vehicle speed is less than or equal to a second vehicle speed threshold, it is confirmed that the mode switching condition is met, and the speed mode is used as the second motion mode to be switched.

[0019] In combination with the first aspect, in some optional implementations, determining whether a mode switching condition is met, and a second motion mode to be switched to when the mode switching condition is met, according to the first motion mode, the current vehicle speed and / or the current position in the motion state information, includes:

[0020] When the first motion mode is the acceleration mode, and the current position of the joystick is the designated position for cruising, and the duration of the designated position is greater than or equal to a second preset duration, it is confirmed that the mode switching condition is met, and the cruise mode is selected as the second motion mode to be switched.

[0021] In combination with the first aspect, in some optional implementations, determining whether a mode switching condition is met, and a second motion mode to be switched to when the mode switching condition is met, according to the first motion mode, the current vehicle speed and / or the current position in the motion state information, includes:

[0022] Based on a pre-established first association relationship between a relative position of a joystick in the joystick device in a first direction and a requested vehicle speed, obtaining a requested vehicle speed corresponding to the current position as a target requested vehicle speed;

[0023] When the first motion mode is the cruise mode, and the difference between the target requested vehicle speed and the current vehicle speed is greater than a third vehicle speed threshold, confirming that the mode switching condition is met, and setting the acceleration mode as the second motion mode to be switched;

[0024] Alternatively, when the first motion mode is the cruise mode, and the difference between the target requested vehicle speed and the current vehicle speed is less than or equal to a third vehicle speed threshold, it is determined that the mode switching condition is satisfied, and the speed mode is used as the second motion mode to be switched;

[0025] Alternatively, when the first sport mode is the cruise mode and the target requested vehicle speed is less than the current vehicle speed, it is confirmed that the mode switching condition is met, and the acceleration mode is used as the second sport mode to be switched.

[0026] In combination with the first aspect, in some optional implementations, controlling the vehicle to run in the second motion mode includes:

[0027] When the second motion mode is a speed mode, controlling the vehicle to accelerate to a target requested vehicle speed corresponding to the current position, wherein in the speed mode, the relative position of the joystick in the first direction has a first correlation with the requested vehicle speed;

[0028] Alternatively, when the second motion mode is an acceleration mode, the vehicle is controlled to accelerate or decelerate to a target requested vehicle speed corresponding to the current position with the target requested acceleration corresponding to the current position, wherein in the acceleration mode, the relative position of the joystick in the first direction has a second correlation relationship with the requested acceleration;

[0029] Alternatively, when the second sports mode is a cruise mode, the vehicle is controlled to cruise at a constant speed according to the current vehicle speed.

[0030] In combination with the first aspect, in some optional embodiments, a third association relationship is established between the relative position of the joystick in the joystick device in the second direction and the requested steering angle, and the requested steering angle corresponding to the current position of the joystick is the desired steering angle of the vehicle.

[0031] In a second aspect, an embodiment of the present application further provides a vehicle motion control device, the device comprising:

[0032] an acquisition unit, configured to acquire motion state information of the vehicle, the motion state information including a current first motion mode of the vehicle, a current vehicle speed, and a current position of a joystick in a joystick device of the vehicle;

[0033] a determination unit, configured to determine whether a mode switching condition is satisfied according to the first motion mode, the current vehicle speed and / or the current position in the motion state information, and a second motion mode to be switched to when the mode switching condition is satisfied;

[0034] A control unit is used to control the vehicle to run in the second sports mode when the mode switching condition is met.

[0035] In conjunction with the second aspect, in some optional implementations, the determining unit is further configured to:

[0036] When the first motion mode is a speed mode, based on a pre-established first association relationship between a relative position of a joystick in the joystick device in a first direction and a requested vehicle speed, obtaining a requested vehicle speed corresponding to the current position as a target requested vehicle speed;

[0037] In the speed mode, when the target requested vehicle speed is greater than the first vehicle speed threshold and the current vehicle speed, and the position change speed of the joystick in the first direction is greater than a first preset speed, it is determined that the mode switching condition is met, and the acceleration mode is used as the second motion mode to be switched;

[0038] Alternatively, when the first motion mode is the speed mode, the target requested vehicle speed is less than the current vehicle speed, and the position change speed of the joystick in the first direction is greater than a first preset speed, it is determined that the mode switching condition is met, and the acceleration mode is used as the second motion mode to be switched;

[0039] Alternatively, when the first motion mode is the speed mode and the target requested vehicle speed is less than the current vehicle speed, it is confirmed that the mode switching condition is satisfied and the acceleration mode is used as the second motion mode to be switched.

[0040] In conjunction with the second aspect, in some optional implementations, the determining unit is further configured to:

[0041] When the first motion mode is the speed mode, and the duration of the joystick at the current position is greater than or equal to the first preset duration, it is confirmed that the mode switching condition is met, and the cruise mode is used as the second motion mode to be switched.

[0042] In conjunction with the second aspect, in some optional implementations, the determining unit is further configured to:

[0043] When the first motion mode is the acceleration mode, based on a pre-established first association relationship between a relative position of a joystick in the joystick device in a first direction and a requested vehicle speed, obtaining a requested vehicle speed corresponding to the current position as a target requested vehicle speed;

[0044] In the acceleration mode, when the target requested vehicle speed is greater than or equal to the current vehicle speed, and the difference between the target requested vehicle speed and the current vehicle speed is less than or equal to a second vehicle speed threshold, it is confirmed that the mode switching condition is met, and the speed mode is used as the second motion mode to be switched.

[0045] In conjunction with the second aspect, in some optional implementations, the determining unit is further configured to:

[0046] When the first motion mode is the acceleration mode, and the current position of the joystick is the designated position for cruising, and the duration of the designated position is greater than or equal to a second preset duration, it is confirmed that the mode switching condition is met, and the cruise mode is selected as the second motion mode to be switched.

[0047] In conjunction with the second aspect, in some optional implementations, the determining unit is further configured to:

[0048] Based on a pre-established first association relationship between a relative position of a joystick in the joystick device in a first direction and a requested vehicle speed, obtaining a requested vehicle speed corresponding to the current position as a target requested vehicle speed;

[0049] When the first motion mode is the cruise mode, and the difference between the target requested vehicle speed and the current vehicle speed is greater than a third vehicle speed threshold, confirming that the mode switching condition is met, and setting the acceleration mode as the second motion mode to be switched;

[0050] Alternatively, when the first motion mode is the cruise mode, and the difference between the target requested vehicle speed and the current vehicle speed is less than or equal to a third vehicle speed threshold, it is determined that the mode switching condition is satisfied, and the speed mode is used as the second motion mode to be switched;

[0051] Alternatively, when the first sport mode is the cruise mode and the target requested vehicle speed is less than the current vehicle speed, it is confirmed that the mode switching condition is met, and the acceleration mode is used as the second sport mode to be switched.

[0052] In conjunction with the second aspect, in some optional implementations, the control unit is further configured to:

[0053] When the second motion mode is a speed mode, controlling the vehicle to accelerate to a target requested vehicle speed corresponding to the current position, wherein in the speed mode, the relative position of the joystick in the first direction has a first correlation with the requested vehicle speed;

[0054] Alternatively, when the second motion mode is an acceleration mode, the vehicle is controlled to accelerate or decelerate to a target requested vehicle speed corresponding to the current position with the target requested acceleration corresponding to the current position, wherein in the acceleration mode, the relative position of the joystick in the first direction has a second correlation relationship with the requested acceleration;

[0055] Alternatively, when the second sports mode is a cruise mode, the vehicle is controlled to cruise at a constant speed according to the current vehicle speed.

[0056] In a third aspect, an embodiment of the present application further provides an electronic device, comprising a processor and a memory coupled to each other, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the electronic device executes the above method.

[0057] In a fourth aspect, an embodiment of the present application further provides a vehicle, comprising a vehicle body having a joystick device and the above-mentioned electronic device.

[0058] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. When the computer program runs on a computer, the computer executes the above method.

[0059] The invention adopting the above technical solution has the following advantages:

[0060] In the technical solution provided by the present application, for a vehicle with a joystick device, the first motion mode, the current vehicle speed and / or the current position of the joystick in the vehicle motion state information are used to determine whether the mode switching condition is met, and the second motion mode to be switched when the mode switching condition is met. When the mode switching condition is met, the first mode is automatically switched to the second motion mode, so as to control the operation of the vehicle according to the second motion mode. In this way, the vehicle can automatically switch the motion mode, enrich the vehicle's motion mode, and help improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The present application may be further described by the non-limiting embodiments given in the accompanying drawings. It should be understood that the following drawings only illustrate certain embodiments of the present application and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings may be obtained based on these drawings without creative effort.

[0062] Figure 1 A flow chart of a vehicle motion control method provided in an embodiment of the present application.

[0063] Figure 2 A schematic diagram of motion mode switching provided in an embodiment of the present application.

[0064] Figure 3 A schematic diagram of a joystick in a joystick device provided in an embodiment of the present application.

[0065] Figure 4 A schematic diagram of analyzing a joystick position signal in speed mode provided in an embodiment of the present application.

[0066] Figure 5 A schematic diagram of analyzing a joystick position signal in acceleration mode provided in an embodiment of the present application.

[0067] Figure 6 This is a functional block diagram of a vehicle motion control device provided in an embodiment of the present application.

[0068] Icon: 200 - vehicle motion control device; 210 - acquisition unit; 220 - determination unit; 230 - control unit. DETAILED DESCRIPTION

[0069] The present application will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that in the drawings or descriptions, similar or identical parts use the same figure numbers, and the implementation methods not shown or described in the drawings are forms known to ordinary technicians in the relevant technical field. In the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0070] Please refer to Figures 1 to 3 The present application provides a vehicle motion control method, which can be applied to an electronic device, and can enable the vehicle to automatically switch motion modes. The electronic device can be an electronic control system or other control device in the vehicle. The vehicle has a joystick device, which can be arranged on the vehicle body in a detachable connection / fixed connection manner.

[0071] In other embodiments, the joystick device can be connected to the vehicle / electronic device through a wireless network, wherein the vehicle can be, but is not limited to, a pure electric vehicle or a fuel-electric hybrid vehicle.

[0072] The joystick device can be used to control the vehicle's driving and can be used to adjust the vehicle's steering and speed. Figure 3 , the user can control the joystick to move within a certain range of positions. The moving area is as follows Figure 3 (a) is the dotted circle area shown in Figure 1. The relative position of the joystick in the first direction can be used to adjust the vehicle speed / acceleration; the relative position of the joystick in the second direction can be used to adjust the vehicle steering angle. The relative position is the distance between the projection point of the current position of the joystick in the corresponding direction and the zero point. The zero point is usually the center point of the joystick movement area, such as Figure 3 The center of the circle shown can be used as the zero point.

[0073] The first direction and the second direction are two different directions, such as two directions perpendicular to each other. In this embodiment, the first direction is a longitudinal direction and the second direction is a transverse direction as an example.

[0074] Please refer to Figure 1 In this embodiment, the electronic device and the joystick device cooperate with each other to implement the steps of the following vehicle motion control method, wherein the vehicle motion control method may include the following steps:

[0075] Step 110, obtaining motion state information of the vehicle, the motion state information including the current first motion mode of the vehicle, the current vehicle speed, and the current position of a joystick in a joystick device of the vehicle;

[0076] Step 120, determining whether a mode switching condition is satisfied based on the first motion mode, the current vehicle speed and / or the current position in the motion state information, and determining the second motion mode to be switched to when the mode switching condition is satisfied;

[0077] Step 130: When the mode switching condition is met, control the vehicle to run in the second sports mode.

[0078] The following will describe the various steps of the vehicle motion control method in detail as follows:

[0079] Please refer to Figure 3 (b), the control panel of the joystick device is provided with corresponding function switches. Function switches may include but are not limited to enable switches, OK buttons and conventional shift buttons, such as D / F gear (forward gear), N gear (neutral gear), R gear (reverse gear), P gear (parking gear), etc. The user can activate the human-driven joystick device by pressing and holding the enable switch. After the joystick device is enabled and activated, the entire vehicle enters a ready-to-drive state through the OK button, and the gear is switched through the shift button. The driver controls the joystick device to control the vehicle movement. The lateral position of the joystick device corresponds to the lateral turning control of the vehicle, and the longitudinal position of the joystick device corresponds to the longitudinal speed movement control of the vehicle.

[0080] When the vehicle is started, a default motion mode may be configured, such as a default speed mode or an acceleration mode, as the motion mode when the vehicle is started.

[0081] Since the motion state of the vehicle may be adjusted at any time, in step 110, corresponding sensors or collectors may be used to collect the current motion state information of the vehicle in real time as the acquired motion state information.

[0082] The motion state information may include, but is not limited to, the current first motion mode of the vehicle, the current vehicle speed, the current position of the joystick in the joystick device, the speed of change of the relative position of the joystick in the first direction, etc. The first motion mode may be, but is not limited to, one of a speed mode, an acceleration mode, a cruise mode, and a torque mode.

[0083] Understandably, the current vehicle speed can be acquired by using a vehicle speed sensor. The current motion mode of the vehicle can be stored in a specified location in the vehicle's memory, and the current motion mode can be acquired as the first motion mode by reading data at the specified location in the memory by a collector.

[0084] The current position of the joystick can be acquired by a position sensor, and the speed of change of the relative position of the joystick in the first direction can be acquired by converting the joystick positions acquired at multiple time points into relative positions in the first direction and performing differential operations on the multiple relative positions based on the acquisition time.

[0085] In speed mode, the goal is to control the speed of the entire vehicle, and the speed changes more smoothly, which is conducive to improving the driving experience. The relative position of the joystick in the first direction and the requested speed establish a corresponding (first) association relationship, and the requested speed is the speed at which the vehicle is expected to travel. In speed mode, the vehicle controls the vehicle's travel at the requested speed corresponding to the current position of the joystick.

[0086] In the acceleration mode, the goal is to control the acceleration of the entire vehicle, providing a better acceleration and deceleration experience. A corresponding (second) association is established between the relative position of the joystick in the first direction and the requested acceleration, which is the desired acceleration of the vehicle. In the acceleration mode, the vehicle controls the vehicle's travel with the requested acceleration corresponding to the current position of the joystick.

[0087] In cruise mode, the vehicle cruises at a fixed speed, wherein during the cruise, the vehicle speed can remain unchanged or there may be small speed fluctuations.

[0088] In the torque mode, the goal is to control the output torque of the vehicle. A corresponding relationship is established between the relative position of the joystick in the first direction and the requested torque, which is the desired torque for the vehicle to travel. In the torque mode, the vehicle controls the vehicle travel with the requested torque corresponding to the current position of the joystick.

[0089] In step 120, different first motion modes correspond to different mode switching conditions. In addition, when the mode switching conditions are met, the second motion modes determined by different motion state information may also be different.

[0090] Please refer to Figure 2 , taking the switching between the speed mode, acceleration mode, and cruise mode as an example, the implementation method of mode switching is described. For example, step 120 may include:

[0091] When the first motion mode is a speed mode, based on a pre-established first association relationship between a relative position of a joystick in the joystick device in a first direction and a requested vehicle speed, obtaining a requested vehicle speed corresponding to the current position as a target requested vehicle speed;

[0092] In the speed mode, when the target requested vehicle speed is greater than the first vehicle speed threshold and the current vehicle speed, and the position change speed of the joystick in the first direction is greater than a first preset speed, it is determined that the mode switching condition is met, and the acceleration mode is used as the second motion mode to be switched;

[0093] Alternatively, when the first motion mode is the speed mode, the target requested vehicle speed is less than the current vehicle speed, and the position change speed of the joystick in the first direction is greater than a first preset speed, it is determined that the mode switching condition is met, and the acceleration mode is used as the second motion mode to be switched;

[0094] Alternatively, when the first motion mode is the speed mode and the target requested vehicle speed is less than the current vehicle speed, it is confirmed that the mode switching condition is satisfied and the acceleration mode is used as the second motion mode to be switched.

[0095] Please refer to Figure 4 The first correlation relationship between the relative position of the joystick in the first direction and the requested vehicle speed (target vehicle speed) can be as follows: Figure 4 As shown. Figure 4 The relationship line shown can be used to obtain the requested vehicle speed corresponding to the current position of the joystick, which is the target requested vehicle speed.

[0096] When the vehicle is running in speed mode, pushing the joystick forward longitudinally indicates an acceleration request. If the target requested speed is greater than the first speed threshold, and greater than the current speed, and the speed of the joystick position change in the first direction is greater than the first preset speed, the mode switching condition is confirmed to be met. In this way, the vehicle can continue to maintain the speed mode under low-speed driving conditions (such as the current speed is less than the first speed threshold) without switching to acceleration mode. When driving at low speeds, the vehicle requires less acceleration. If the acceleration mode is used, the joystick needs to be operated back and forth frequently, which will increase the difficulty of manipulating the joystick.

[0097] When the vehicle is running in speed mode, if the speed of pushing the joystick forward is slow (that is, the speed of the position change of the joystick in the first direction is greater than the first preset speed), the speed mode can still be maintained without switching to acceleration mode. In speed mode, the vehicle accelerates relatively slowly, and the speed change is smoother and more stable, which is conducive to improving the driving experience.

[0098] When the vehicle is running in speed mode, the push stick is pulled back longitudinally. After the push stick is pulled back longitudinally, the target requested vehicle speed will be less than the current vehicle speed, indicating that there is a deceleration request. As an implementation, in speed mode, as long as there is a deceleration request, it is required to switch to acceleration mode by default. Alternatively, in another implementation, in speed mode, after there is a deceleration request, the joystick position change speed in the first direction needs to be greater than the first preset speed before confirming that it needs to switch to acceleration mode.

[0099] In this embodiment, various thresholds such as the first vehicle speed threshold, the second vehicle speed threshold, the third vehicle speed threshold, the first preset speed, the second preset speed, the first preset time length and the second preset time length can be flexibly set according to actual conditions.

[0100] As an optional implementation, step 120 may include:

[0101] When the first motion mode is the speed mode, and the duration of the joystick at the current position is greater than or equal to the first preset duration, it is confirmed that the mode switching condition is met, and the cruise mode is used as the second motion mode to be switched.

[0102] When the vehicle is running in speed mode, and the joystick is kept in a certain position for more than a certain period of time, it can be judged that the driver has a need for cruise control, and the speed mode is switched to cruise mode, and the current vehicle speed is set as the cruise speed. After entering the cruise mode, the driver can release the joystick, and the joystick automatically returns to zero position. The vehicle drives at the set cruise speed, which can effectively relieve the driver's driving fatigue.

[0103] In other embodiments, when the vehicle is running in speed mode, if the relative distance of the current position of the joystick in the first direction (longitudinal direction) remains unchanged for more than a first preset time period, it can be considered that the mode switching condition is met and the vehicle is switched to cruise mode.

[0104] As an optional implementation, step 120 may include:

[0105] When the first motion mode is the acceleration mode, based on a pre-established first association relationship between a relative position of a joystick in the joystick device in a first direction and a requested vehicle speed, obtaining a requested vehicle speed corresponding to the current position as a target requested vehicle speed;

[0106] In the acceleration mode, when the target requested vehicle speed is greater than or equal to the current vehicle speed, and the difference between the target requested vehicle speed and the current vehicle speed is less than or equal to a second vehicle speed threshold, it is confirmed that the mode switching condition is met, and the speed mode is used as the second motion mode to be switched.

[0107] It can be understood that when the vehicle is running in the acceleration mode, if the difference between the target requested speed and the current speed is less than or equal to the second speed threshold, it means that the vehicle is about to accelerate or decelerate to the target requested speed, and it also means that the vehicle's acceleration / deceleration phase is about to end. At this time, allowing the vehicle to enter the speed mode can ensure that the vehicle can achieve a smoother speed transition with the corresponding acceleration / deceleration performance, which is conducive to improving the driving experience.

[0108] As an optional implementation, step 120 may include:

[0109] When the first motion mode is the acceleration mode, and the current position of the joystick is the designated position for cruising, and the duration of the designated position is greater than or equal to a second preset duration, it is confirmed that the mode switching condition is met, and the cruise mode is selected as the second motion mode to be switched.

[0110] In this embodiment, the designated position for cruising may be a zero point within the remote sensing movement area, such as Figure 3 In this way, in acceleration mode, the user can also switch to loop mode by moving the joystick to zero and keeping it at zero for a certain period of time, which can enrich the mode switching method and enhance the user's control experience.

[0111] In this embodiment, in the acceleration mode, by detecting the duration of the joystick in the specified position, it is possible to avoid the user's misoperation of the joystick, which would cause the cruise mode to be mistakenly triggered due to the joystick briefly passing through the zero point. That is, by detecting the duration of the joystick in the specified position, it is helpful to improve the accuracy of switching to the cycle mode.

[0112] When the vehicle switches from acceleration mode to cruise mode, the vehicle speed in cruise mode may be the speed when the joystick reaches the zero point / specified position.

[0113] As an optional implementation, step 120 may include:

[0114] Based on a pre-established first association relationship between a relative position of a joystick in the joystick device in a first direction and a requested vehicle speed, obtaining a requested vehicle speed corresponding to the current position as a target requested vehicle speed, wherein the current position is a position after the user pushes / pull the joystick during the cruise mode;

[0115] When the first motion mode is the cruise mode, and the difference between the target requested vehicle speed and the current vehicle speed is greater than a third vehicle speed threshold, confirming that the mode switching condition is satisfied, and using the acceleration mode as the second motion mode to be switched, and the difference is an absolute value;

[0116] Alternatively, when the first motion mode is the cruise mode, and the difference between the target requested vehicle speed and the current vehicle speed is less than or equal to a third vehicle speed threshold, it is determined that the mode switching condition is satisfied, and the speed mode is used as the second motion mode to be switched;

[0117] Alternatively, when the first sport mode is the cruise mode and the target requested vehicle speed is less than the current vehicle speed, it is confirmed that the mode switching condition is met, and the acceleration mode is used as the second sport mode to be switched.

[0118] Understandably, when the vehicle is running in the cruise mode, the driver pushes the joystick forward longitudinally from the zero position. If the difference between the target requested speed and the current speed is greater than the third speed threshold, it indicates a greater acceleration request and a need to exit the cruise. At this time, the vehicle is controlled to enter the acceleration mode to ensure the acceleration performance of the vehicle.

[0119] When the vehicle is running in cruise mode, the driver pushes the joystick forward longitudinally from the zero position. If the difference between the target requested speed and the current speed is less than or equal to the third speed threshold, it indicates a smaller acceleration request and a need to exit cruise. At this time, the vehicle is controlled to enter speed mode.

[0120] When the vehicle is running in the cruise mode, if the driver pulls the joystick back longitudinally, it is determined that the vehicle has a deceleration request and also enters the acceleration mode.

[0121] In step 130, controlling the vehicle to operate in the second motion mode may include:

[0122] When the second motion mode is a speed mode, controlling the vehicle to accelerate to a target requested vehicle speed corresponding to the current position, wherein in the speed mode, the relative position of the joystick in the first direction has a first correlation with the requested vehicle speed;

[0123] Alternatively, when the second motion mode is an acceleration mode, the vehicle is controlled to accelerate or decelerate to a target requested vehicle speed corresponding to the current position with the target requested acceleration corresponding to the current position, wherein in the acceleration mode, the relative position of the joystick in the first direction has a second correlation relationship with the requested acceleration;

[0124] Alternatively, when the second sports mode is a cruise mode, the vehicle is controlled to cruise at a constant speed according to the current vehicle speed.

[0125] Please refer to Figure 5 The second association relationship between the relative position of the joystick in the first direction and the requested acceleration (target acceleration) can be as follows: Figure 5 As shown, there is a linear relationship between the longitudinal position / distance of the joystick and the acceleration.

[0126] Understandably, when the vehicle is traveling in the acceleration mode, the target requested vehicle speed and the target requested acceleration corresponding to the current position can be obtained by using the aforementioned first association relationship and the second association relationship. Then, the vehicle is accelerated or decelerated by the target requested acceleration, and when the vehicle speed approaches the target requested vehicle speed, the vehicle is switched to the speed mode until the vehicle speed is adjusted to the target requested vehicle speed.

[0127] In this embodiment, a third association relationship is established between the relative position of the joystick in the joystick device in the second direction and the requested steering angle. Based on the third association relationship, the requested steering angle of the vehicle can be obtained from the current position of the joystick. The requested steering angle corresponding to the current position of the joystick is the desired steering angle of the vehicle, that is, the steering angle when the vehicle is subsequently controlled to travel.

[0128] In other embodiments, the mode switching conditions between the torque mode and other motion modes can be flexibly set according to actual conditions. For example, if the vehicle is in a slipping operating condition, it can be switched between the torque mode and the speed mode. For example, in the vehicle's operating status information, when slipping is detected, the current operating mode is switched to the torque mode; when the vehicle exits slipping, the torque mode is switched to the speed mode. The way to detect whether there is slipping is a conventional way and will not be repeated here.

[0129] Based on the above design, the vehicle can automatically switch between multiple sports modes according to the current motion state information. In speed mode, the vehicle's maneuverability under low-speed conditions can be improved; in acceleration mode, the vehicle's acceleration and deceleration performance can be improved, effectively improving the driving pleasure of the joystick device; in cruise mode, the driver only needs to control the vehicle's steering, which can effectively reduce the driver's driving fatigue and help improve the convenience and comfort of vehicle control.

[0130] Please refer to Figure 6 The present application also provides a vehicle motion control device 200, which includes at least one software function module that can be stored in a storage module in the form of software or firmware or fixed in an operating system (OS) of an electronic device. The processor is used to execute executables stored in the memory, such as software function modules and computer programs included in the vehicle motion control device 200.

[0131] The various units included in the vehicle motion control device 200 and the functions of each unit may be as follows:

[0132] An acquisition unit 210 is used to acquire motion state information of the vehicle, wherein the motion state information includes a current first motion mode of the vehicle, a current vehicle speed, and a current position of a joystick in a joystick device of the vehicle;

[0133] a determination unit 220, configured to determine whether a mode switching condition is satisfied, and a second motion mode to be switched to when the mode switching condition is satisfied, based on the first motion mode, the current vehicle speed and / or the current position in the motion state information;

[0134] The control unit 230 is used to control the vehicle to run in the second sports mode when the mode switching condition is met.

[0135] In some optional implementations, the determining unit 220 is further configured to:

[0136] When the first motion mode is a speed mode, based on a pre-established first association relationship between a relative position of a joystick in the joystick device in a first direction and a requested vehicle speed, obtaining a requested vehicle speed corresponding to the current position as a target requested vehicle speed;

[0137] In the speed mode, when the target requested vehicle speed is greater than the first vehicle speed threshold and the current vehicle speed, and the position change speed of the joystick in the first direction is greater than a first preset speed, it is determined that the mode switching condition is met, and the acceleration mode is used as the second motion mode to be switched;

[0138] Alternatively, when the first motion mode is the speed mode, the target requested vehicle speed is less than the current vehicle speed, and the position change speed of the joystick in the first direction is greater than a first preset speed, it is determined that the mode switching condition is met, and the acceleration mode is used as the second motion mode to be switched;

[0139] Alternatively, when the first motion mode is the speed mode and the target requested vehicle speed is less than the current vehicle speed, it is confirmed that the mode switching condition is satisfied and the acceleration mode is used as the second motion mode to be switched.

[0140] In some optional implementations, the determining unit 220 is further configured to:

[0141] When the first motion mode is the speed mode, and the duration of the joystick at the current position is greater than or equal to the first preset duration, it is confirmed that the mode switching condition is met, and the cruise mode is used as the second motion mode to be switched.

[0142] In some optional implementations, the determining unit 220 is further configured to:

[0143] When the first motion mode is the acceleration mode, based on a pre-established first association relationship between a relative position of a joystick in the joystick device in a first direction and a requested vehicle speed, obtaining a requested vehicle speed corresponding to the current position as a target requested vehicle speed;

[0144] In the acceleration mode, when the target requested vehicle speed is greater than or equal to the current vehicle speed, and the difference between the target requested vehicle speed and the current vehicle speed is less than or equal to a second vehicle speed threshold, it is confirmed that the mode switching condition is met, and the speed mode is used as the second motion mode to be switched.

[0145] In some optional implementations, the determining unit 220 is further configured to:

[0146] When the first motion mode is the acceleration mode, and the current position of the joystick is the designated position for cruising, and the duration of the designated position is greater than or equal to a second preset duration, it is confirmed that the mode switching condition is met, and the cruise mode is selected as the second motion mode to be switched.

[0147] In some optional implementations, the determining unit 220 is further configured to:

[0148] Based on a pre-established first association relationship between a relative position of a joystick in the joystick device in a first direction and a requested vehicle speed, obtaining a requested vehicle speed corresponding to the current position as a target requested vehicle speed;

[0149] When the first motion mode is the cruise mode, and the difference between the target requested vehicle speed and the current vehicle speed is greater than a third vehicle speed threshold, confirming that the mode switching condition is met, and setting the acceleration mode as the second motion mode to be switched;

[0150] Alternatively, when the first motion mode is the cruise mode, and the difference between the target requested vehicle speed and the current vehicle speed is less than or equal to a third vehicle speed threshold, it is determined that the mode switching condition is satisfied, and the speed mode is used as the second motion mode to be switched;

[0151] Alternatively, when the first sport mode is the cruise mode and the target requested vehicle speed is less than the current vehicle speed, it is confirmed that the mode switching condition is met, and the acceleration mode is used as the second sport mode to be switched.

[0152] In some optional implementations, the control unit 230 is further configured to:

[0153] When the second motion mode is a speed mode, controlling the vehicle to accelerate to a target requested vehicle speed corresponding to the current position, wherein in the speed mode, the relative position of the joystick in the first direction has a first correlation with the requested vehicle speed;

[0154] Alternatively, when the second motion mode is an acceleration mode, the vehicle is controlled to accelerate or decelerate to a target requested vehicle speed corresponding to the current position with the target requested acceleration corresponding to the current position, wherein in the acceleration mode, the relative position of the joystick in the first direction has a second correlation relationship with the requested acceleration;

[0155] Alternatively, when the second sports mode is a cruise mode, the vehicle is controlled to cruise at a constant speed according to the current vehicle speed.

[0156] An embodiment of the present application provides an electronic device that may include a processor and a memory. The memory stores a computer program, and when the computer program is executed by the processor, the electronic device can execute the corresponding steps in the above-mentioned vehicle motion control method.

[0157] In this embodiment, the processor may be an integrated circuit chip having signal processing capabilities. The above-mentioned processor may be a general-purpose processor. For example, the processor may be, but is not limited to, a domain controller of a vehicle, a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and may implement or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present application.

[0158] The memory may be, but is not limited to, a random access memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, etc. In this embodiment, the memory may be used to store various motion modes, various associations, and mode switching conditions, etc. Of course, the memory may also be used to store a program, and the processing module executes the program after receiving the execution instruction.

[0159] The embodiment of the present application also provides a vehicle, which includes a vehicle body and the above-mentioned electronic device, and the vehicle body has a joystick device, which can be arranged on the vehicle body by plugging, so as to facilitate the user to disassemble and assemble. In other embodiments, the joystick device can be connected to the vehicle through a wireless network. The joystick device can be used to control the driving of the vehicle. The electronic device cooperates with the joystick device to implement each step of the above-mentioned vehicle motion control method.

[0160] It should be noted that technicians in the relevant field can clearly understand that for the convenience and simplicity of description, the specific working process of the electronic device and vehicle motion control device 200 described above can refer to the corresponding process of each step in the aforementioned method, and will not be elaborated here.

[0161] The embodiment of the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed on a computer, the computer executes the vehicle motion control method described in the above embodiment.

[0162] Through the description of the above implementation methods, technical personnel in this field can clearly understand that the present application can be implemented by hardware, and can also be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, an electronic device, or a network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0163] In the embodiments provided in the present application, it should be understood that the disclosed devices, equipment and methods can also be implemented in other ways. The above-described device, equipment and method embodiments are merely schematic, for example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a part of a module, a program segment or a code, and a part of the module, program segment or code contains one or more executable instructions for implementing the specified logical function. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. In addition, each functional module in each embodiment of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0164] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle motion control method, characterized in that: The method comprises: Acquiring motion state information of the vehicle, the motion state information including a current first motion mode of the vehicle, a current vehicle speed, and a current position of a joystick in a joystick device of the vehicle; Determining whether a mode switching condition is satisfied according to the first motion mode, the current vehicle speed and / or the current position in the motion state information, and the second motion mode to be switched to when the mode switching condition is satisfied; When the mode switching condition is met, the vehicle is controlled to run in the second sport mode.

2. The method according to claim 1, characterized in that Determining whether a mode switching condition is satisfied according to the first motion mode, the current vehicle speed and / or the current position in the motion state information, and determining the second motion mode to be switched to when the mode switching condition is satisfied, including: When the first motion mode is a speed mode, based on a pre-established first association relationship between a relative position of a joystick in the joystick device in a first direction and a requested vehicle speed, obtaining a requested vehicle speed corresponding to the current position as a target requested vehicle speed; In the speed mode, when the target requested vehicle speed is greater than the first vehicle speed threshold and the current vehicle speed, and the position change speed of the joystick in the first direction is greater than a first preset speed, it is determined that the mode switching condition is met, and the acceleration mode is used as the second motion mode to be switched; Alternatively, when the first motion mode is the speed mode, the target requested vehicle speed is less than the current vehicle speed, and the position change speed of the joystick in the first direction is greater than a first preset speed, it is determined that the mode switching condition is met, and the acceleration mode is used as the second motion mode to be switched; Alternatively, when the first motion mode is the speed mode and the target requested vehicle speed is less than the current vehicle speed, it is confirmed that the mode switching condition is satisfied and the acceleration mode is used as the second motion mode to be switched.

3. The method according to claim 1, characterized in that Determining whether a mode switching condition is satisfied according to the first motion mode, the current vehicle speed and / or the current position in the motion state information, and determining the second motion mode to be switched to when the mode switching condition is satisfied, including: When the first motion mode is the speed mode, and the duration of the joystick at the current position is greater than or equal to the first preset duration, it is confirmed that the mode switching condition is met, and the cruise mode is used as the second motion mode to be switched.

4. The method according to claim 1, characterized in that Determining whether a mode switching condition is satisfied according to the first motion mode, the current vehicle speed and / or the current position in the motion state information, and determining the second motion mode to be switched to when the mode switching condition is satisfied, including: When the first motion mode is the acceleration mode, based on a pre-established first association relationship between a relative position of a joystick in the joystick device in a first direction and a requested vehicle speed, obtaining a requested vehicle speed corresponding to the current position as a target requested vehicle speed; In the acceleration mode, when the target requested vehicle speed is greater than or equal to the current vehicle speed, and the difference between the target requested vehicle speed and the current vehicle speed is less than or equal to a second vehicle speed threshold, it is confirmed that the mode switching condition is met, and the speed mode is used as the second motion mode to be switched.

5. The method according to claim 1, characterized in that Determining whether a mode switching condition is satisfied according to the first motion mode, the current vehicle speed and / or the current position in the motion state information, and determining the second motion mode to be switched to when the mode switching condition is satisfied, including: When the first motion mode is the acceleration mode, and the current position of the joystick is the designated position for cruising, and the duration of the designated position is greater than or equal to a second preset duration, it is confirmed that the mode switching condition is met, and the cruise mode is selected as the second motion mode to be switched.

6. The method according to claim 1, characterized in that Determining whether a mode switching condition is satisfied according to the first motion mode, the current vehicle speed and / or the current position in the motion state information, and determining the second motion mode to be switched to when the mode switching condition is satisfied, including: Based on a pre-established first association relationship between a relative position of a joystick in the joystick device in a first direction and a requested vehicle speed, obtaining a requested vehicle speed corresponding to the current position as a target requested vehicle speed; When the first motion mode is the cruise mode, and the difference between the target requested vehicle speed and the current vehicle speed is greater than a third vehicle speed threshold, confirming that the mode switching condition is met, and setting the acceleration mode as the second motion mode to be switched; Alternatively, when the first motion mode is the cruise mode, and the difference between the target requested vehicle speed and the current vehicle speed is less than or equal to a third vehicle speed threshold, it is determined that the mode switching condition is satisfied, and the speed mode is used as the second motion mode to be switched; Alternatively, when the first sport mode is the cruise mode and the target requested vehicle speed is less than the current vehicle speed, it is confirmed that the mode switching condition is met, and the acceleration mode is used as the second sport mode to be switched.

7. The method according to claim 1, characterized in that Controlling the vehicle to operate in the second motion mode includes: When the second motion mode is a speed mode, controlling the vehicle to accelerate to a target requested vehicle speed corresponding to the current position, wherein in the speed mode, the relative position of the joystick in the first direction has a first correlation with the requested vehicle speed; Alternatively, when the second motion mode is an acceleration mode, the vehicle is controlled to accelerate or decelerate to a target requested vehicle speed corresponding to the current position with the target requested acceleration corresponding to the current position, wherein in the acceleration mode, the relative position of the joystick in the first direction has a second correlation relationship with the requested acceleration; Alternatively, when the second sports mode is a cruise mode, the vehicle is controlled to cruise at a constant speed according to the current vehicle speed.

8. The method according to any one of claims 1 to 7, characterized in that A third association relationship is established between the relative position of the joystick in the joystick device in the second direction and the requested steering angle, and the requested steering angle corresponding to the current position of the joystick is the desired steering angle of the vehicle.

9. A vehicle motion control device, characterized in that: The device comprises: an acquisition unit, configured to acquire motion state information of the vehicle, the motion state information including a current first motion mode of the vehicle, a current vehicle speed, and a current position of a joystick in a joystick device of the vehicle; a determination unit, configured to determine whether a mode switching condition is satisfied according to the first motion mode, the current vehicle speed and / or the current position in the motion state information, and a second motion mode to be switched to when the mode switching condition is satisfied; A control unit is used to control the vehicle to run in the second sports mode when the mode switching condition is met.

10. The device according to claim 9, characterized in that The determining unit is further configured to: When the first motion mode is a speed mode, based on a pre-established first association relationship between a relative position of a joystick in the joystick device in a first direction and a requested vehicle speed, obtaining a requested vehicle speed corresponding to the current position as a target requested vehicle speed; In the speed mode, when the target requested vehicle speed is greater than the first vehicle speed threshold and the current vehicle speed, and the position change speed of the joystick in the first direction is greater than a first preset speed, it is determined that the mode switching condition is met, and the acceleration mode is used as the second motion mode to be switched; Alternatively, when the first motion mode is the speed mode, the target requested vehicle speed is less than the current vehicle speed, and the position change speed of the joystick in the first direction is greater than a first preset speed, it is determined that the mode switching condition is met, and the acceleration mode is used as the second motion mode to be switched; Alternatively, when the first motion mode is the speed mode and the target requested vehicle speed is less than the current vehicle speed, it is confirmed that the mode switching condition is satisfied and the acceleration mode is used as the second motion mode to be switched.

11. The device according to claim 9, characterized in that The determining unit is further configured to: When the first motion mode is the speed mode, and the duration of the joystick at the current position is greater than or equal to the first preset duration, it is confirmed that the mode switching condition is met, and the cruise mode is used as the second motion mode to be switched.

12. The device according to claim 9, characterized in that The determining unit is further configured to: When the first motion mode is the acceleration mode, based on a pre-established first association relationship between a relative position of a joystick in the joystick device in a first direction and a requested vehicle speed, obtaining a requested vehicle speed corresponding to the current position as a target requested vehicle speed; In the acceleration mode, when the target requested vehicle speed is greater than or equal to the current vehicle speed, and the difference between the target requested vehicle speed and the current vehicle speed is less than or equal to a second vehicle speed threshold, it is confirmed that the mode switching condition is met, and the speed mode is used as the second motion mode to be switched.

13. The device according to claim 9, characterized in that The determining unit is further configured to: When the first motion mode is the acceleration mode, and the current position of the joystick is the designated position for cruising, and the duration of the designated position is greater than or equal to a second preset duration, it is confirmed that the mode switching condition is met, and the cruise mode is selected as the second motion mode to be switched.

14. The device according to claim 9, characterized in that The determining unit is further configured to: Based on a pre-established first association relationship between a relative position of a joystick in the joystick device in a first direction and a requested vehicle speed, obtaining a requested vehicle speed corresponding to the current position as a target requested vehicle speed; When the first motion mode is the cruise mode, and the difference between the target requested vehicle speed and the current vehicle speed is greater than a third vehicle speed threshold, confirming that the mode switching condition is met, and using the acceleration mode as the second motion mode to be switched; Alternatively, when the first motion mode is the cruise mode, and the difference between the target requested vehicle speed and the current vehicle speed is less than or equal to a third vehicle speed threshold, it is determined that the mode switching condition is satisfied, and the speed mode is used as the second motion mode to be switched; Alternatively, when the first sport mode is the cruise mode and the target requested vehicle speed is less than the current vehicle speed, it is confirmed that the mode switching condition is met, and the acceleration mode is used as the second sport mode to be switched.

15. The device according to claim 9, characterized in that The control unit is also used for: When the second motion mode is a speed mode, controlling the vehicle to accelerate to a target requested vehicle speed corresponding to the current position, wherein in the speed mode, the relative position of the joystick in the first direction has a first correlation with the requested vehicle speed; Alternatively, when the second motion mode is an acceleration mode, the vehicle is controlled to accelerate or decelerate to a target requested vehicle speed corresponding to the current position with the target requested acceleration corresponding to the current position, wherein in the acceleration mode, the relative position of the joystick in the first direction has a second correlation relationship with the requested acceleration; Alternatively, when the second sports mode is a cruise mode, the vehicle is controlled to cruise at a constant speed according to the current vehicle speed.

16. An electronic device, characterized in that: The electronic device comprises a processor and a memory coupled to each other, wherein the memory stores a computer program. When the computer program is executed by the processor, the electronic device executes the method according to any one of claims 1 to 8.

17. A vehicle, characterized in that: The vehicle comprises a vehicle body having a joystick device and the electronic device as claimed in claim 16 .

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed on a computer, the computer is enabled to execute the method according to any one of claims 1 to 8.

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