Vehicle control method and device, controller and vehicle

Abstract

The invention provides a vehicle control method and device, a controller and a vehicle, and the method comprises the steps that after the vehicle is parked on a ramp, a target object in a wheel preset range is determined, and the target object is used for increasing the friction force between wheels and a road; according to the type of the ramp where the vehicle is located, wheels, close to one side of the target object, of the vehicle are controlled to make contact with the target object. By means of the method, the front wheels and / or the rear wheels of the vehicle act on the target object, the friction force can be increased, and the sliding distance of the vehicle when the vehicle slides on the ramp can be reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and in particular to a vehicle control method, device, controller and vehicle. Background Art

[0002] With the development of vehicle technology, vehicles have become an indispensable part of users' lives, so it is very important to ensure vehicle safety.

[0003] Many cities have many ups and downs, and vehicles will inevitably be parked on slopes. If the vehicle is not properly secured, or the handbrake fails, especially in rainy, snowy or windy weather, the vehicle will begin to slide or roll due to gravity, causing safety risks and property losses.

[0004] Therefore, how to reduce the risk of vehicle slipping on a slope is an urgent problem to be solved. Summary of the invention

[0005] The vehicle control method, device, controller and vehicle provided in the present application are used to reduce the risk of the vehicle rolling when parked on a slope.

[0006] In a first aspect, the present application provides a vehicle control method, the method comprising:

[0007] After the vehicle is parked on a slope, a target object is determined within a preset range of the wheel, wherein the target object is used to increase the resistance to the movement of the wheel;

[0008] According to the type of the slope on which the vehicle is located, the wheels of the vehicle on a side close to the target object are controlled to contact the target object, and the type of the slope includes an uphill road or a downhill road.

[0009] In some possible implementations, if the type of the ramp is an uphill road, controlling the wheel of the vehicle on a side close to the target object to contact the target object according to the type of the ramp on which the vehicle is located includes:

[0010] Controlling the steering of the front wheel on the side close to the target object so that the turned front wheel contacts the target object;

[0011] The rear wheel on the side close to the target object is controlled to turn toward the side away from the target object, so that the turned rear wheel contacts the target object.

[0012] In some possible implementations, controlling the steering of the front wheel on a side close to the target object includes:

[0013] The front wheel on the side close to the target object is controlled to turn in a direction away from the target object.

[0014] In some possible implementations, if the type of the ramp is a downhill road, controlling the wheel of the vehicle on a side close to the target object to contact the target object according to the type of the ramp on which the vehicle is located includes:

[0015] Controlling the front wheel on the side close to the target object to turn toward the direction close to the target object, so that the turned front wheel contacts the target object;

[0016] The rear wheel on the side close to the target object is controlled to turn so that the turned rear wheel contacts the target object.

[0017] In some possible implementations, controlling the steering of the rear wheel on the side close to the target object includes:

[0018] The rear wheel on the side close to the target object is controlled to turn toward the direction approaching the target object.

[0019] In some possible implementations, the method further includes:

[0020] The front wheel on the side away from the target object is controlled to turn in a direction away from the target object.

[0021] In some possible implementations, the vehicle includes a steer-by-wire system, and the method further includes:

[0022] Receive adjustment instructions from users;

[0023] According to the adjustment instruction, the front wheel steering of the vehicle and / or the rear wheel steering of the vehicle are adjusted by the wire control steering system.

[0024] In a second aspect, the present application further provides a vehicle control device, comprising:

[0025] A determination module, used to determine a target object within a preset range of the wheel after the vehicle is parked on a slope, wherein the target object is used to increase the resistance to the movement of the wheel;

[0026] The control module is used to control the wheel of the vehicle on the side close to the target object to contact the target object according to the type of the slope on which the vehicle is located.

[0027] In a third aspect, the present application further provides a controller, including: a memory, a processor;

[0028] The memory stores computer-executable instructions;

[0029] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0030] In a fourth aspect, the present application also provides a vehicle, comprising: a controller, wherein the controller is used to execute the above first aspect and / or various possible implementations of the first aspect.

[0031] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0032] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0033] The present application provides a vehicle control method, device, controller and vehicle, the method comprising: after the vehicle is parked on a slope, determining a target object within a preset range of the wheel, the target object being used to increase the movement resistance of the wheel; and controlling the wheel of the vehicle on the side close to the target object to contact the target object according to the type of slope the vehicle is on. By using this method, the front wheels and / or rear wheels of the vehicle act on the target object, which can increase friction and reduce the sliding distance of the vehicle when it slides on the slope. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0035] Figure 1 Schematic diagram of application scenarios provided for this application;

[0036] Figure 2 Schematic diagram of the application scenario of front wheel steering on a slope provided for this application;

[0037] Figure 3 Schematic diagram of the vehicle control method provided in this application Figure 1 ;

[0038] Figure 4 Vehicle steering diagram provided for this application Figure 1 ;

[0039] Figure 5 Vehicle steering diagram provided for this application Figure 2 ;

[0040] Figure 6 Vehicle steering diagram provided for this application Figure 3 ;

[0041] Figure 7 Vehicle steering diagram provided for this application Figure 4 ;

[0042] Figure 8 Vehicle steering diagram provided for this application Figure 5 ;

[0043] Fig. 9 A control schematic diagram of the steer-by-wire system provided for this application;

[0044] Fig.10 A schematic diagram of a process for adjusting the direction of a wheel through a wire-controlled steering system provided in this application;

[0045] Fig.11 A schematic diagram of the structure of the vehicle control device provided in this application;

[0046] Fig.12 A schematic diagram of the structure of the electronic device provided in this application.

[0047] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0048] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0049] First, the terms involved in this application are explained:

[0050] Steer-by-wire system: refers to the control of vehicle steering through electronic signals rather than mechanical connections. In traditional steering systems, the driver directly controls the steering of the wheels by turning the steering wheel with the help of mechanical connections (such as steering shafts and gears). In a steer-by-wire system, this process is achieved through electronic signals. Its working principle is as follows: The vehicle is equipped with sensors to monitor the driver's input, such as the angle and rotation speed of the steering wheel. The data collected by the sensors is sent to the electronic control unit ECU, which analyzes this information and generates corresponding steering instructions. According to the instructions of the ECU, the electric actuator is responsible for adjusting the steering angle of the wheel.

[0051] Figure 1 The application scenario diagram provided for this application is as follows: Figure 1 As shown, a vehicle parked on a slope may create a risk of rolling away and colliding with other vehicles, causing property damage and safety risks.

[0052] After the vehicle is parked on the slope, the front tires of the vehicle can be turned to contact objects with friction such as curbstones, such as Figure 2 As shown, Figure 2 Schematic diagram of the application scenario of front-wheel steering on a slope provided in this application. Although some friction is increased after the front-wheel steering, when the vehicle rolls or slides, it can still move a certain distance in the direction of the dotted line in the figure and collide with surrounding vehicles.

[0053] In view of the above problems, the present application not only steers the front wheels but also the rear wheels when parking on a slope, thereby increasing friction and reducing the probability of the vehicle slipping. When the vehicle slips, the moving distance of the vehicle slipping is reduced by blocking obstacles, thereby increasing parking safety. Based on this, the present application proposes a vehicle control method.

[0054] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0055] Figure 3 Schematic diagram of the vehicle control method provided in this application Figure 1 ,like Figure 3 As shown, the method includes:

[0056] S101. After the vehicle is parked on a slope, a target object within a preset range of the wheel is determined, where the target object is used to increase resistance to wheel movement.

[0057] In this step, after parking, the user manually turns on the parking assistance function, which is used to prevent the vehicle from rolling away. After detecting that the parking assistance function is turned on, the road data and wheel environment data of the vehicle are obtained.

[0058] Among them, the vehicle's road data is used to determine whether the road the vehicle is on is uphill or downhill. The vehicle's road data can be the tilt angle of the vehicle body measured in real time by a tilt sensor, or it can be road image data taken by a camera at a preset position of the vehicle, or it can be differential measurement data.

[0059] The wheel environment data is used to determine objects near the wheel. The wheel environment data may be an image of the environment near the wheel acquired by a camera at a preset position of the vehicle, or point cloud data.

[0060] After the road data is obtained, the type of slope on which the vehicle is located is determined according to the road data. The slope type includes an uphill road, a downhill road or a flat road.

[0061] In one implementation, the road data is the inclination angle of the vehicle body measured in real time by the inclination sensor, which is used to indicate the angle of the vehicle head facing up or down. In a specific implementation, when the inclination angle exceeds the upper limit of a preset slope range, it is determined to be an uphill slope, and when the inclination angle exceeds the lower limit of a preset slope range, it is determined to be a downhill slope.

[0062] In one implementation, the road data is road image data captured by a camera at a preset position of the vehicle, and the road markings or the roadside lines on both sides are identified by an edge detection algorithm. The type of ramp is determined according to the slope of the road markings or the slope of the roadside lines on both sides. In a specific embodiment, a slope range of the road markings is preset, and a slope within the range indicates that the road is flat, a slope greater than the range indicates that the road is uphill, and a slope less than the range indicates that the road is downhill.

[0063] In one implementation, the road data is differential measurement data, that is, distance sensors are installed at different positions of the vehicle, and the relative height of the front and rear of the vehicle is calculated by measuring the change in the distance from the same point (such as a wheel) to the sensor. If the front of the vehicle is higher than the rear of the vehicle, and the height difference is greater than a preset height, it is considered to be uphill; if the front of the vehicle is lower than the rear of the vehicle, and the height difference is greater than a preset height, it is considered to be downhill; if the height difference is not greater than the preset height, it is considered to be flat ground.

[0064] Target objects include curbstones on both sides of the road and stones exceeding a certain volume.

[0065] In one implementation, object detection and classification can be performed through a pre-trained machine learning algorithm (such as a support vector machine, a random forest) or a deep learning method (such as a convolutional neural network). After receiving the wheel environment data, the environment data is input into the pre-trained machine learning algorithm to distinguish the target object.

[0066] After the target object is obtained, the distance between the target object and the wheel axis is determined from the wheel environment data, and it is determined whether the distance is less than or equal to a preset range.

[0067] If the distance between the target object and the wheel axis is less than or equal to the preset range, it means that the target object can be used to increase the resistance to the wheel movement. Specifically, the target object can be used to resist the wheel movement or to increase the friction between the wheel and the ground. If the distance between the target object and the wheel axis is greater than the preset range, it means that the wheel cannot touch the target object.

[0068] S102. Control the wheels of the vehicle on the side close to the target object to contact the target object according to the type of the ramp on which the vehicle is located. The ramp type includes an uphill road or a downhill road.

[0069] In this step, if there is a target object within the preset range of the wheel, it means that the wheel can touch the target object, and different steering strategies are implemented for the front and rear wheels on the side of the vehicle close to the target object according to the uphill or downhill road. Whether it is uphill or downhill, the front and rear wheels of the vehicle act on the target object to increase the resistance of the vehicle to slip, but the steering is different when going uphill and downhill.

[0070] It can be understood that turning the vehicle wheels to the left can contact the target object, and turning to the right can also make the front wheels contact the target object.

[0071] When parking on an uphill slope, in the event of rolling or sliding, the vehicle will move in the direction of the rear wheels, and after the rear wheels are moved, moving in the direction of the rear wheels will act on the target object and reduce the moving distance.

[0072] For the front wheel on the side far from the target object, the same steering strategy as the front wheel on the side close to the target object may be implemented, or the opposite steering strategy may be implemented, or no steering may be implemented. Similarly, for the rear wheel on the side far from the target object, the same steering strategy as the rear wheel on the side close to the target object may be implemented, or the opposite steering strategy may be implemented, or no steering may be implemented.

[0073] This embodiment provides a vehicle control method, which includes: after the vehicle is parked on a slope, determining a target object within a preset range of the wheel, the target object is used to increase the resistance of the wheel movement; according to the type of slope the vehicle is on, controlling the wheel of the vehicle on the side close to the target object to contact the target object. By making the front wheels and / or rear wheels of the vehicle act on the target object, the resistance to the vehicle sliding can be increased and the risk of the vehicle sliding can be reduced; and the operation of steering the rear wheels can reduce the distance of the vehicle sliding when rolling or sliding occurs when parking on a slope.

[0074] The following is an introduction using a specific example, taking the curb stone as the target object.

[0075] Example 1

[0076] Figure 4 Vehicle steering diagram provided for this application Figure 1 ,like Figure 4 As shown in Figure a, the vehicle is on an uphill road. After the user activates the parking assist function, the vehicle controls the steering wheel to turn toward the side close to the target object, and the front wheels follow the steering wheel to turn toward the side close to the target object, so that the front wheels touch the target object after turning. The vehicle controls the rear wheels to turn toward the side away from the target object, so that the rear wheels touch the target object after turning.

[0077] It should be noted that the identified target object is within a preset range, which is determined based on the diameter of the wheel and is used to indicate the distance range within which the wheel can contact the object. Therefore, the wheel can be rotated so that the front or rear side of the wheel can contact the target object.

[0078] In this way, the front and rear wheels are respectively in contact with the target object. By turning in this way, the rear side of the rear wheel (the side close to the rear of the vehicle) can act on the target object, and the component force of the vehicle's gravity can act on the target object, increasing the resistance of the wheel's downward movement. When a slope slides, the vehicle moves in the direction of the dotted line, relying on the resistance of the target object to prevent the vehicle from sliding down the slope. When the front wheel contacts the target object, the friction between the wheel and the road is increased.

[0079] exist Figure 4 In Figure b, it is shown that when parking on an uphill road, the rear wheels of the vehicle turn toward the target object. The front side of the rear wheels (the side close to the front of the vehicle) acts on the target object, and the resistance between the wheels and the target object is mainly friction. Although this method can increase friction compared to the method of not turning the wheels, or compared to the method of turning only the front wheels, when the vehicle slides down the slope, it will move along the dotted line and the sliding distance will be large. Therefore, the steering method in Figure a is better than the steering method in Figure b, or compared to the steering method in Figure 4. Figure 2 This method can effectively reduce the slope distance when a slope slips, thereby improving vehicle safety.

[0080] Example 2

[0081] Figure 5 Vehicle steering diagram provided for this application Figure 2 ,like Figure 5 As shown in Figure a, the vehicle is on an uphill road. After the user activates the parking assist function, the vehicle controls the steering wheel to turn away from the target object, and the front wheels follow the steering wheel to turn away from the target object, so that the rear side of the turned front wheels touches the target object. The rear wheels are controlled to turn away from the target object, so that the rear side of the turned rear wheels touches the target object.

[0082] It should be noted that the identified target object is within a preset range, which is determined based on the diameter of the wheel and is used to indicate the distance range within which the wheel can contact the object. Therefore, the wheel can be rotated so that the front or rear side of the wheel can contact the target object.

[0083] First, the front wheels and rear wheels are respectively brought into contact with the target object, increasing the friction between each wheel and the ground. Furthermore, by turning in this way, the rear side of the rear wheel (the side close to the rear of the vehicle) can act on the target object, and the rear side of the front wheel can act on the target object, so that the component force of the vehicle's gravity can act on the target object. When the vehicle rolls down the slope, the resistance between the front wheel and the target object and the resistance between the rear wheel and the target object can prevent the vehicle from rolling down the slope.

[0084] exist Figure 5 In Figure b, it shows that when going uphill, the rear wheels of the vehicle turn toward the target object, the front side of the rear wheels (the side close to the front of the vehicle) acts on the target object, and the front side of the front wheels of the vehicle contacts the target object. Although this method can also increase friction, the vehicle will move along the dotted line when sliding down the slope. Therefore, Figure 5 The steering method in Figure a is compared to the steering method in Figure b, or compared to Figure 2 This method can effectively reduce the slope distance when a slope slips, thereby improving vehicle safety.

[0085] Figure 5 The steering method of Figure a is compared with Figure 4 The steering method in Figure a increases the resistance between the front wheels and the target object, which can better support the vehicle and reduce the distance of sliding down the slope when the vehicle moves.

[0086] Example 3

[0087] Figure 6 Vehicle steering diagram provided for this application Figure 3 ,like Figure 6 As shown in Figure a, the vehicle is on a downhill road. After the user activates the parking assist function, the vehicle controls the steering wheel to turn toward the side close to the target object, and the front wheels follow the steering wheel to turn toward the side close to the target object, so that the front wheels touch the target object after turning. The vehicle controls the rear wheels to turn toward the side away from the target object, so that the rear wheels touch the target object after turning.

[0088] It should be noted that the identified target object is within a preset range, which is determined based on the diameter of the wheel and is used to indicate the distance range within which the wheel can contact the object. Therefore, the wheel can be rotated so that the front or rear side of the wheel can contact the target object.

[0089] In this way, the front wheels and rear wheels are respectively in contact with the target object to increase friction. By turning in this way, the front side of the front wheel (the side close to the front of the vehicle) can act on the target object, and the component force of the vehicle's gravity can be applied to the target object, increasing the resistance of the wheel movement. When sliding down the slope, move along the dotted line direction, relying on the resistance of the target object to prevent the vehicle from sliding down the slope.

[0090] exist Figure 6 Among them, Figure C is a common parking method. When there is a problem with the brakes, the car is prone to slide down. Compared with Figure C, Figure A can increase friction and increase resistance support when sliding down the slope.

[0091] exist Figure 6 In the figure, the front wheel is turned to the side away from the target object so that it contacts the target object. When the brake fails, the vehicle is prone to slip along the dotted line. Compared with the method in figure d, on the one hand, the friction between the front wheel and the target object is increased, and on the other hand, the resistance force is increased by the support of the target object when slipping occurs through the pre-controlled wheel direction, so as to reduce the slipping distance.

[0092] exist Figure 6 In the case of Figure b, the rear wheel of the vehicle turns toward the target object. The rear side of the rear wheel (the side close to the rear of the vehicle) acts on the target object, which can also increase friction. However, the vehicle will move along the dotted line when sliding down the slope. Therefore, compared with the steering method in Figure b, the steering method in Figure a can effectively reduce the sliding distance through the resistance of the curbstone when sliding down the slope, thereby improving vehicle safety.

[0093] Example 4

[0094] Figure 7 Vehicle steering diagram provided for this application Figure 4 ,like Figure 7 As shown in Figure a, the vehicle is on a downhill road. After the user activates the parking assist function, the vehicle controls the steering wheel to turn toward the side close to the target object, and the two front wheels follow the steering wheel to turn toward the side close to the target object, so that the rear side of the turned front wheels touches the target object. The rear wheels are controlled to turn toward the side close to the target object, so that the rear side of the turned rear wheels touches the target object.

[0095] The front sides of the front and rear wheels are in contact with the target object, which increases friction on the one hand and resistance support when sliding down the slope on the other hand. Figure 5 The method shown in Figure a further reduces the possibility of slipping, and when slipping along the dotted line, the slipping distance is reduced through the resistance of the front and rear wheels.

[0096] like Figure 7 As shown in Figure b, when adjusting the wheel steering, only the two wheels on the side close to the target object can be adjusted, and the front wheel and the rear wheel on the side away from the target object are not adjusted. Similarly, for each of the above embodiments, the front wheel and the rear wheel on the side away from the target object can also be left unadjusted.

[0097] like Figure 7As shown in Figure c, when adjusting the wheel steering, the two wheels on the side close to the target object are controlled to rotate toward the target object, while the front wheels and rear wheels on the side away from the target object rotate in the opposite direction, so that the two front wheels are no longer in a parallel state, and an angle is generated. This setting can prevent the vehicle from rolling when rolling, and can only slide, thereby reducing the distance when rolling. Similarly, for each of the above embodiments, the front wheels and rear wheels on the side away from the target object can also be adjusted in the same way, which will not be repeated here.

[0098] In practical applications, the target object may not be continuous within the preset range, such as Figure 7 As shown in Figure d. In Figure d, there is no target object within the preset range of the front wheel. When adjusting the wheel steering, only the rear wheel on the side close to the target object is controlled to rotate toward the target object, and the rear wheel on the other side may not rotate. Similarly, for each of the above embodiments, when there is no target object near the front wheel, the front wheel is not processed, which will not be repeated here.

[0099] Embodiment 5

[0100] Figure 8 Vehicle steering diagram provided for this application Figure 5 ,like Figure 8 As shown, if it is determined that the type of slope the vehicle is on is not an uphill road or a downhill road, but a flat road. The road environment around the vehicle is determined based on the wheel environment data, where the wheel environment data can be an image or point cloud data of a laser radar. The point cloud data or image recognition algorithm is used to detect surrounding obstacles (such as other vehicles, walls, curbstones, etc.), and then the area without obstacles that can be driven is determined as the exit direction, and the steering of the front wheels is controlled in the exit direction.

[0101] In this way, in a narrow parking space, automatically turning the steering wheel in the direction of exiting the parking space can simplify the operation process when starting next time.

[0102] It should be noted that the driver can choose to turn the steering wheel in a certain direction according to his driving habits to simplify the operation process when starting next time. The driver can also choose whether to turn on the steering function on flat roads on the display screen.

[0103] Embodiment 6

[0104] This embodiment includes the following steps:

[0105] S201, receiving an adjustment instruction from a user.

[0106] In this step, after parking, the parking assist function is turned on, and the front and rear wheels are turned in a certain direction. The driver makes manual adjustments. The adjustment instructions for the front wheels can be generated by turning the steering wheel, while the rotation of the rear wheels can generate adjustment instructions by sliding on the display screen.

[0107] The driver can also select the steering wheel position through the in-vehicle infotainment display interface according to the usage scenario and his own usage habits.

[0108] S202: According to the adjustment instruction, adjust the steering of the front wheels and / or the steering of the rear wheels through the steer-by-wire system.

[0109] After the adjustment command is generated, the direction of the front wheels, the direction of the rear wheels, or the direction of both wheels is adjusted through the wire steering system. Compared with the traditional EPS, the wire steering system has the characteristics of eliminating the intermediate shaft, realizing the physical decoupling of the steering wheel to the steering wheel, and completely relying on the transmission of electrical signals to control the turning of the vehicle. The special structure makes it easy to turn the steering wheel after the vehicle is powered off, while the steering wheel will not turn with the turning of the steering wheel. In view of the physical decoupling of the steering wheel and the steering wheel, the default state of the steering wheel and the steering wheel after the power is turned off is that the steering wheel and the steering wheel return to the middle position (the vehicle's straight-ahead position) before the vehicle can be completely powered off. This logic makes it easier for the driver to know the position of the steering wheel after the vehicle is powered on, which is convenient for the driver to operate.

[0110] Specifically, Fig. 9 The control schematic diagram of the wire-controlled steering system provided in this application is as follows: Fig. 9 As shown in the figure, the steer-by-wire system (Sbw) includes: car display screen (CSD), main hand feel simulator (HWAM), auxiliary hand feel simulator (HWAS), front main road wheel actuator (RWAM), front auxiliary road wheel actuator (RWAS), rear wheel actuator (RWS). The driver inputs the hand feel simulator on the car display screen or operates the steering wheel, and then drives the wheel steering by coupling control of the wheel actuator.

[0111] In this application, the HWA alignment status signal sent by HWAM is referred to as SbWAlignmentStsH1, the HWA internal function status signal sent by HWAM is referred to as HWAIntFctStGroupH1, the internal communication CAN between HWAM and RWAM is referred to as PrivateCAN1, the RWA internal function status signal sent by RWAM is referred to as RWAIntFctStGroupR1, the internal communication CAN between HWAM and HWAS is referred to as InternalCAN, the HWAM internal function status signal is referred to as HWA1IntFctStGroup, and the HWAS internal function status signal is referred to as HWA2IntFctStGroup. tGroup, the internal communication CAN between HWAS and RWAS is referred to as PrivateCAN2, the HWA alignment status signal sent by HWAS is referred to as SbWAlignmentStsH2, the HWA internal function status signal sent by HWAS is referred to as HWAIntFctStGroupH2, the RWA internal function status signal sent by RWAS is referred to as RWAIntFctStGroupR2, the RWAM internal function status signal is referred to as RWA1IntFctStGroup, the RWAS internal function status signal is referred to as RWA2IntFctStGroup, and the actual mode confirmation handshake signal is referred to as ctModCfmd.

[0112] Fig.10 A schematic diagram of a process for adjusting the direction of a wheel through a wire-controlled steering system provided in this application, such as Fig.10 As shown, the following steps are included:

[0113] S1. The driver selects a command through the vehicle display screen.

[0114] Vehicle usage mode (usagemode) For convenience, the driver can select the "steering wheel and front wheel position" switch on the CSD interface, that is, whether to enable the parking assist function. When the steering wheel and front wheel position signal = 0, it means that the function state is off; when the steering wheel and front wheel position signal = 1, it means that the function state is on. The switch is closed by default, which means that after the vehicle is powered off, the steering wheel and steering wheel automatically return to the middle position and decouple; the driver clicks the switch button to turn it on, which means that the steering wheel position after the vehicle is powered off can be selected according to the actual road conditions.

[0115] Once turned on, the driver can select the specific steering.

[0116] S2. The vehicle display screen sends the command to the main feel simulator and the auxiliary feel simulator.

[0117] When the driver selects the "Steering Wheel and Front Wheel Position" switch to the on state on the CSD interface, CSD will send the steering wheel and front wheel position signal = 1 to the chassis common CAN1 and AD backup CAN, and the receivers are HWAM and HWAS.

[0118] S3, the main feel simulator is sent to the front main road wheel actuator through the private CAN, and receives the vehicle mode and return to center position signal.

[0119] HWAM receives the steering wheel and front wheel position signals sent by CSD through chassis CAN1; HWAM sends HWA alignment status signal (SbWAlignmentStsH1) and HWA internal function status signal (HWAIntFctStGroupH1) to RWAM through PrivateCAN1, and receives RWA internal function status signal (RWAIntFctStGroupR1) and actual mode confirmation handshake signal sent by RWAM through PrivateCAN1;

[0120] The HWAM internal function status signal (HWA1IntFctStGroup) is sent through the internal CAN, and the HWAS internal function status signal (HWA2IntFctStGroup) and the actual mode confirmation handshake signal sent by the HWAS are received through the internal CAN.

[0121] It should be noted that when the direction of the rear wheel is to be controlled, the main feel simulator is sent to the rear wheel actuator through the private CAN.

[0122] S4, the auxiliary feel simulator is sent to the auxiliary main road wheel actuator through the private CAN, and receives the vehicle mode and return to center position signal.

[0123] HWAS receives the steering wheel and front wheel position signals sent by the vehicle usagemode and CSD through chassis CAN1; sends the HWA alignment status signal (SbWAlignmentStsH2) and the HWA internal function status signal (HWAIntFctStGroupH2) sent by HWAS through PrivateCAN2, and receives the RWAS internal function status signal (RWAIntFctStGroupR2) and the actual mode confirmation handshake signal sent by RWAS through PrivateCAN2; sends the HWAS internal function status signal (HWA2IntFctStGroup) through InternalCAN, and receives the HWAM internal function status signal (HWA1IntFctStGroup) and the actual mode confirmation handshake signal sent by HWAM through InternalCAN.

[0124] S5. The front main road wheel actuator sends the actual status through the internal CAN and receives the actual status of the front auxiliary road wheel actuator.

[0125] RWAM receives the vehicle usagemode signal through chassis CAN1; receives the HWA internal function status signal (HWAIntFctStGroupH1) sent by HWAM through PrivateCAN1, and receives the HWA alignment status signal (SbWAlignmentStsH1) sent by HWAM; RWAM can send the RWA internal function status signal (RWAIntFctStGroupR1) and the actual mode confirmation handshake signal sent by RWAM through PrivateCAN1; RWAM sends the RWAM internal function status signal (RWA1IntFctStGroup) through the internal CAN, and receives the RWAS internal function status signal (RWA2IntFctStGroup) and the actual mode confirmation handshake signal sent by RWAS through the internal CAN.

[0126] S6. The front auxiliary road wheel actuator sends the actual status through the internal CAN and receives the actual status of the front main road wheel actuator.

[0127] RWAS receives the vehicle usagemode signal through chassis CAN1; receives the HWA internal function status signal (HWAIntFctStGroupH2) sent by HWAS and the HWA alignment status signal (SbWAlignmentStsH1) sent by HWAM through PrivateCAN1; sends the RWA internal function status signal (RWAIntFctStGroupR2) and the actual mode confirmation handshake signal (FctModCfmd) sent by RWAS through PrivateCAN1; sends the RWAS internal function status signal (RWA2IntFctStGroup) through InternalCAN, and receives the RWAM internal function status signal (RWA1IntFctStGroup) and the actual mode confirmation handshake signal sent by RWAM through InternalCAN.

[0128] S7. The steering wheel executes the current driver's instructions.

[0129] When all signals are transmitted, the status of each ECU is verified according to each signal. When the ECU status is verified, the steering wheel executes the current command according to the driver's choice. When the steering wheel and front wheel position signal = 1, the steering wheel position after the vehicle is powered off can be selected according to the actual road conditions. After the vehicle is powered off, the steering wheel and steering wheel maintain the current position decoupled.

[0130] When the steering wheel and front wheel position signals = 0, after the vehicle is powered off, the steering wheel and the steering wheel return to the middle position for decoupling with a torque of ≤ 3Nm and a rotation speed of ≤ 100° / s.

[0131] With the steer-by-wire system, before turning off the car's power, the driver can select the position of the steering wheel according to the actual environment and make adjustments to make parking the vehicle on a slope safer.

[0132] Fig.11 A schematic diagram of the structure of the vehicle control device provided in this application, such as Fig.11 As shown, the vehicle control device 1100 provided in this embodiment includes:

[0133] A determination module 1101, configured to determine a target object within a preset range of the wheel after the vehicle is parked on a slope, wherein the target object is used to increase the resistance to the movement of the wheel;

[0134] The control module 1102 is used to control the wheels of the vehicle on the side close to the target object to contact the target object according to the type of the slope on which the vehicle is located, and the slope type includes an uphill road or a downhill road.

[0135] Optionally, if the ramp type is an uphill road, the control module 1102 is specifically configured to:

[0136] Controlling the steering of the front wheel on the side close to the target object so that the turned front wheel contacts the target object;

[0137] The rear wheel on the side close to the target object is controlled to turn toward the side away from the target object, so that the turned rear wheel contacts the target object.

[0138] Optionally, the control module 1102 is further configured to:

[0139] The front wheel on the side close to the target object is controlled to turn in a direction away from the target object.

[0140] Optionally, if the ramp type is a downhill road, the control module 1102 is specifically configured to:

[0141] Controlling the front wheel on the side close to the target object to turn toward the direction close to the target object, so that the turned front wheel contacts the target object;

[0142] The rear wheel on the side close to the target object is controlled to turn so that the turned rear wheel contacts the target object.

[0143] Optionally, the control module 1102 is further configured to:

[0144] The rear wheel on the side close to the target object is controlled to turn toward the direction approaching the target object.

[0145] Optionally, the control module 1102 is further configured to:

[0146] The front wheel on the side away from the target object is controlled to turn in a direction away from the target object.

[0147] Optionally, the vehicle includes a steer-by-wire system, and the device further includes a receiving module 1103:

[0148] The receiving module 1103 is used to receive the user's adjustment instruction;

[0149] The control module 1102 is further configured to adjust the front wheel steering of the vehicle and / or the rear wheel steering of the vehicle through the steer-by-wire system according to the adjustment instruction.

[0150] The vehicle control device provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be described in detail here.

[0151] Fig.12 This is a schematic diagram of the structure of an electronic device provided in this application. The electronic device may be a controller, such as Fig.12 As shown, the electronic device 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 also includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0152] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0153] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0154] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0155] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0156] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0157] The present application also provides a vehicle, the vehicle includes a controller, and the controller is used to implement the method in the above method embodiment.

[0158] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0159] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0160] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0161] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0162] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0163] 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 units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0164] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0165] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0166] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0167] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: After the vehicle is parked on a slope, a target object is determined within a preset range of the wheel, wherein the target object is used to increase the resistance to the movement of the wheel; According to the type of the slope on which the vehicle is located, the wheels of the vehicle on a side close to the target object are controlled to contact the target object, and the type of the slope includes an uphill road or a downhill road.

2. The method according to claim 1, characterized in that If the type of the ramp is an uphill road, controlling the wheel of the vehicle on a side close to the target object to contact the target object according to the type of the ramp on which the vehicle is located includes: Controlling the steering of the front wheel on the side close to the target object so that the turned front wheel contacts the target object; The rear wheel on the side close to the target object is controlled to turn toward the side away from the target object, so that the turned rear wheel contacts the target object.

3. The method according to claim 2, characterized in that The controlling the steering of the front wheel on the side close to the target object comprises: The front wheel on the side close to the target object is controlled to turn in a direction away from the target object.

4. The method according to claim 1, characterized in that If the type of the ramp is a downhill road, controlling the wheel of the vehicle on a side close to the target object to contact the target object according to the type of the ramp on which the vehicle is located includes: Controlling the front wheel on the side close to the target object to turn toward the direction close to the target object, so that the turned front wheel contacts the target object; The rear wheel on the side close to the target object is controlled to turn so that the turned rear wheel contacts the target object.

5. The method according to claim 4, characterized in that The controlling the steering of the rear wheel on the side close to the target object comprises: The rear wheel on the side close to the target object is controlled to turn toward the direction approaching the target object.

6. The method according to claim 4 or 5, characterized in that: The method further comprises: The front wheel on the side away from the target object is controlled to turn in a direction away from the target object.

7. The method according to any one of claims 1 to 4, characterized in that: The vehicle includes a steer-by-wire system, and the method further includes: Receive adjustment instructions from users; According to the adjustment instruction, the front wheel steering of the vehicle and / or the rear wheel steering of the vehicle are adjusted by the wire control steering system.

8. A vehicle control device, characterized in that: include: A determination module, used to determine a target object within a preset range of the wheel after the vehicle is parked on a slope, wherein the target object is used to increase the resistance to the movement of the wheel; The control module is used to control the wheel of the vehicle on the side close to the target object to contact the target object according to the type of the slope on which the vehicle is located.

9. A controller, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: include: A controller, wherein the controller is used to execute the method according to any one of claims 1 to 7.

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