Vehicle and control method thereof

Abstract

The invention provides a vehicle and a control method thereof, and relates to the technical field of vehicles. When the vehicle is determined to be in the slipping state, at least one suspension system of the vehicle can be controlled to reciprocate according to the initial amplitude, so that the vertical load of wheels of the vehicle can be changed. In the vertical load changing process, the adhesive force of the wheels can be larger than the tangential counter-acting force of the ground, the soil thrust can be increased, and therefore the wheels can get rid of the slipping state. After the acceleration instruction is received, if the vehicle is determined to be still in the slipping state, the initial amplitude of the target suspension system of the vehicle can be increased, and the target suspension system is controlled to reciprocate according to the increased initial amplitude. In this way, the maximum value of the change range of the ground tangential counter-acting force borne by the wheels can be increased, and therefore the probability that the wheels get rid of the slipping state is increased.

Description

Technical Field

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

[0002] When a vehicle is passing through soft roads (such as snow, sand or mud), the wheels may sink into the ground and slip, causing the vehicle to be unable to drive normally. Summary of the invention

[0003] The present application provides a vehicle and a control method thereof. The technical solution is as follows:

[0004] In one aspect, a method for controlling a vehicle is provided, the method comprising:

[0005] If the vehicle is in a slipping state, controlling at least one suspension system of the vehicle to reciprocate according to an initial amplitude;

[0006] After receiving the acceleration instruction, if the vehicle is still in a slipping state, the initial amplitude of the target suspension system of the vehicle is increased, and the target suspension system is controlled to reciprocate according to the increased initial amplitude.

[0007] In another aspect, the present application provides a vehicle, the vehicle comprising: a controller; the controller is used to:

[0008] If the vehicle is in a slipping state, controlling at least one suspension system of the vehicle to reciprocate according to an initial amplitude;

[0009] After receiving the acceleration instruction, if the vehicle is still in a slipping state, the initial amplitude of the target suspension system of the vehicle is increased, and the target suspension system is controlled to reciprocate according to the increased initial amplitude.

[0010] On the other hand, the present application provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the vehicle control method as described in the above aspects is implemented.

[0011] The beneficial effects of the technical solution provided by this application include at least:

[0012] The present application provides a vehicle and a control method thereof. When the vehicle is determined to be in a slipping state, at least one suspension system of the vehicle can be controlled to reciprocate according to an initial amplitude so that the vertical load of the vehicle's wheels can change. During the process of the vertical load changing, the adhesion of the wheel may be greater than the tangential reaction force of the ground, and the soil thrust will increase, so that the wheel may get rid of the slipping state. After receiving an acceleration instruction, if the vehicle is determined to still be in a slipping state, the initial amplitude of the target suspension system of the vehicle can be increased, and the target suspension system can be controlled to reciprocate according to the increased initial amplitude. In this way, the maximum value of the range of variation of the tangential reaction force of the ground to which the wheel is subjected can be increased, thereby increasing the probability of the wheel getting rid of the slipping state.

[0013] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A flow chart of a vehicle control method provided in an embodiment of the present application;

[0015] Figure 2 A flowchart of another vehicle control method provided in an embodiment of the present application;

[0016] Figure 3 A flow chart of a method for determining a target suspension system provided in an embodiment of the present application;

[0017] Figure 4 A flow chart of a method for adjusting the amplitude of a target suspension system of a vehicle to a target amplitude provided in an embodiment of the present application;

[0018] Figure 5 A schematic diagram of the structure of a hydraulic shock absorber of a suspension system provided in an embodiment of the present application;

[0019] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0021] The present application embodiment provides a vehicle control method, which can be applied to a vehicle (such as a vehicle controller). Figure 1 , the method comprising:

[0022] Step 101: If the vehicle is in a slipping state, control at least one suspension system of the vehicle to perform reciprocating motion according to an initial amplitude.

[0023] The controller of the vehicle can detect whether the vehicle is in a slipping state. If the controller determines that the vehicle is in a slipping state, it can control at least one suspension system of the vehicle to reciprocate according to the initial amplitude. For example, the controller can control all suspension systems to reciprocate according to the initial amplitude and initial frequency. The reciprocating motion can be a periodic motion with a motion form similar to a sine function, that is, the change relationship of the motion amplitude of the reciprocating motion over time is similar to a sine change.

[0024] The vehicle being in a slipping state means that at least one wheel of the vehicle is in a slipping state. The initial amplitude and the initial frequency may be pre-stored by the controller, and the magnitude of the initial amplitude and the magnitude of the initial frequency depend on factors such as the stiffness and damping coefficient of the suspension system of the vehicle.

[0025] It is understandable that the adhesion condition for wheel driving is: the ground tangential reaction force on the wheel is less than or equal to the adhesion, and the adhesion is the product of the vertical load of the wheel and the adhesion coefficient. If the adhesion of the wheel is too small, or the soil thrust on the wheel is too small, the wheel will be in a slipping state. The soil thrust is positively correlated with the vertical load of the wheel. Therefore, after the wheel is in a slipping state, the controller can adjust the vertical load of the wheel to adjust the adhesion and the soil thrust.

[0026] Since the vertical load of the wheel will change during the reciprocating motion of the vehicle's suspension system, the controller can control at least one suspension system of the vehicle to reciprocate after determining that the vehicle is in a slipping state, so that the vertical load of the wheel changes. During the change of the vertical load, the soil thrust on the wheel may increase, and the adhesion may be greater than the tangential reaction force of the ground, so that the wheel may get out of the slipping state.

[0027] Step 102: After receiving the acceleration instruction, if the vehicle is still in a slipping state, the initial amplitude of the target suspension system of the vehicle is increased, and the target suspension system is controlled to reciprocate according to the increased initial amplitude.

[0028] In an embodiment of the present application, the vehicle may receive an acceleration instruction while controlling at least one suspension system to perform reciprocating motion. Then, the vehicle may perform an acceleration operation in response to the acceleration instruction to get out of trouble. If the vehicle is still in a slipping state after performing the acceleration operation, the vehicle may determine that when the suspension system performs reciprocating motion according to the initial amplitude, the maximum value of the vehicle's adhesion and the maximum value of the soil thrust exerted on the wheels are still too small, resulting in the vehicle still being unable to get out of trouble (i.e., still being in a slipping state).

[0029] Afterwards, the vehicle controller can increase the initial amplitude of the target suspension system of the vehicle and control the target suspension system to reciprocate according to the increased initial amplitude. In this way, the maximum value of the vertical load of the wheel can be increased to increase the maximum value of the adhesion and the maximum value of the soil thrust, thereby increasing the probability of the wheel getting out of the slipping state.

[0030] In summary, an embodiment of the present application provides a method for controlling a vehicle, which can control at least one suspension system of the vehicle to reciprocate according to an initial amplitude when the vehicle is determined to be in a slipping state, so that the vertical load of the vehicle's wheels can change. During the process of the vertical load changing, the adhesion of the wheel may be greater than the tangential reaction force of the ground, and the soil thrust will increase, so that the wheel may get rid of the slipping state. After receiving the acceleration command, if the vehicle is determined to be still in a slipping state, the initial amplitude of the target suspension system of the vehicle can be increased, and the target suspension system can be controlled to reciprocate according to the increased initial amplitude. In this way, the maximum value of the range of variation of the tangential reaction force of the ground to which the wheel is subjected can be increased, thereby increasing the probability of the wheel getting rid of the slipping state.

[0031] Figure 2 is a flow chart of another vehicle control method provided by an embodiment of the present application, which can be applied to a vehicle. Figure 2 , the method comprising:

[0032] Step 201: If it is detected that the vehicle is in a slipping state, then check whether the vehicle's auxiliary escape function is enabled.

[0033] The controller of the vehicle can detect whether the vehicle is in a slipping state. If the controller determines that the vehicle is in a slipping state, it can detect whether the vehicle's assisted escape function is enabled. If the controller determines that the vehicle's assisted escape function is enabled, step 202 can be executed. If the controller determines that the vehicle's assisted escape function is not enabled, the operation can be terminated without executing subsequent processes, that is, there is no need to execute the following steps 202 to 205. The vehicle being in a slipping state means that at least one wheel of the vehicle is in a slipping state.

[0034] In an optional implementation, a controller of the vehicle may determine the slip rate of each wheel of the vehicle's multiple wheels. If the controller determines that the slip rate of at least one wheel of the multiple wheels is greater than a slip rate threshold, it may be determined that the at least one wheel is in a slipping state, and then it may be determined that the vehicle is in a slipping state. The slip rate threshold may be pre-stored by the vehicle.

[0035] In another optional implementation, if the controller determines that the difference between the wheel speed of a wheel among the multiple wheels of the vehicle and the wheel speed of at least one wheel other than the wheel among the multiple wheels is greater than a first wheel speed threshold, then the wheel can be determined to be in a slipping state. The first wheel speed threshold can be pre-stored by the controller.

[0036] It is understandable that the vehicle may be equipped with wheel speed sensors corresponding to a plurality of wheels, and each wheel speed converter is connected to the controller. Each wheel speed sensor is used to collect the wheel speed of the corresponding wheel and upload the collected wheel speed to the controller.

[0037] In the embodiment of the present application, the vehicle may further include a central control display screen. The central control display screen displays an assisted escape control. After the vehicle is in a slipping state, if the driver determines that the assisted escape function of the vehicle needs to be activated, the assisted escape control may be touched. Accordingly, the vehicle controller may enable the assisted escape function in response to the driver's touch operation on the assisted escape control.

[0038] Step 202: Control at least one suspension system of the vehicle to perform reciprocating motion according to the initial amplitude.

[0039] If the controller of the vehicle determines that the vehicle is in a slipping state, it can control at least one suspension system of the vehicle to reciprocate according to the initial amplitude. For example, the controller can control all suspension systems of the vehicle to reciprocate according to the initial amplitude and initial frequency. The reciprocating motion can be a periodic motion with a motion form similar to a sine function, that is, the change relationship of the motion amplitude of the reciprocating motion over time is similar to a sine change.

[0040] The initial amplitude and the initial frequency may be pre-stored by the controller, and the magnitude of the initial amplitude and the magnitude of the initial frequency depend on factors such as the stiffness and damping coefficient of the suspension system of the vehicle.

[0041] In the embodiment of the present application, the adhesion condition of the wheel driving is: the ground tangential reaction force F x Less than or equal to the adhesion, which is the vertical load F of the wheel z The product of the adhesion coefficient μ. That is, the adhesion condition is F x ≤μF zIf the wheel adhesion is too small or the soil thrust on the wheel is too small, the wheel will slip. The maximum soil thrust F max (i.e. maximum soil thrust) can meet:

[0042]

[0043] In formula (1), A is the contact area of ​​the wheel, c is the cohesion coefficient of the soil, is the friction angle. It can be seen from formula (1) that the soil thrust on the wheel is positively correlated with the vertical load on the wheel.

[0044] Therefore, after the wheel is in a slipping state, the controller can adjust the vertical load of the wheel to adjust the adhesion and the soil thrust. Since the vertical load of the wheel will change during the reciprocating motion of the vehicle's suspension system, the controller can control at least one suspension system of the vehicle to reciprocate after determining that the vehicle is in a slipping state, so that the vertical load of the wheel changes. In the process of the vertical load changing, there may be a situation where the soil thrust on the wheel increases, and there may be a situation where the adhesion is greater than the tangential reaction force of the ground, so that the wheel may get rid of the slipping state. It can be understood that the vertical load F of the wheel z Can satisfy:

[0045]

[0046] From formula (2), it can be seen that the vertical load F of the wheel z Can be used for vehicle body load Unsprung load The sum of the gravity on the vehicle body and the gravity on the unsprung load. In formula (2), m b For the body mass, is the second-order derivative of the vehicle body displacement, m s is the unsprung mass, is the second derivative of the unsprung displacement and g is the acceleration due to gravity.

[0047] The vehicle body load Can satisfy:

[0048]

[0049] In formula (3), c is the damping coefficient of the suspension system, is the first-order derivative of the vehicle body displacement, is the first-order derivative of the unsprung displacement, k is the stiffness of the elastic element included in the suspension system (i.e., the stiffness of the suspension system mentioned above), F d It is the actual main force of the suspension system.

[0050] Unsprung load Can satisfy:

[0051]

[0052] In formula (4), k s is the stiffness of the wheel, X t is the road surface displacement. The road surface displacement refers to the difference between the height of the road surface at the first moment and the height of the road surface at the second moment during the driving process of the vehicle. The first moment and the second moment are separated by a displacement acquisition cycle. The displacement acquisition cycle can be pre-stored in the vehicle.

[0053] Step 203: After receiving the acceleration instruction, if the vehicle is still in a slipping state, the initial amplitude of the target suspension system of the vehicle is increased, and the target suspension system is controlled to reciprocate according to the increased initial amplitude.

[0054] In the embodiment of the present application, the vehicle may receive an acceleration instruction while controlling at least one suspension system to perform reciprocating motion. Then, the vehicle may perform an acceleration operation in response to the acceleration instruction to get out of trouble, and detect whether the vehicle is still in a slipping state after performing the acceleration operation. If the controller determines that the vehicle is no longer in a slipping state after performing the acceleration operation, it may be determined that the vehicle can get out of trouble, and then step 205 may be performed.

[0055] If the controller determines that the vehicle is still in a slipping state after the acceleration operation, it can be determined that the vehicle cannot escape, and then the initial amplitude of the target suspension system of the vehicle can be increased, and the target suspension system can be controlled to reciprocate according to the increased initial amplitude. In this way, the maximum value of the vertical load of the wheel can be increased to increase the maximum value of the adhesion and the maximum value of the soil thrust, thereby increasing the probability of the wheel escaping the slipping state.

[0056] Optionally, the vehicle may include an accelerator pedal, which the driver may step on during the reciprocating motion of at least one suspension system. Accordingly, the controller of the vehicle may receive an acceleration instruction triggered by the stepping operation on the accelerator pedal.

[0057] Alternatively, the vehicle may include a microphone. The driver may issue a voice for instructing the vehicle to accelerate, the voice including an acceleration instruction. The microphone may collect the voice and send the collected voice to the controller. The controller may then analyze the voice to obtain the acceleration instruction.

[0058] In the embodiment of the present application, the controller may directly add a fixed value to the initial amplitude of the target suspension system to increase the initial amplitude of the target suspension system. The fixed value may be pre-stored by the controller. For example, the fixed value may be the difference between the maximum amplitude and the initial amplitude of the target suspension system.

[0059] Alternatively, the controller may gradually increase the initial amplitude of the target suspension system until the amplitude of the target suspension system is equal to the maximum amplitude of the suspension system (also referred to as the maximum return stroke). The increased initial amplitude may be referred to as the target amplitude. It can be seen that the target amplitude of the target suspension system is a variable.

[0060] Since the initial amplitude of the target suspension system can be gradually increased, the maximum value of the vertical load of the wheel can also be gradually increased. And each time the maximum value of the vertical load increases, the chance of the vehicle getting out of trouble can be increased, thereby effectively improving the probability of the vehicle getting out of trouble. Moreover, the unnecessary increase of the amplitude of the target suspension system can be avoided on the premise of the vehicle getting out of trouble.

[0061] For example, after the vehicle's assisted escape function is enabled, the controller may increase the target value for the initial amplitude of the target suspension system of the vehicle every adjustment period to increase the initial amplitude of the target suspension system. That is, the initial amplitude of the target suspension system may be increased according to a gradient. The adjustment period may be pre-stored by the controller. The adjustment period may be the minimum period of a sine function. The target value may also be pre-stored by the controller.

[0062] Optionally, the target amplitude H of the target suspension system a Can satisfy:

[0063] H a =H0+N×H1 Formula (5)

[0064] In formula (5), H0 is the initial amplitude of the vehicle's suspension system, N is the number of cycles of the adjustment period, and H1 is the target value. The number of cycles N is obtained by rounding down the ratio of the activation time of the vehicle's auxiliary escape function to the adjustment period.

[0065] It can be understood that the controller can obtain the reciprocating motion amplitude of the suspension system every acquisition cycle. s0 Can satisfy:

[0066] H s0 =H a ×sin[2×π×(f×n)×t] Formula (6)

[0067] In formula (6), f×n is the frequency of the sine function, f is the initial frequency of the target suspension system, n is the acquisition period, and t is the acquisition time of the motion amplitude. The acquisition period may be pre-stored by the controller, for example, the acquisition period may be 1 millisecond (ms).

[0068] In the embodiment of the present application, during the process of increasing the amplitude of the target suspension system of the vehicle, the controller may respond to a stop instruction, stop increasing the amplitude of the target suspension system of the vehicle, and control the target suspension system of the vehicle to reciprocate according to the currently adjusted amplitude. Afterwards, if the controller receives an adjustment instruction, it may continue to increase the amplitude of the target suspension system of the vehicle based on the current amplitude of the target suspension system.

[0069] It is understandable that the adjustment instruction may be triggered by the driver's stepping operation on the accelerator pedal. The stop instruction may be triggered by the driver's stepping operation on the vehicle's brake pedal. Alternatively, a stop control is displayed on the vehicle's central control display screen. The stop instruction may be triggered by the driver's touch operation on the stop control.

[0070] In an embodiment of the present application, the vehicle may be in a gap failure state during the process of the target suspension system of the vehicle reciprocating at a target amplitude. When the vehicle is in a gap failure state, the reciprocating motion of the vehicle will cause the chassis of the vehicle to rub or bump against the ground, thereby damaging the chassis. Therefore, during the process of the target suspension system of the vehicle reciprocating at a target amplitude, the controller will detect whether the vehicle is in a gap failure state. If the controller determines that the vehicle is in a gap failure state, the amplitude of the target suspension system of the vehicle can be lowered so that the vehicle is no longer in a gap failure state. Among them, the gap failure state refers to a state in which the vehicle is held up by the ground due to insufficient clearance between the vehicle and the ground and cannot pass.

[0071] If the vehicle is on a soft road, the controller may gradually lower the target amplitude of the target suspension system until the vehicle is no longer in a gap failure state. It is understandable that the controller may lower the target amplitude of the target suspension system of the vehicle once every adjustment cycle.

[0072] Optionally, the amplitude H of the target suspension system after each adjustment b Can satisfy:

[0073]

[0074] In formula (7), H c is the amplitude of the target suspension system after the previous adjustment, H c The initial value is H a .L re is the maximum restoring stroke of the target suspension system.f is the actual relative travel of the target suspension system. min means taking a smaller value.

[0075] The actual relative travel H of the target suspension system f Can satisfy:

[0076] H f =X b -X r Formula (8)

[0077] Among them, X b is the displacement of the vehicle body, X r is the unsprung displacement.

[0078] It can be understood that after the amplitude of the target suspension system is lowered, the motion amplitude H of the target suspension system obtained by the controller every acquisition cycle is s1 Can satisfy:

[0079] H s1 =H b ×sin[2×π×(f×n)×t] formula (9)

[0080] Since the controller can gradually lower the target amplitude of the target suspension system, the target suspension system can be made to reciprocate with a larger amplitude without the chassis of the vehicle colliding with the ground.

[0081] For example, the controller can repeatedly perform the adjustment process until the vehicle is no longer in a gap failure state: lower the target amplitude of the target suspension system once; detect whether the vehicle is in a gap failure state; if the vehicle is still in a gap failure state, then perform the operation of lowering the amplitude of the target suspension system again. It can be seen that when the vehicle is in a gap failure state, the vehicle can adaptively adjust the amplitude of the suspension system to avoid the reciprocating motion of the suspension system from damaging the chassis of the vehicle.

[0082] If the vehicle is on a hard road, if the controller gradually lowers the amplitude of the target suspension system, it will cause significant damage to the chassis of the vehicle. Therefore, the controller can lower the amplitude of the target suspension system of the vehicle once so that the vehicle is no longer in a gap failure state. The amplitude H of the target suspension system after the lowering d Can satisfy:

[0083]

[0084] In formula (10), max means taking a larger value.

[0085] It can be understood that after the amplitude of the target suspension system is lowered, the movement amplitude H of the target suspension system s2 satisfy:

[0086] H s2 =H d ×sin[2×π×(f×n)×t] Formula (11)

[0087] In the embodiment of the present application, if the controller determines that the target amplitude is greater than the actual relative travel of the target suspension system for a duration greater than a duration threshold, it can be determined that the vehicle is in a gap failure state. The duration threshold can be pre-stored by the controller. For example, the duration threshold can be 5ms.

[0088] It is understood that the suspension system of the vehicle is equipped with a body displacement sensor and an unsprung mass displacement sensor, and the body displacement sensor and the unsprung mass displacement sensor are respectively connected to the controller. The body displacement sensor can be used to obtain the body displacement of the vehicle, and upload the obtained body displacement to the controller. The unsprung mass displacement sensor can be used to obtain the unsprung displacement of the vehicle, and upload the obtained unsprung displacement to the controller.

[0089] Step 204: Detect whether the activation time of the auxiliary escape function reaches the target time.

[0090] After the auxiliary escape function is enabled, the controller may detect whether the activation time of the auxiliary escape function reaches the target time. If the controller determines that the activation time of the auxiliary escape function is less than the target time, step 203 may be continued. If the controller determines that the activation time of the auxiliary escape function is equal to the target time, step 205 may be performed.

[0091] The target duration may be the maximum duration of the auxiliary escape function operation pre-stored by the controller. For example, the target duration may be 20 seconds (s).

[0092] In an embodiment of the present application, the vehicle may further include: a timer connected to the controller. The timer may be used to count time after the auxiliary escape function is turned on, and upload the timing result to the controller.

[0093] Optionally, the timer can be a count-up timer or a count-down timer.

[0094] Step 205 , exit the auxiliary escape function, and control the suspension system of the vehicle to stop reciprocating motion.

[0095] If the controller determines that the vehicle is no longer in a slipping state after the acceleration operation, the assisted escape function is automatically exited and the suspension system of the vehicle is controlled to stop reciprocating motion. Alternatively, if the controller determines that the activation time of the assisted escape function is equal to the target time, the assisted escape function is automatically exited and the suspension system of the vehicle is controlled to stop reciprocating motion.

[0096] In the embodiment of the present application, before increasing the amplitude of the target suspension system of the vehicle, the controller may determine the target suspension system from at least one suspension system. Figure 3 , the process of the controller determining the target suspension system may include:

[0097] Step 2031: Determine the driving mode of the vehicle according to the wheel speed of each of the multiple wheels.

[0098] The driving mode of the vehicle may be one of the following modes: front-wheel drive, rear-wheel drive and all-wheel drive.

[0099] In an embodiment of the present application, when the vehicle is driving normally, the wheel speeds of the two front wheels of the vehicle may be the same, and the wheel speeds of the two rear wheels of the vehicle may be the same. The controller may determine the driving mode of the vehicle based on the difference between the wheel speed of the front wheels of the vehicle and the wheel speed of the rear wheels of the vehicle. For example, if the controller determines that the difference obtained by subtracting the wheel speed of the rear wheels from the wheel speed of the front wheels is greater than the second wheel speed threshold, it may be determined that the driving mode of the vehicle is front-wheel drive. If the controller determines that the difference obtained by subtracting the wheel speed of the front wheels from the wheel speed of the rear wheels is greater than the second wheel speed threshold, it may be determined that the driving mode of the vehicle is rear-wheel drive. If the controller determines that the absolute value of the difference between the wheel speeds of each wheel of the vehicle is less than the second wheel speed threshold, the controller may determine that the driving mode of the vehicle is all-wheel drive. Wherein, the second wheel speed threshold may be pre-stored by the controller.

[0100] Step 2032: Determine a target suspension system according to the driving mode of the vehicle.

[0101] If the vehicle is driven by front-wheel drive, that is, the front wheels of the vehicle are driving wheels, the controller can directly determine the suspension system connected to the front wheels (i.e., the front suspension system) as the target suspension system of the vehicle. If the vehicle is driven by rear-wheel drive, that is, the rear wheels of the vehicle are driving wheels, the controller can directly determine the suspension system connected to the rear wheels (i.e., the rear suspension system) as the target suspension system of the vehicle. If the vehicle is driven by all-wheel drive, the controller can obtain the slip rate of each wheel and determine the suspension system connected to the wheel with the largest slip rate as the target suspension system.

[0102] It is understandable that if the target suspension system is the front suspension system, the controller can also control the rear suspension system of the vehicle to stop reciprocating motion. If the target suspension system is the rear suspension system, the controller can also control the front suspension system of the vehicle to stop reciprocating motion. If the driving mode of the vehicle is all-wheel drive, the controller can control another suspension system other than the target suspension system to continue to reciprocate according to the initial amplitude and initial frequency.

[0103] Figure 4This is a flow chart of a method for adjusting the amplitude of a target suspension system of a vehicle to a target amplitude provided by the present application. Figure 4 , the process in which the controller adjusts the amplitude of the target suspension system of the vehicle to the target amplitude may include:

[0104] Step S1: Obtain the expected main force and the actual main force of the target suspension system of the vehicle.

[0105] In the embodiment of the present application, a suspension dynamics model is stored in the controller of the vehicle. The controller can input the actual relative travel and target amplitude of the target suspension system into the suspension dynamics model to obtain the expected active force output by the suspension dynamics model.

[0106] Figure 5 is a schematic diagram of the structure of a hydraulic shock absorber of a suspension system provided in an embodiment of the present application. Figure 5 The hydraulic shock absorber comprises: a motor 410, a pump 420, a piston 430, a shock absorber connecting rod 440 and a chamber 450. The chamber 450 stores oil.

[0107] like Figure 5 As shown, the piston 430 is located in the chamber 450, and the piston 430 can divide the chamber 450 into an upper chamber 451 and a lower chamber 452. The piston 430 is fixedly connected to the shock absorber connecting rod 440. The first end of the pump 420 can be communicated with the upper chamber 451, the second end of the pump 420 can be communicated with the lower chamber 452, and the driving end of the pump 420 is connected to the motor 410. The motor 410 can drive the pump 420 to change the pressure of the upper chamber 451 and the pressure of the lower chamber 452, so that the piston 430 drives the shock absorber connecting rod 440 to move up and down in the chamber 450 under the action of the pressure difference between the upper chamber 451 and the lower chamber 452, so that the target suspension system reciprocates.

[0108] For example, if the motor 410 drives the pump 420 to pump the oil in the upper chamber 451 into the lower chamber 452, the pressure of the lower chamber 452 increases as the oil enters the lower chamber 452. The piston 430 can move upward, driving the shock absorber connecting rod 440 to rise, so that the target suspension system performs a restoring action.

[0109] If the motor 410 drives the pump 420 to drive the oil into the upper chamber 451 of the chamber 450, the pressure of the upper chamber 451 increases as the oil enters the upper chamber 451. The piston 430 can then move downward, driving the shock absorber connecting rod 440 to descend, so that the target suspension system performs a compression action.

[0110] During the reciprocating motion of the target suspension system, the controller can obtain the speed of the motor of the target suspension system, the displacement of the pump, the pressure of the upper chamber and the pressure of the lower chamber, and determine the actual active force of the target suspension system based on the speed, the displacement, the pressure of the upper chamber and the pressure of the lower chamber. The actual active force is proportional to the difference between the pressure of the lower chamber and the pressure of the upper chamber, and is proportional to the displacement and the speed.

[0111] For example, the actual active force F d The following formula can be satisfied:

[0112]

[0113] In formula (10), P1 is the pressure of the lower chamber, P2 is the pressure of the upper chamber, and V p is the displacement of the pump, n m is the motor speed.

[0114] Step S2: determining a target rotation speed of the motor based on a difference between the expected main power and the actual main power.

[0115] The vehicle controller can determine the speed adjustment value of the motor based on the difference between the expected main power and the actual main power, and then determine the sum of the current speed of the motor and the speed adjustment value as the target speed of the motor.

[0116] It is understood that the controller may include a control component, which may be a proportional-integral-derivative (PID) control component. The PID control component may process the difference between the desired active force and the actual active force to obtain a speed adjustment value of the motor.

[0117] Since the speed adjustment value can be obtained by processing the difference value by the PID control component, it can be ensured that the amplitude of the target suspension system reaches the target amplitude quickly and smoothly.

[0118] Step S3: Control the motor to run at the target speed.

[0119] After determining the target speed of the motor, the controller can control the motor to run at the target speed, so that the amplitude of the target suspension system can be the target amplitude.

[0120] It is understandable that the order of the steps of the vehicle control method provided in the embodiment of the present application can be appropriately adjusted, and the steps can also be increased or decreased accordingly according to the situation. For example, step 204 and step 205 can be deleted according to the situation; or, step 201, step 204 and step 205 can be deleted according to the situation. Any technician familiar with the technical field can easily think of a method of change within the technical scope disclosed in this application, which should be covered within the scope of protection of this application, so it will not be repeated.

[0121] In summary, an embodiment of the present application provides a method for controlling a vehicle, which can control at least one suspension system of the vehicle to reciprocate according to an initial amplitude when the vehicle is determined to be in a slipping state, so that the vertical load of the vehicle's wheels can change. During the process of the vertical load changing, the adhesion of the wheel may be greater than the tangential reaction force of the ground, and the soil thrust will increase, so that the wheel may get rid of the slipping state. After receiving the acceleration command, if the vehicle is determined to be still in a slipping state, the initial amplitude of the target suspension system of the vehicle can be increased, and the target suspension system can be controlled to reciprocate according to the increased initial amplitude. In this way, the maximum value of the range of variation of the tangential reaction force of the ground to which the wheel is subjected can be increased, thereby increasing the probability of the wheel getting rid of the slipping state.

[0122] The present application embodiment provides a vehicle 500, see Figure 6 The vehicle includes a controller 501. The controller 501 is used to:

[0123] If the vehicle 500 is in a slipping state, controlling at least one suspension system of the vehicle 500 to reciprocate according to an initial amplitude;

[0124] After receiving the acceleration instruction, if the vehicle 500 is still in a slipping state, the initial amplitude of the target suspension system of the vehicle 500 is increased, and the target suspension system is controlled to reciprocate according to the increased initial amplitude.

[0125] Optionally, the controller 501 may be used to:

[0126] Gradually increase the initial amplitude of the target suspension system.

[0127] Optionally, the controller 501 may also be used for:

[0128] Before increasing the initial amplitude of the target suspension system of the vehicle 500, a driving mode of the vehicle 500 is obtained, where the driving mode is one of the following modes: front-wheel drive, rear-wheel drive, and all-wheel drive;

[0129] Based on the driving mode, the target suspension system is determined.

[0130] Optionally, the driving mode is all-wheel drive. The controller 501 can be used for:

[0131] Determining a wheel of the vehicle 500 having the greatest slip;

[0132] The suspension system to which the wheel is connected is determined as the target suspension system.

[0133] Optionally, the controller 501 may also be used for:

[0134] After increasing the initial amplitude of the target suspension system of the vehicle 500, while the target suspension system is reciprocating according to the increased initial amplitude, if the vehicle 500 is in a gap failure state, the target amplitude of the target suspension system is lowered, and the target amplitude is the increased initial amplitude.

[0135] Optionally, the road surface on which the vehicle 500 is located is a soft road surface. The controller 501 can be used for:

[0136] The target amplitude of the target suspension system is gradually reduced.

[0137] Optionally, the controller 501 may be used to:

[0138] When the auxiliary escape function of the vehicle 500 is enabled, at least one suspension system of the vehicle 500 is controlled to reciprocate according to the initial amplitude.

[0139] Optionally, the controller 501 may also be used for:

[0140] If the activation time of the auxiliary escape function reaches the target time and the vehicle 500 is still in a slipping state, the auxiliary escape function is exited and each suspension system of the vehicle 500 is controlled to stop moving.

[0141] In summary, an embodiment of the present application provides a vehicle, which, when the vehicle is determined to be in a slipping state, can control at least one suspension system of the vehicle to reciprocate according to an initial amplitude so that the vertical load of the vehicle's wheels can change. During the process of the vertical load changing, the adhesion of the wheel may be greater than the tangential reaction force of the ground, and the soil thrust will increase, so that the wheel may get rid of the slipping state. After receiving the acceleration command, if the vehicle is determined to be still in a slipping state, the initial amplitude of the target suspension system of the vehicle can be increased, and the target suspension system can be controlled to reciprocate according to the increased initial amplitude. In this way, the maximum value of the range of variation of the tangential reaction force of the ground to which the wheel is subjected can be increased, thereby increasing the probability of the wheel getting rid of the slipping state.

[0142] Please continue to refer to Figure 6The vehicle 500 may further include a memory 503 . The processor 501 and the memory 503 are connected, for example, via a bus 502 .

[0143] Processor 501 may be a CPU (Central Processing Unit), a general purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. Processor 501 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0144] The bus 502 may include a path to transmit information between the above components. The bus 502 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 502 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0145] The memory 503 is used to store a computer program corresponding to the vehicle control method of the above embodiment of the present application, and the computer program is controlled and executed by the processor 501. The processor 501 is used to execute the computer program stored in the memory 503 to implement the content shown in the above method embodiment.

[0146] The present application embodiment provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the vehicle control method provided by the above method embodiment is implemented. Figure 1 or Figure 2 The method shown.

[0147] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0148] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0149] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0150] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0151] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0152] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: If the vehicle is in a slipping state, controlling at least one suspension system of the vehicle to reciprocate according to an initial amplitude; After receiving the acceleration instruction, if the vehicle is still in a slipping state, the initial amplitude of the target suspension system of the vehicle is increased, and the target suspension system is controlled to reciprocate according to the increased initial amplitude.

2. The method according to claim 1, characterized in that The step of increasing the initial amplitude of the target suspension system of the vehicle comprises: The initial amplitude of the target suspension system is gradually increased.

3. The method according to claim 1, characterized in that Before increasing the initial amplitude of the target suspension system of the vehicle, the method further includes: Acquire a driving mode of the vehicle, wherein the driving mode is one of the following modes: front-wheel drive, rear-wheel drive, and all-wheel drive; Based on the driving mode, the target suspension system is determined.

4. The method according to claim 3, characterized in that: The driving mode is all-wheel drive; and determining the target suspension system based on the driving mode includes: determining a wheel of the vehicle having the greatest slip; A suspension system to which the wheel is connected is determined as the target suspension system.

5. The method according to any one of claims 1 to 4, characterized in that: After increasing the initial amplitude of the target suspension system of the vehicle, the method further includes: During the process that the target suspension system reciprocates according to the increased initial amplitude, if the vehicle is in a clearance failure state, the target amplitude of the target suspension system is lowered, and the target amplitude is the increased initial amplitude.

6. The method according to claim 5, characterized in that The road surface on which the vehicle is located is a soft road surface; and lowering the target amplitude of the target suspension system includes: The target amplitude of the target suspension system is gradually reduced.

7. The method according to any one of claims 1 to 4, characterized in that: The controlling at least one suspension system of the vehicle to reciprocate according to an initial amplitude comprises: When the auxiliary escape function of the vehicle is enabled, at least one suspension system of the vehicle is controlled to perform reciprocating motion according to an initial amplitude.

8. The method according to claim 7, characterized in that The method further comprises: If the activation time of the auxiliary escape function reaches the target time and the vehicle is still in a slipping state, the auxiliary escape function is exited and each suspension system of the vehicle is controlled to stop moving.

9. A vehicle, characterized in that: The vehicle comprises: a controller; the controller is used for: If the vehicle is in a slipping state, controlling at least one suspension system of the vehicle to reciprocate according to an initial amplitude; After receiving the acceleration instruction, if the vehicle is still in a slipping state, the initial amplitude of the target suspension system of the vehicle is increased, and the target suspension system is controlled to reciprocate according to the increased initial amplitude.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

Images