Vehicle, control method, device and system thereof, storage medium and controller

Abstract

The invention discloses a vehicle, a control method, device and system of the vehicle, a storage medium and a controller, and the control method of the vehicle comprises the steps that in response to a braking request, whether the vehicle meets a braking stability function activation condition or not is judged according to the vehicle speed, the steering wheel rotating angle and the wheel speed of the vehicle; if yes, a first target toe-in angle and a second target toe-in angle are obtained according to the vehicle speed and the depth of a brake pedal of the vehicle, and the first target toe-in angle and the second target toe-in angle are equal in size and are symmetrical relative to the center line of the whole vehicle; and controlling a left rear wheel of the vehicle to rotate to the first target toe-in angle, and controlling a right rear wheel of the vehicle to rotate to the second target toe-in angle. According to the method, the stability of the vehicle in the linear braking direction can be enhanced, and tiny vibration and bumping on the road surface during braking can be reduced.

Description

Technical Field

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

[0002] In the related technology, when the vehicle is braking in a straight line, if the ground braking force of the left and right wheels increases at different speeds, resulting in unequal ground braking forces on the wheels on both sides, the vehicle may brake off course, skid or lose steering ability, thereby causing the vehicle to lose control and deviate from the original direction of travel, causing safety issues. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the purpose of the present invention is to provide a vehicle and a control method, device, system, storage medium, and controller thereof to enhance the stability in the straight braking direction and reduce the small vibrations and bumps on the road surface during braking.

[0004] In a first aspect, an embodiment of the present invention proposes a vehicle control method, comprising: in response to a braking request, determining whether the vehicle meets the activation condition of a braking stability function according to the vehicle speed, steering wheel angle, and wheel speed of the vehicle; if satisfied, obtaining a first target toe angle and a second target toe angle according to the vehicle speed and the brake pedal depth of the vehicle, wherein the first target toe angle and the second target toe angle are equal in size and symmetrical relative to a center line of the vehicle; controlling the left rear wheel of the vehicle to rotate to the first target toe angle, and controlling the right rear wheel of the vehicle to rotate to the second target toe angle.

[0005] In addition, the vehicle control method of the embodiment of the present invention may also have the following additional technical features:

[0006] According to an embodiment of the present invention, if the brake pedal depth is greater than a preset depth threshold, it is determined that the vehicle has the braking request.

[0007] According to one embodiment of the present invention, judging whether the vehicle satisfies a braking stability function activation condition based on the vehicle speed, steering wheel angle and wheel speed includes: calculating the slip rate of the vehicle based on the vehicle speed and the wheel speed; and judging whether the vehicle speed, the steering wheel angle and the slip rate meet preset conditions.

[0008] According to an embodiment of the present invention, the preset conditions include: the vehicle speed is greater than a preset vehicle speed threshold, the steering wheel angle is less than a preset angle threshold, and the slip rate of the vehicle is greater than a preset slip rate threshold.

[0009] According to an embodiment of the present invention, when the number of the wheel speeds is multiple, the number of the slip ratios is multiple, and the preset condition includes: a maximum value of the multiple slip ratios is greater than the preset slip ratio threshold.

[0010] According to one embodiment of the present invention, obtaining the first target toe angle and the second target toe angle according to the vehicle speed and the brake pedal depth of the vehicle includes: searching for a preset corresponding relationship according to the vehicle speed and the brake pedal depth of the vehicle to obtain the first target toe angle and the second target toe angle.

[0011] According to one embodiment of the present invention, before obtaining the first target toe angle and the second target toe angle according to the vehicle speed and the brake pedal depth of the vehicle, the method also includes: determining that a safety mechanism monitoring function of the vehicle is open, wherein the safety mechanism monitoring function is used to determine whether the difference between the absolute value of the first target toe angle and the absolute value of the second target toe angle is less than a preset difference threshold; wherein, if the difference between the absolute value of the first target toe angle and the absolute value of the second target toe angle is less than the preset difference threshold, the steps of controlling the left rear wheel of the vehicle to turn to the first target toe angle and controlling the right rear wheel of the vehicle to turn to the second target toe angle are executed.

[0012] In the second aspect, an embodiment of the present invention proposes a vehicle control device, comprising: a judgment module, used to respond to a braking request, and judge whether the vehicle meets the activation condition of a braking stability function according to the vehicle speed, steering wheel angle, and wheel speed of the vehicle; a determination module, used to obtain a first target toe angle and a second target toe angle according to the vehicle speed and the brake pedal depth of the vehicle when the vehicle meets the activation condition of the braking stability function, wherein the first target toe angle and the second target toe angle are equal in size and symmetrical relative to the center line of the vehicle; a control module, used to control the left rear wheel of the vehicle to turn to the first target toe angle, and control the right rear wheel of the vehicle to turn to the second target toe angle.

[0013] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the above-mentioned vehicle control method is implemented.

[0014] In a fourth aspect, an embodiment of the present invention proposes a controller, comprising a memory, a processor, and a computer program stored in the memory, wherein when the computer program is executed by the processor, the above-mentioned vehicle control method is implemented.

[0015] In a fifth aspect, an embodiment of the present invention provides a vehicle control system, comprising: a first rear wheel steering motor, a second rear wheel steering motor, and the above-mentioned vehicle control device or controller; wherein,

[0016] The control device or the controller is used to control the left rear wheel of the vehicle to turn to the first target toe angle through the first rear wheel steering motor, and to control the right rear wheel of the vehicle to turn to the second target toe angle through the second rear wheel steering motor.

[0017] In a sixth aspect, an embodiment of the present invention provides a vehicle, including: the control system of the above-mentioned vehicle.

[0018] The vehicle and its control method, device, system, storage and medium, and controller of the embodiment of the present invention, when receiving a braking request and judging that the vehicle meets the activation conditions of the braking stability function according to the vehicle speed, steering wheel angle, and wheel speed, obtains a first target toe angle and a second target toe angle of equal size and symmetric relative to the center line of the vehicle according to the vehicle speed and the depth of the brake pedal of the vehicle, and then controls the left rear wheel of the vehicle to rotate to the first target toe angle, and controls the right rear wheel of the vehicle to rotate to the second target toe angle. In this way, the stability of the vehicle in the straight braking direction can be enhanced, and the small vibrations and bumps on the road surface during braking can be reduced.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention;

[0021] Figure 2 is a schematic diagram of a vehicle steering structure according to an embodiment of the present invention;

[0022] Figure 3 is a schematic diagram of the posture of the rear wheels during the vehicle braking process according to an embodiment of the present invention;

[0023] Figure 4 is a flow chart of a vehicle control method according to another embodiment of the present invention;

[0024] Figure 5 is a flow chart of a method for controlling a vehicle according to a specific embodiment of the present invention;

[0025] Figure 6 is a structural block diagram of a vehicle control device according to an embodiment of the present invention;

[0026] Figure 7 is a structural block diagram of a controller according to an embodiment of the present invention;

[0027] Figure 8 is a structural block diagram of a control system of a vehicle according to an embodiment of the present invention;

[0028] Fig. 9 4 is a structural block diagram of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] Embodiments of the present invention are described in detail below, examples of which 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 invention, and should not be construed as limiting the present invention.

[0030] The following describes a vehicle and its control method, device, system, storage medium, and controller according to an embodiment of the present invention with reference to the accompanying drawings.

[0031] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention.

[0032] like Figure 1 As shown, the vehicle control method includes:

[0033] S1, in response to a braking request, determining whether the vehicle meets the activation conditions of the braking stability function according to the vehicle speed, steering wheel angle, and wheel speed.

[0034] If the brake pedal depth is greater than a preset depth threshold, it is determined that there is a braking request for the vehicle.

[0035] In some embodiments of the present invention, whether the vehicle meets the activation conditions of the braking stability function is determined based on the vehicle speed, steering wheel angle, and wheel speed, including: calculating the vehicle's slip rate based on the vehicle speed and wheel speed; and determining whether the vehicle speed, steering wheel angle, and slip rate meet preset conditions.

[0036] The preset conditions include: the vehicle speed is greater than a preset vehicle speed threshold, the steering wheel angle is less than a preset angle threshold, and the vehicle slip rate is greater than a preset slip rate threshold.

[0037] In some examples, when the number of wheel speeds is multiple, the number of slip ratios is multiple, and the preset condition includes: a maximum value of the multiple slip ratios is greater than a preset slip ratio threshold.

[0038] Specifically, in view of the low demand for braking stability when the vehicle speed is low, the braking stability function of the present invention can limit the vehicle speed to a higher speed, that is, limit the vehicle speed to a preset speed threshold (for example, 40 km / h). In view of the fact that excessive steering wheel angle during braking can lead to side slip or tail swing, and in severe cases, it can lead to aggravated tail swing or even rollover, so the braking stability function of the present invention can limit the steering wheel angle to a small angle range, that is, limit the steering wheel angle to a preset angle threshold (the specific value can be set as needed, such as 25°). At the same time, the braking stability function of the present invention can also set a slip rate judgment condition, and the slip rate of the four wheel tires can be calculated based on the vehicle speed and the four-wheel speed. The maximum value of the four slip rates can be taken, and the slip rate condition is judged to be satisfied when it exceeds the preset slip rate threshold. When all the above conditions are met, combined with the vehicle rear wheel steering function being turned on, there is no fault in itself, and the rear wheel steering function can be realized, it can be determined that the braking stability function is successfully activated.

[0039] S2, if satisfied, then obtain a first target toe angle and a second target toe angle according to the vehicle speed and the brake pedal depth of the vehicle, wherein the first target toe angle and the second target toe angle are equal in size and direction, and are symmetrical relative to the center line of the vehicle.

[0040] In some embodiments of the present invention, a first target toe angle and a second target toe angle are obtained according to a vehicle speed and a brake pedal depth of the vehicle, including: searching for a preset correspondence according to the vehicle speed and the brake pedal depth of the vehicle to obtain the first target toe angle and the second target toe angle.

[0041] Specifically, the corresponding relationship between the vehicle speed, the brake pedal depth, the first target toe angle, and the second target toe angle can be established in advance through experiments, and then the corresponding relationship can be stored for calling when needed. Optionally, the vehicle speed can be negatively correlated with the absolute value of the first target toe angle and the absolute value of the second target toe angle, and the brake pedal depth can be negatively correlated with the absolute value of the first target toe angle and the absolute value of the second target toe angle, so as to take into account both braking stability and braking distance.

[0042] S3, controlling the left rear wheel of the vehicle to rotate to a first target toe angle, and controlling the right rear wheel of the vehicle to rotate to a second target toe angle.

[0043] Specifically, the present invention is applicable to a vehicle with a distributed independently controlled rear wheel steering function, that is, the vehicle adopts a split rear wheel steering vehicle type layout. Figure 2 As shown, the vehicle adopting the split rear-wheel steering vehicle layout includes not only the electric power steering system E1 for controlling the steering of the left front wheel S1 and the right front wheel S2, but also the left power steering system E2 for controlling the steering of the left rear wheel S3 and the right power steering system E3 for controlling the steering of the right rear wheel S4.

[0044] The left power steering system E2 and the right power steering system E3 are symmetrically distributed relative to the center line of the vehicle. The left power steering system E2 may include a first rear wheel steering motor, and the right power steering system E3 may include a second rear wheel steering motor.

[0045] In an embodiment of the present invention, when the distributed independently controlled rear-wheel steering system functions normally, the vehicle's steering wheel angle, vehicle speed, brake pedal depth, wheel speed, etc. are used as inputs, and when the inputs meet the braking stability conditions of the rear-wheel steering system, the first target toe angle and the second target toe angle, which are equal in size and symmetrical relative to the center line of the vehicle, are obtained according to the vehicle speed and the brake pedal depth, and then the left rear wheel of the vehicle is controlled to turn to the first target toe angle, and the right rear wheel of the vehicle is controlled to turn to the second target toe angle. At this time, the rear wheel posture can be as follows Figure 4 shown. Figure 4 Among them, S1 is the left front wheel, S2 is the right front wheel, S3 is the left rear wheel, S4 is the right rear wheel, X is the longitudinal driving direction of the vehicle, Y is the lateral driving direction of the vehicle, the toe angles of the left front wheel S1 and the right front wheel S2 are zero, the toe angle of the left rear wheel S3 (i.e., the first target toe angle) is α1, and the toe angle of the right rear wheel S4 (i.e., the second target toe angle) is α2.

[0046] Specifically, when the vehicle brakes during driving, in order to reduce the unexpected yaw disturbance generated by the vehicle, the left and right wheels of the distributed independent rear wheel steering system are symmetrically "inward-facing" (see Figure 4 ) or "outward eight" shape. That is, the left rear wheel deflects clockwise and the right rear wheel deflects counterclockwise, or the left rear wheel deflects counterclockwise and the right rear wheel deflects clockwise, and the left and right toe angles are equal and symmetrical relative to the center line of the vehicle. Figure 4 For example, if S3 is the left rear wheel and S4 is the right rear wheel, the toe angle α1 of the left rear wheel of S3 is equal to the toe angle α2 of the right rear wheel of S4, that is, ||α1||=||α2||, "||||" means taking the absolute value. At this time, the toe angle α1 of the left rear wheel of S3 deflects to the right, and the toe angle α2 of the right rear wheel of S4 deflects to the left.

[0047] Therefore, the control method of the vehicle can enhance the stability of the vehicle in the straight-line braking direction and reduce small vibrations and bumps on the road surface during braking, thereby optimizing the braking performance of the entire vehicle and better meeting driving and riding needs.

[0048] In some embodiments of the present invention, Figure 5 As shown, before obtaining the first target toe angle and the second target toe angle according to the vehicle speed and the brake pedal depth of the vehicle, the method further includes:

[0049] S4, determining that the safety mechanism monitoring function of the vehicle is open, and that a difference between an absolute value of the first target toe angle and an absolute value of the second target toe angle is less than a preset difference threshold.

[0050] The safety mechanism monitoring function is used to determine whether the difference between the absolute value of the first target toe angle and the absolute value of the second target toe angle is less than a preset difference threshold.

[0051] In this embodiment, after determining that the safety mechanism monitoring function of the vehicle is open, if the difference between the absolute value of the first target toe angle and the absolute value of the second target toe angle is less than a preset difference threshold, the steps of controlling the left rear wheel of the vehicle to turn to the first target toe angle and controlling the right rear wheel of the vehicle to turn to the second target toe angle are executed.

[0052] Specifically, the rear-wheel steering system of the present invention can adopt a wire-controlled electrical architecture development model, that is, a domain controller plus an actuator, and the safety mechanism monitoring function can be implemented by the domain controller and / or the actuator. After determining the turning angle command (including the first target toe angle and the second target toe angle), the domain controller can execute the safety mechanism monitoring function, and after determining that the turning angle command meets the safety condition (that is, the difference between the absolute value of the first target toe angle and the absolute value of the second target toe angle is less than the preset difference threshold), the turning angle command is sent to the actuator. After receiving the turning angle command, the actuator may also execute the safety mechanism monitoring function again to improve the reliability of the functional safety mechanism monitoring. Of course, the safety mechanism monitoring function may also be executed by one of the domain controller and the actuator.

[0053] Among them, the safety mechanism monitoring function is used to detect whether the vehicle has a driving safety risk caused by a large difference in the absolute value of the target toe angles of the left and right wheels on the rear axle. In some examples, when the braking stability function is activated and the domain controller sends an "in-eight" or "out-eight" turning angle command of the rear wheels to the actuator, in order to prevent the actuator from misjudging, it can send a cancellation function safety mechanism monitoring. At this time, in order to improve the safety after the braking stability function is triggered, the domain controller itself can be used to monitor the safety mechanism, first taking the absolute values ​​of the target toe angles of the left and right rear wheels and then calculating the difference. If the difference is less than or equal to a very small threshold, it can be determined that after the execution of the turning angle command, the lateral swing caused by the difference in the turning angles of the left and right rear wheels can be reduced.

[0054] In some examples, "in-eight" and "out-eight" turning angle instructions may be generated simultaneously, and the "in-eight" turning angle instruction may be first monitored for a safety mechanism, and if it passes, the actuator executes the "in-eight" turning angle instruction; otherwise, the "out-eight" turning angle instruction may be monitored for a safety mechanism, and if it passes, the actuator executes the "out-eight" turning angle instruction, otherwise the current control is terminated.

[0055] Combine the following Figure 5 A vehicle control method according to a specific embodiment of the present invention is described as follows:

[0056] like Figure 5As shown, first, the real-time status signal of the vehicle is obtained from the vehicle CAN (Controller Area Network) network, including vehicle speed, steering wheel angle, brake pedal depth, four-wheel speed, etc. When the brake pedal depth changes, such as when the brake pedal depth is greater than the preset depth threshold, it means that the vehicle has a braking demand. At this time, the braking stability function is judged whether it is activated according to the vehicle speed, steering wheel angle, four-wheel speed, etc. In view of the low demand for braking stability when the vehicle speed is low, this function is generally triggered at a higher speed, limiting the vehicle speed to more than 40kph. During the braking process, excessive steering wheel angles can cause side slip or tail swing, and in severe cases, tail swing aggravates or even rolls over, so the steering wheel angle is limited to a small angle range. For the slip rate judgment condition, the maximum value of the four slip rates is calculated based on the vehicle speed and the four-wheel speed. When it exceeds a certain threshold, the judgment condition is met. If all the above conditions are met, combined with the vehicle rear-wheel steering function being turned on, there is no fault in itself, and the rear-wheel steering function can be realized, the braking stability function is successfully activated, and the corresponding flag bit D is set from 0 to 1. If any of the above conditions is not met, it is determined that the braking stability function is not activated, and the rear wheel turning angle is 0 at this time.

[0057] After the braking stability function is successfully activated, it is determined whether the safety mechanism monitoring function is open. If not, the rear wheel steering angle is determined to be 0; if so, the rear wheel steering angle of the braking stability function (i.e., the first target toe angle and the second target toe angle) is determined according to the preset strategy, i.e., the vehicle speed and the brake pedal depth. After that, the first rear wheel steering motor of the vehicle is controlled to drive the left rear wheel to the first target toe angle, and the second rear wheel steering motor of the vehicle is controlled to drive the right rear wheel to the second target toe angle, so as to realize the "in-eight" or "out-eight" control of the rear wheels of the vehicle, thereby improving the braking stability of the vehicle.

[0058] In summary, the vehicle control method of the embodiment of the present invention can make the left and right wheels of the rear axle produce an "in-toe" or "out-toe" effect, causing the vehicle to tend to understeer, thereby enhancing the directional stability of straight-line braking and reducing small vibrations and bumps on the braking road surface.

[0059] Figure 6 It is a structural block diagram of a vehicle control device according to an embodiment of the present invention.

[0060] like Figure 6 As shown, the vehicle control device 600 includes: a judgment module 610, a determination module 620 and a control module 630.

[0061] Among them, the judgment module 610 is used to respond to the braking request and judge whether the vehicle meets the activation conditions of the braking stability function according to the vehicle speed, steering wheel angle and wheel speed; the determination module 620 is used to obtain the first target toe angle and the second target toe angle according to the vehicle speed and the brake pedal depth of the vehicle when the vehicle meets the activation conditions of the braking stability function, wherein the first target toe angle and the second target toe angle are equal in size and symmetrical relative to the center line of the vehicle; the control module 630 is used to control the left rear wheel of the vehicle to turn to the first target toe angle, and control the right rear wheel of the vehicle to turn to the second target toe angle.

[0062] In some embodiments of the present invention, if the brake pedal depth is greater than a preset depth threshold, it is determined that there is a braking request for the vehicle.

[0063] In some embodiments of the present invention, whether the vehicle meets the activation conditions of the braking stability function is determined based on the vehicle speed, steering wheel angle, and wheel speed, including: calculating the vehicle's slip rate based on the vehicle speed and wheel speed; and determining whether the vehicle speed, steering wheel angle, and slip rate meet preset conditions.

[0064] In some embodiments of the present invention, the preset conditions include: the vehicle speed is greater than a preset vehicle speed threshold, the steering wheel angle is less than a preset angle threshold, and the vehicle slip rate is greater than a preset slip rate threshold.

[0065] In some embodiments of the present invention, when there are multiple wheel speeds, there are multiple slip rates, and the preset condition includes: a maximum value of the multiple slip rates is greater than a preset slip rate threshold.

[0066] In some embodiments of the present invention, a first target toe angle and a second target toe angle are obtained according to a vehicle speed and a brake pedal depth of the vehicle, including: searching for a preset correspondence according to the vehicle speed and the brake pedal depth of the vehicle to obtain the first target toe angle and the second target toe angle.

[0067] In some embodiments of the present invention, before obtaining the first target toe angle and the second target toe angle based on the vehicle speed and the brake pedal depth of the vehicle, it is also determined that the safety mechanism monitoring function of the vehicle is open, wherein the safety mechanism monitoring function is used to determine whether the difference between the absolute value of the first target toe angle and the absolute value of the second target toe angle is less than a preset difference threshold; wherein, if the difference between the absolute value of the first target toe angle and the absolute value of the second target toe angle is less than the preset difference threshold, the control module 630 controls the left rear wheel of the vehicle to turn to the first target toe angle, and controls the right rear wheel of the vehicle to turn to the second target toe angle.

[0068] It should be noted that, for other specific implementations of the vehicle control device 600 of the embodiment of the present invention, reference may be made to the specific implementations of the vehicle control method of the above-mentioned embodiment of the present invention.

[0069] The vehicle control method of the embodiment of the present invention can make the left and right wheels of the rear axle produce an "in-toe" or "out-toe" effect, causing the vehicle to tend to understeer, thereby enhancing the directional stability of straight-line braking and reducing small vibrations and bumps on the braking road surface.

[0070] Based on the vehicle control method of the above embodiment, the present invention proposes 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 of the above embodiment is implemented.

[0071] Figure 7 4 is a structural block diagram of a controller according to an embodiment of the present invention.

[0072] like Figure 7 As shown, the controller 700 includes: a processor 701 and a memory 703. The processor 701 and the memory 703 are connected to each other through a bus 702. Optionally, the controller 700 may also include a transceiver 704. It should be noted that in actual applications, the transceiver 704 is not limited to one, and the structure of the controller 700 does not constitute a limitation on the embodiments of the present invention.

[0073] Processor 701 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 the present invention. Processor 701 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, and the like.

[0074] The bus 702 may include a path to transmit information between the above components. The bus 702 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 702 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 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.

[0075] The memory 703 is used to store a computer program corresponding to the vehicle control method of the above embodiment of the present invention, and the computer program is controlled and executed by the processor 701. The processor 701 is used to execute the computer program stored in the memory 703 to implement the content shown in the above method embodiment.

[0076] The controller 700 includes but is not limited to: a vehicle-mounted terminal such as an electronic control unit of a vehicle. Figure 7 The controller 700 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0077] Figure 8 It is a structural block diagram of a control system of a vehicle according to an embodiment of the present invention.

[0078] like Figure 8 As shown, the vehicle control system 800 includes: a first rear wheel steering motor 810, a second rear wheel steering motor 820, and the above-mentioned vehicle control device 600 or controller 700 ( Figure 8 The controller 700 is shown as an example.

[0079] In this embodiment, the control device 600 or the controller 700 is used to control the left rear wheel of the vehicle to turn to the first target toe angle through the first rear wheel steering motor 810, and control the right rear wheel of the vehicle to turn to the second target toe angle through the second rear wheel steering motor 820.

[0080] Fig. 9 4 is a structural block diagram of a vehicle according to an embodiment of the present invention.

[0081] like Fig. 9 As shown, the vehicle 900 includes: the vehicle control system 800 of the above embodiment.

[0082] 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.

[0083] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of 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.

[0084] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", 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 invention. 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.

[0085] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0086] 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 the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0087] In the present invention, 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 the present invention can be understood according to specific circumstances.

[0088] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0089] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A vehicle control method, characterized in that: include: In response to a braking request, determining whether the vehicle meets a braking stability function activation condition according to a vehicle speed, a steering wheel angle, and a wheel speed of the vehicle; If satisfied, a first target toe angle and a second target toe angle are obtained according to the vehicle speed and the brake pedal depth of the vehicle, wherein the first target toe angle and the second target toe angle are equal in magnitude and symmetrical with respect to the center line of the vehicle; The left rear wheel of the vehicle is controlled to rotate to the first target toe angle, and the right rear wheel of the vehicle is controlled to rotate to the second target toe angle.

2. The vehicle control method according to claim 1, characterized in that: If the brake pedal depth is greater than a preset depth threshold, it is determined that the vehicle has the braking request.

3. The vehicle control method according to claim 1, characterized in that: Determining whether the vehicle meets the activation condition of the braking stability function according to the vehicle speed, steering wheel angle, and wheel speed of the vehicle includes: calculating a slip ratio of the vehicle according to the vehicle speed and the wheel speed; It is determined whether the vehicle speed, the steering wheel angle, and the slip ratio meet preset conditions.

4. The vehicle control method according to claim 3, characterized in that: The preset conditions include: the vehicle speed is greater than a preset vehicle speed threshold, the steering wheel angle is less than a preset angle threshold, and the slip rate of the vehicle is greater than a preset slip rate threshold.

5. The vehicle control method according to claim 4, characterized in that: When the number of the wheel speeds is multiple, the number of the slip ratios is multiple, and the preset condition includes: a maximum value of the multiple slip ratios is greater than the preset slip ratio threshold.

6. The vehicle control method according to claim 1, characterized in that: The obtaining of a first target toe angle and a second target toe angle according to the vehicle speed and the brake pedal depth of the vehicle comprises: A preset corresponding relationship is searched according to the vehicle speed and the brake pedal depth of the vehicle to obtain the first target toe angle and the second target toe angle.

7. The vehicle control method according to claim 1, characterized in that: Before obtaining the first target toe angle and the second target toe angle according to the vehicle speed and the brake pedal depth of the vehicle, the method further includes: Determining that a safety mechanism monitoring function of the vehicle is open, wherein the safety mechanism monitoring function is used to determine whether a difference between an absolute value of the first target toe angle and an absolute value of the second target toe angle is less than a preset difference threshold; Among them, if the difference between the absolute value of the first target toe angle and the absolute value of the second target toe angle is less than the preset difference threshold, the steps of controlling the left rear wheel of the vehicle to turn to the first target toe angle and controlling the right rear wheel of the vehicle to turn to the second target toe angle are executed.

8. A vehicle control device, characterized in that: include: a judgment module, configured to judge, in response to a braking request, whether the vehicle satisfies a braking stability function activation condition according to a vehicle speed, a steering wheel angle, and a wheel speed of the vehicle; a determination module, configured to obtain a first target toe angle and a second target toe angle according to the vehicle speed and the brake pedal depth of the vehicle when the vehicle meets the activation condition of the braking stability function, wherein the first target toe angle and the second target toe angle are equal in magnitude and symmetrical with respect to a center line of the vehicle; The control module is used to control the left rear wheel of the vehicle to rotate to the first target toe angle, and control the right rear wheel of the vehicle to rotate to the second target toe angle.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 7 is implemented.

10. A controller comprising a memory, a processor and a computer program stored in the memory, characterized in that: When the computer program is executed by the processor, the vehicle control method according to any one of claims 1 to 7 is implemented.

11. A vehicle control system, characterized in that: include: A first rear wheel steering motor, a second rear wheel steering motor, and a vehicle control device according to claim 9 or a controller according to claim 10; wherein, The control device or the controller is used to control the left rear wheel of the vehicle to turn to the first target toe angle through the first rear wheel steering motor, and to control the right rear wheel of the vehicle to turn to the second target toe angle through the second rear wheel steering motor.

12. A vehicle, characterized in that: include: A vehicle control system according to claim 11.

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