Vehicle stability control method, device and system, vehicle, equipment and medium

Abstract

The invention provides a vehicle stability control method, device and system, a vehicle, equipment and a medium. Acquiring running state information of the vehicle; under the condition that it is determined that the vehicle is in an unstable state according to the running state information, target yawing moment needed for maintaining stability of the vehicle is determined based on the running state information; according to the working state information corresponding to a plurality of executing mechanisms of the vehicle, determining a target executing mechanism used for controlling the stability of the vehicle from the executing mechanisms; and the target execution mechanism is controlled to work so that the vehicle can output the target yawing moment. According to the invention, each execution mechanism of the vehicle is used as a backup system for controlling the stability of the vehicle, and the operation stability of the vehicle is controlled through the determined target execution mechanism, so that after a single execution mechanism fails, other alternative execution mechanisms which do not fail can be used as backup schemes for controlling the stability; and the rationality and effectiveness of vehicle stability control are ensured.

Description

Technical Field

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

[0002] The driving stability of the vehicle is the key to ensuring the user's safe driving. The function of the Electronic Stability Program (ESP) system is to monitor the driving status of the car and prevent the vehicle from deviating from the ideal trajectory when understeering or oversteering occurs during emergency avoidance of obstacles or turns, thereby helping the vehicle maintain dynamic balance.

[0003] When the ESP system fails, vehicle stability control is unreliable, resulting in poor vehicle stability. Summary of the invention

[0004] The embodiments of the present invention provide a vehicle stability control method, device, system and vehicle to solve the problem in the prior art that the vehicle stability control is unreliable after the ESP system fails.

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

[0006] Obtain vehicle operating status information;

[0007] In a case where it is determined according to the running state information that the vehicle is in an unstable state, determining a target yaw moment required to maintain vehicle stability based on the running state information;

[0008] Determining a target actuator for controlling the stability of the vehicle from among the plurality of actuators according to the respective corresponding working state information of the plurality of actuators of the vehicle;

[0009] The target actuator is controlled to operate so that the vehicle outputs the target yaw moment.

[0010] Optionally, determining a target actuator for controlling the stability of the vehicle from the plurality of actuators according to the working state information corresponding to each of the plurality of actuators of the vehicle comprises:

[0011] According to the working state information corresponding to each of the plurality of actuators of the vehicle, at least one actuator whose working state information is not in a failed state is determined from the plurality of actuators as the target actuator.

[0012] Optionally, the actuator includes: a rear wheel independent drive system, the rear wheel independent drive system includes a left rear wheel side motor and a right rear wheel side motor, and when the rear wheel independent drive system is the target actuator, controlling the target actuator to work so that the vehicle outputs the target yaw moment includes:

[0013] Based on the target yaw moment, determining a first target feedback torque of the left rear wheel motor and a second target feedback torque of the right rear wheel motor;

[0014] The left rear wheel is braked based on the first target feedback torque, and the right rear wheel is braked based on the second target feedback torque, so as to output the target yaw moment.

[0015] Optionally, the actuator includes: a front wheel independent drive system, the front wheel independent drive system includes a left front wheel side motor and a right front wheel side motor, and when the front wheel independent drive system is the target actuator, controlling the target actuator to work so that the vehicle outputs the target yaw moment includes:

[0016] Based on the target yaw moment, determining a first target feedback torque of the left front wheel motor and a second target feedback torque of the right front wheel motor;

[0017] The left front wheel is subjected to feedback braking based on the first target feedback torque, and the right front wheel is subjected to feedback braking based on the second target feedback torque, so as to output the target yaw moment.

[0018] Optionally, the actuator includes: a rear-wheel electronic parking system, the rear-wheel electronic parking system includes a left rear-wheel electronic parking caliper and a right rear-wheel electronic parking caliper, and when the rear-wheel electronic parking system is the target actuator, controlling the target actuator to operate so that the vehicle outputs the target yaw moment includes:

[0019] Based on the target yaw moment, determining a first target clamping force of the left rear wheel electronic parking caliper and a second target clamping force of the right rear wheel electronic parking caliper;

[0020] The left rear wheel brake is controlled based on the first target clamping force, and the right rear wheel brake is controlled based on the second target clamping force to output the target yaw moment.

[0021] Optionally, the actuator includes: a rear wheel independent steering system, the rear wheel independent steering system includes a left rear wheel steering machine and a right rear wheel steering machine, and when the rear wheel independent steering system is the target actuator, controlling the target actuator to work so that the vehicle outputs the target yaw moment includes:

[0022] Based on the target yaw moment, determining a first target steering angle of a left rear wheel steering machine and a second target steering angle of a right rear wheel steering machine;

[0023] The left rear wheel steering is controlled based on the first target steering angle, and the right rear wheel steering is controlled based on the second target steering angle to output the target yaw moment.

[0024] Optionally, the actuators include: an electronic stability control system, a rear-wheel independent drive system, a rear-wheel electronic parking system, and a rear-wheel independent steering system, and the step of determining, based on the working status information corresponding to each of the plurality of actuators of the vehicle, at least one actuator having working status information that is not in a failed state from the plurality of actuators as the target actuator includes:

[0025] According to the priority order of the electronic stability control system, the rear-wheel independent drive system, the rear-wheel electronic parking system and the rear-wheel independent steering system, at least one system whose working status information is in a non-failed state is selected as the target actuator.

[0026] Optionally, when the rear-wheel independent drive system and the rear-wheel independent steering system are determined as the target actuators, controlling the target actuators to operate so that the vehicle outputs the target yaw moment includes:

[0027] A third target feedback torque is provided to the rear wheels through the rear wheel independent drive system, and a third target steering angle is provided to the rear wheels through the rear wheel independent steering system, so as to control the vehicle to output the target yaw moment.

[0028] In a second aspect, an embodiment of the present invention provides a vehicle stability control system, the system comprising: a vehicle state determination device, a fault monitoring device, and a chassis domain controller;

[0029] The vehicle state determination device is used to obtain the running state information of the vehicle;

[0030] The vehicle state determination device is used to obtain the running state information of the vehicle;

[0031] The chassis domain controller is used to determine a target yaw moment required to maintain vehicle stability based on the operating state information when it is determined that the vehicle is in an unstable state according to the operating state information;

[0032] The fault monitoring device is used to determine a target actuator for controlling the stability of the vehicle from among the plurality of actuators according to the working state information corresponding to each of the plurality of actuators of the vehicle;

[0033] The chassis domain controller is used to control the target actuator to operate so that the vehicle outputs the target yaw moment.

[0034] In a third aspect, an embodiment of the present invention provides a vehicle stability control device, characterized in that the device comprises:

[0035] An acquisition module, used to acquire the running status information of the vehicle;

[0036] a first determination module, configured to determine, when it is determined according to the running state information that the vehicle is in an unstable state, a target yaw moment required to maintain vehicle stability based on the running state information;

[0037] A second determination module is used to determine a target actuator for controlling the stability of the vehicle from a plurality of actuators according to the working state information corresponding to each of the plurality of actuators of the vehicle;

[0038] A control module is used to control the target actuator to operate so that the vehicle outputs the target yaw moment.

[0039] In a fourth aspect, an embodiment of the present invention provides an electronic device, including: a processor, the processor being connected to a memory;

[0040] The memory is used to store computer programs;

[0041] When the processor is used to execute the computer program stored in the memory, the steps of the vehicle stability control method described in the first aspect are implemented.

[0042] In a fifth aspect, an embodiment of the present invention provides a vehicle, wherein the vehicle includes the control system described in the second aspect, the control device described in the third aspect, or the electronic device described in the fourth aspect.

[0043] In a sixth 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 steps in the vehicle stability control method described in the first aspect are implemented.

[0044] Compared with the prior art, the present invention has the following advantages:

[0045] In the embodiment of the present invention, the running state information of the vehicle is obtained; when it is determined that the vehicle is in an unstable state according to the running state information, the target yaw moment required to maintain the stability of the vehicle is determined based on the running state information; according to the working state information corresponding to each of the multiple actuators of the vehicle, a target actuator for controlling the stability of the vehicle is determined from the multiple actuators; and the target actuator is controlled to work so that the vehicle outputs the target yaw moment. The method of the present application uses each actuator of the vehicle as a backup system for controlling the stability of the vehicle. After determining the target yaw moment required to maintain the stability of the vehicle based on the running state information of the vehicle, the target actuator for controlling the stability of the vehicle is determined through the state information of each actuator, and then the stability of the vehicle operation is controlled through the target actuator. After a single actuator fails, the present application can use other non-failed alternative actuators as a backup solution for controlling stability, thereby ensuring the rationality and effectiveness of vehicle stability control.

[0046] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for describing the embodiments are briefly introduced below.

[0048] Figure 1 A vehicle architecture diagram of a multi-level backup stability system provided by an embodiment of the present invention;

[0049] Figure 2 A schematic diagram of a vehicle stability control method provided by an embodiment of the present invention;

[0050] Figure 3 It is a schematic diagram of the source of yaw moment under the control of a rear wheel independent drive system provided by an embodiment of the present invention;

[0051] Figure 4 It is a schematic diagram of the source of yaw moment under the control of a rear wheel independent electronic parking system provided by an embodiment of the present invention;

[0052] Figure 5 It is a schematic diagram of the source of yaw moment under the control of a rear wheel independent steering system provided by an embodiment of the present invention;

[0053] Figure 6 It is a multi-level backup stability control flow chart provided by an embodiment of the present invention;

[0054] Figure 7 is a block diagram of a vehicle stability control device provided by an embodiment of the present invention;

[0055] Figure 8 is a block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can also be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0057] refer to Figure 1 , Figure 1 A vehicle architecture diagram of a multi-level backup stability system provided in an embodiment of the present application is shown, which includes a front drive motor 100, a left rear wheel side drive motor 201, a right rear wheel side drive motor 202, a left rear wheel wire-controlled steering gear 301, a right rear wheel wire-controlled steering gear 302, a left rear wheel electronic parking brake (Electrical Park Brake, EPB) caliper 401, a right rear wheel EPB electronic parking caliper 402, an electro-hydraulic brake control system 500, a front steering mechanism 600, a vehicle state judgment module 700, a fault detection module 800 and a chassis domain controller 900.

[0058] Specifically, the front drive motor 100 is responsible for providing driving force for the front axle, and coaxially drives the left front wheel and the right front wheel forward or backward, and the driving torque of the left front wheel and the right front wheel is the same; the left rear wheel side motor 201 is responsible for providing driving torque for the left rear wheel, and can also perform feedback braking of the left rear wheel through motor reversal; the right rear wheel side motor 202 is responsible for providing driving torque for the right rear wheel, and can also perform feedback braking of the right rear wheel through motor reversal; the left rear wheel side motor 201 and the right rear wheel side motor 202 together constitute an independent rear wheel drive system; the left rear wheel wire-controlled steering machine 301 is responsible for the active steering of the left rear wheel, and drives the left rear wheel through the left rear steering motor The steering gear realizes the independent steering of the left rear wheel, which can turn left and right, and the maximum steering angle of the left rear wheel can be 10°; the right rear wheel wire-controlled steering gear 302 is responsible for the active steering of the right rear wheel, and the right rear wheel steering gear is driven by the right rear steering motor to realize the independent steering of the right rear wheel, which can turn left and right, and the maximum steering angle of the right rear wheel can be 10°; the left rear wheel wire-controlled steering gear 301 and the right rear wheel wire-controlled steering gear 302 together constitute the rear wheel independent steering system; the left rear wheel EPB electronic parking caliper 401 is responsible for the parking brake of the left rear wheel, providing active clamping force for braking the left rear wheel; the right rear wheel EPB electronic parking caliper 402 is responsible for the parking brake of the right rear wheel, providing active clamping force for braking the right rear wheel; the left rear wheel EPB electronic parking caliper 401 and the right rear wheel EPB electronic parking caliper 402 together constitute the vehicle EPB system; the electro-hydraulic brake control system 500 is responsible for the hydraulic control of the braking system, including the ESP vehicle stability control function; the front steering mechanism 600 is responsible for the steering needs of the corresponding driver. The driver turns the steering wheel and transmits it through the front steering gear to make the front wheels steer; the vehicle state judgment module 700 judges the current vehicle according to the wheel speed, vehicle speed, steering angle, yaw angular velocity, longitudinal acceleration and other signals of the whole vehicle. The chassis domain controller 900 detects whether the vehicle is in an unstable state, that is, whether the vehicle has an unstable tendency such as skidding, tail swinging, running off the track, etc., and sends the judgment result to the chassis domain controller 900; the fault monitoring module 800 is responsible for monitoring whether the ESP function, rear-wheel independent drive mechanism, rear-wheel EPB mechanism, rear-wheel independent steering mechanism and other actuators have faults, and sends their fault status to the chassis domain controller 900; the chassis domain controller 900 is responsible for selecting the vehicle backup stability control mode according to the vehicle driving state and the fault status of each actuator, and sends the control command to the corresponding actuator, and controls the vehicle to drive stably through the accurate execution and actuation of the actuator.

[0059] Figure 2 A vehicle stability control method provided by an embodiment of the present invention comprises steps 101 to 104:

[0060] Step 101: Obtain vehicle operation status information.

[0061] In the embodiment of the present invention, the vehicle's operating status information may be the vehicle's current speed, wheel speed, steering angle, yaw angular velocity, longitudinal acceleration, and other information, which is used to determine whether the vehicle has experienced instability such as sideslip, tail swing, and deviation. The vehicle's operating status information may be determined by various sensors, steering wheel angles, and the like of the vehicle, and the embodiment of the present application does not limit this.

[0062] Step 102: When it is determined according to the running state information that the vehicle is in an unstable state, determine a target yaw moment required to maintain vehicle stability based on the running state information.

[0063] Step 103 : determining a target actuator for controlling the stability of the vehicle from among the plurality of actuators according to the working state information corresponding to each of the plurality of actuators of the vehicle.

[0064] In an embodiment of the present invention, the actuator may be an electronic stability control system, a rear-wheel independent drive system, a rear-wheel electronic parking system, a rear-wheel independent steering system, and other systems. In the case where it is determined that the vehicle is in an unstable state according to the operating state information, it is determined that the vehicle needs to be assisted by a stability control system to achieve vehicle stability. For example, during the vehicle steering process, the vehicle may produce yaw motion under the action of centrifugal force. When the road surface is slippery, it will quickly lead to side slip, and once the side slip begins, the lateral force between the vehicle and the road surface will decrease rapidly, and the vehicle will quickly lose control, affecting the safety of the vehicle. At this time, the intervention control of the electronic stability control system, rear-wheel independent drive system, rear-wheel electronic parking system, rear-wheel independent steering system, and other systems provided in this application is required to ensure the stability of the vehicle.

[0065] Based on the operating status information, the target yaw moment and / or target braking torque required to maintain the stability of the vehicle under the current operating state can be calculated. In order to provide the target yaw moment and target braking torque, the feedback torque, clamping force or steering angle, etc. required to be provided by the rear-wheel independent drive system, the rear-wheel electronic parking system and the rear-wheel independent steering system can be calculated, so that the vehicle can output the target yaw moment and / or target braking torque under the control of the backup system to ensure the stability of the vehicle.

[0066] Furthermore, multiple actuators of the vehicle, such as the electronic stability control system, the rear-wheel independent drive system, the rear-wheel electronic parking system and the rear-wheel independent steering system, can be monitored in real time to obtain their corresponding working status information, and it can be determined whether there is a fault or failure based on the working status information. The non-failed system can be used as the target actuator, so that when the vehicle is at risk of instability, the stability of the vehicle can be quickly controlled through the non-failed system.

[0067] Optionally, step 103 includes:

[0068] Sub-step 1031, according to the working status information corresponding to each of the multiple actuators of the vehicle, at least one actuator whose working status information is not in a failed state is determined from the multiple actuators as the target actuator.

[0069] In the embodiment of the present invention, one actuator can be selected from the actuators that have not failed to control the stability of the vehicle, or multiple actuators that have not failed can be selected to jointly control the stability of the vehicle, which can be specifically determined based on the magnitude of the target yaw moment required to maintain the stability of the vehicle. At the same time, when determining the target actuator, it can be determined according to the priority order of each system.

[0070] refer to Figure 1 If the ESP vehicle stability control function in the electro-hydraulic brake control system 500 is not invalid, the electronic stability control system performs the vehicle stability control, and the chassis domain controller 900 calculates the different brake pressures of the four wheels and the torque reduction of the front drive motor 100, thereby generating the expected additional yaw moment and longitudinal braking force to control the vehicle to return to a stable state. If the electronic stability control system fails, it is necessary to further determine whether the rear-wheel independent drive system, the rear-wheel electronic parking system and the rear-wheel independent steering system are invalid, so as to control the stability of the vehicle by using the feedback torque of the rear wheel independent drive system to the rear wheel, the braking control of the rear wheel by the rear wheel electronic parking system and the steering control of the rear wheel by the rear wheel independent steering system.

[0071] Step 104: Control the target actuator to operate so that the vehicle outputs the target yaw moment.

[0072] In an embodiment of the present invention, when the electronic stability control system is in a failed state, the selection of the backup stability control system can be determined by the priority order of each system. For example, if the electronic stability control system is in a failed state, it can first determine whether the rear-wheel independent drive system is failed. If it is not failed, the rear-wheel independent drive system is used as the target actuator to control the vehicle stability by the rear-wheel independent drive system. If the rear-wheel independent drive system is also failed, it can be further determined whether the rear-wheel electronic parking system is failed. If it is not failed, the rear-wheel electronic parking system is used as the target actuator to control the vehicle stability by the rear-wheel electronic parking system. If the rear-wheel electronic parking system is also failed, it can be further determined whether the rear-wheel independent steering system is failed. If it is not failed, the rear-wheel independent steering system is used as the target actuator to control the vehicle stability by the rear-wheel independent steering system.

[0073] Furthermore, in some scenarios, if a single stability control system is unable to provide an appropriate yaw torque or braking torque, the stability of the vehicle may be controlled by jointly controlling multiple systems.

[0074] The present application utilizes a rear-wheel independent drive mechanism, a rear-wheel independent electronic parking mechanism, and a rear-wheel independent steering mechanism as a backup solution for the vehicle stability control of the electronic stability control system, and has a three-layer backup solution to ensure the stability of vehicle driving; through the multi-level backup stability control system proposed in the present application, the various stability control systems can perform flexible multi-level fusion control according to system failure conditions, thereby further improving the rationality and effectiveness of vehicle stability control and ensuring the safety of vehicle driving.

[0075] Optionally, the actuator includes: a rear wheel independent drive system, the rear wheel independent drive system includes a left rear wheel side motor and a right rear wheel side motor. When the rear wheel independent drive system is the target actuator, step 104 may specifically include:

[0076] Sub-step 1041, determining a first target feedback torque of the left rear wheel motor and a second target feedback torque of the right rear wheel motor based on the target yaw moment;

[0077] In sub-step 1042, the left rear wheel is subjected to feedback braking based on the first target feedback torque, and the right rear wheel is subjected to feedback braking based on the second target feedback torque, so as to output the target yaw moment.

[0078] In the embodiment of the present invention, for sub-steps 1041 and 1042, refer to Figure 3 , Figure 3 The figure shows a schematic diagram of the source of yaw moment under the control of a rear-wheel independent drive system. The electronic stability control system fails. The next step is to determine whether the rear-wheel independent drive system fails. If the rear-wheel independent drive system does not fail, the rear-wheel independent drive system performs vehicle stability control. The chassis domain controller calculates the target feedback torques of the left rear wheel motor 201 and the right rear wheel motor 202, and generates the expected target yaw moment through the different feedback torques of the left rear wheel and the right rear wheel, thereby controlling the vehicle to return to a stable state.

[0079] In other embodiments, the actuator may include a front wheel independent drive system, the front wheel independent drive system includes a left front wheel side motor and a right front wheel side motor, and when the front wheel independent drive system is the target actuator, controlling the target actuator to operate so that the vehicle outputs the target yaw moment includes:

[0080] Based on the target yaw moment, determining a first target feedback torque of the left front wheel motor and a second target feedback torque of the right front wheel motor;

[0081] The left front wheel is braked based on the first target feedback torque, and the right front wheel is braked based on the second target feedback torque, so as to output the target yaw moment.

[0082] That is to say, the target yaw moment can also be achieved by the left front wheel side motor and the right front wheel side motor.

[0083] In terms of priority, the front-wheel independent drive system and the rear-wheel independent drive system are at the same priority.

[0084] In another embodiment not shown in the figure, the actuator may also include a front wheel independent drive system and a rear wheel independent drive system, and the front wheel independent drive system and the rear wheel independent drive system jointly achieve the target yaw moment.

[0085] Furthermore, when the vehicle is in an unstable state, the first target feedback torque and the second target feedback torque are different, so as to generate different braking forces on the left rear wheel and the right rear wheel. When the braking forces on the left rear wheel and the right rear wheel are different, the generated yaw torque can be used to balance the unequal torques on the left and right sides of the vehicle in an unstable state to maintain the stability of the vehicle.

[0086] It should be noted that since the vehicle is controlled by the feedback torque generated by the left rear wheel motor and the right rear wheel motor, the response is faster. Therefore, after the electronic stability control system fails, the rear-wheel independent drive system can be used as the preferred system to perform vehicle stability control.

[0087] In addition, the above is explained using the rear-wheel independent drive system as an example. In fact, the vehicle stability can also be controlled by: a front-wheel independent drive system, that is, the left front wheel and the right front wheel are controlled by the left front wheel side drive motor and the right front wheel side drive motor to maintain stability; or it can also be achieved by: a four-wheel independent drive system, that is, the left front wheel side drive motor, the right front wheel side drive motor, the left rear wheel side drive motor, and the right rear wheel side drive motor form a four-wheel independent drive system. During control, the feedback torque corresponding to each wheel is calculated separately to control each wheel to achieve vehicle stability control. The embodiments of the present application are not limited here.

[0088] Optionally, the actuator includes: a rear-wheel electronic parking system, and the rear-wheel electronic parking system includes a left rear-wheel electronic parking caliper and a right rear-wheel electronic parking caliper. When the rear-wheel electronic parking system is the target actuator, step 104 may specifically include:

[0089] Sub-step 1043, determining a first target clamping force of the left rear wheel electronic parking caliper and a second target clamping force of the right rear wheel electronic parking caliper based on the target yaw moment;

[0090] Sub-step 1044, controlling the braking of the left rear wheel based on the first target clamping force, and controlling the braking of the right rear wheel based on the second target clamping force, so as to output the target yaw moment.

[0091] In the embodiment of the present invention, for sub-steps 1043 and 1044, refer to Figure 4 , Figure 4 The figure shows a schematic diagram of the source of yaw moment under the control of a rear-wheel independent electronic parking system. If the electronic stability control system fails and the rear-wheel independent drive system fails, the next step is to determine whether the rear-wheel independent electronic parking system fails. If the rear-wheel independent electronic parking system does not fail, the rear-wheel independent electronic parking system performs vehicle stability control. The chassis domain controller 900 calculates different target clamping forces of the left rear wheel electronic parking caliper 401 and the right rear wheel electronic parking caliper 402. Through the different clamping forces of the left and right rear wheel electronic parking calipers, different braking torques are formed on the left and right rear wheels, thereby generating the expected additional yaw moment and longitudinal braking force, and controlling the vehicle to return to a stable state.

[0092] Furthermore, when the vehicle is in an unstable state, the first target clamping force and the second target clamping force are different to generate different braking forces on the left rear wheel and the right rear wheel. When the braking forces on the left wheel and the right wheel are different, the generated yaw moment can be used to balance the unequal moments on the left and right sides of the vehicle in an unstable state to maintain the stability of the vehicle.

[0093] In addition, the above is an example of controlling vehicle stability using the rear-wheel electronic parking system as an example. In fact, the rear-wheel independent electronic parking system can also be replaced by a rear-wheel electronic mechanical braking structure. Similarly, it can also be replaced by a four-wheel independent electronic mechanical braking structure. Its control method is similar to that of the rear-wheel electronic parking system, and this application will not go into details here.

[0094] Optionally, the actuator includes: a rear wheel independent steering system, the rear wheel independent steering system includes a left rear wheel steering machine and a right rear wheel steering machine. When the rear wheel independent steering system is the target actuator, step 104 may specifically include:

[0095] Sub-step 1045, determining a first target steering angle of a left rear wheel steering machine and a second target steering angle of a right rear wheel steering machine based on the target yaw moment;

[0096] Sub-step 1046, controlling the left rear wheel steering based on the first target steering angle, and controlling the right rear wheel steering based on the second target steering angle, so as to output the target yaw moment.

[0097] In the embodiment of the present invention, for sub-steps 1045 and 1046, refer to Figure 5 , Figure 5A schematic diagram of the source of yaw moment under the control of a rear-wheel independent steering system is shown. If the electronic stability control system fails, the rear-wheel independent drive system fails, and the rear-wheel independent electronic parking system fails, the next step is to determine whether the rear-wheel independent steering system fails. If the rear-wheel independent steering system does not fail, the rear-wheel independent steering system performs vehicle stability control, and the chassis domain controller 900 calculates the first target steering angle of the left rear wheel steering machine 301 and the second target steering angle of the right rear wheel steering machine 302, generates tire lateral force through rear wheel steering, and thus generates the expected additional yaw moment, and controls the vehicle to return to a stable state.

[0098] Furthermore, when the vehicle is unstable, the first target steering angle and the second target steering angle are different to generate an expected additional yaw moment to control the vehicle to return to a stable state.

[0099] In addition, the above is an example of using the rear-wheel independent steering system as an example to illustrate how the rear-wheel independent steering system controls vehicle stability. In fact, the rear-wheel independent steering system can be replaced by a front-wheel independent wire-controlled steering system, and the rear-wheel independent steering system can also be replaced by a four-wheel independent wire-controlled steering system, and its control method is similar to that of the rear-wheel independent steering system, which will not be repeated in this application.

[0100] Optionally, the actuator includes: an electronic stability control system, a rear wheel independent drive system, a rear wheel electronic parking system and a rear wheel independent steering system, and step 103 includes:

[0101] Sub-step 1032, according to the priority order of the electronic stability control system, the rear-wheel independent drive system, the rear-wheel electronic parking system and the rear-wheel independent steering system, at least one system whose working status information is in a non-failed state is selected as the target actuator.

[0102] In the embodiment of the present invention, reference Figure 6 , Figure 6 A multi-level backup stability control flow chart is shown. When selecting a backup control system to execute vehicle stability control, the priority order of each system can be determined based on considerations such as the response speed and adjustment reliability of each system during actual execution. In the event of failure of the electronic stability control system, the system with the highest priority order is preferentially selected as the system to execute vehicle stability control.

[0103] Specifically, the method of selecting a system for executing stability control in order of priority includes: first, S1, obtaining vehicle operation status information; S2, determining whether the vehicle is in a stable state; S3, if the vehicle is in an unstable state, first determining whether the electronic stability control system fails based on the monitoring of each stability control system by the fault monitoring module; S4, if it does not fail, calculating the target yaw moment according to the unstable state of the vehicle; S5, performing differential braking and driving through intervention control of the electronic stability control system; S6, generating the target yaw moment to maintain the stability of the vehicle. In the case of failure of the electronic stability control system, S7, determining whether the rear wheel independent drive system fails; S8, if it does not fail, calculating the target yaw moment according to the unstable state of the vehicle; S9, performing intervention control of the rear wheel independent drive system to perform independent feedback braking of the left rear wheel and the right rear wheel; S6, generating the target yaw moment to maintain the stability of the vehicle. S10: When the rear-wheel independent drive system fails, determine whether the rear-wheel electronic parking system fails. S11: If it does not fail, calculate the target yaw moment according to the unstable state of the vehicle. S12: The rear-wheel electronic parking system intervenes in the control, and the left rear wheel electronic parking caliper and the right rear wheel electronic parking caliper generate different clamping forces to generate the target yaw moment to maintain the stability of the vehicle. S13: When the rear-wheel electronic parking system fails, determine whether the rear-wheel independent steering system fails. S14: If it does not fail, calculate the target yaw moment according to the unstable state of the vehicle. S15: The rear-wheel independent steering system intervenes in the control, and the left rear wheel and the right rear wheel are steered at different angles to generate the target yaw moment to maintain the stability of the vehicle. The present application can effectively ensure the stability of the vehicle and improve the safety performance of the vehicle through this multi-level backup stability control method.

[0104] Optionally, when the rear-wheel independent drive system and the rear-wheel independent steering system are determined as the target actuators, step 104 may specifically include:

[0105] Sub-step 1047, providing a third target feedback torque for the rear wheels through the rear-wheel independent drive system, and providing a third target steering angle for the rear wheels through the rear-wheel independent steering system, so as to control the vehicle to output the target yaw moment.

[0106] According to the third target feedback torque, the rear-wheel independent drive system provides feedback torque to the left rear wheel and the right rear wheel respectively to achieve the third target feedback torque; according to the third target steering angle, the rear-wheel independent steering system provides steering angles to the left rear wheel and the right rear wheel respectively to achieve the third target steering angle provided by the rear wheels.

[0107] In an embodiment of the present invention, the chassis domain controller 900 can also perform flexible multi-system fusion stability control according to the failure conditions of each system of the backup stability control, so as to further improve the rationality and effectiveness of the vehicle stability control.

[0108] Specifically, based on the operating status information, when it is determined that a single system is unable to provide the target yaw torque and / or target braking torque, at least two systems among the rear-wheel independent drive system, the rear-wheel electronic parking system and the rear-wheel independent steering system are selected to jointly control the wheels. The selection can be made based on the failure status of each system, and the embodiments of the present application are not limited here.

[0109] For example, after the electronic stability control system fails, when the fault monitoring module 800 detects that the rear-wheel independent drive system has not failed, the rear-wheel electronic parking system has failed, and the rear-wheel independent steering system has not failed, the chassis domain controller 900 can perform joint control through the rear-wheel independent drive system and the rear-wheel independent steering system. The rear-wheel independent drive system is responsible for providing longitudinal feedback braking force, that is, the third target feedback torque, and the rear-wheel steering system is responsible for providing additional yaw torque, that is, the third target steering angle, so as to ensure stable driving of the vehicle.

[0110] In summary, in the embodiment of the present invention, the running status information of the vehicle is obtained; when it is determined that the vehicle is in an unstable state according to the running status information, the target yaw moment required to maintain the stability of the vehicle is determined based on the running status information; according to the working status information corresponding to each of the multiple actuators of the vehicle, a target actuator for controlling the stability of the vehicle is determined from the multiple actuators; and the target actuator is controlled to work so that the vehicle outputs the target yaw moment. The method of the present application uses each actuator of the vehicle as a backup system for controlling the stability of the vehicle. After determining the target yaw moment required to maintain the stability of the vehicle based on the running status information of the vehicle, the target actuator for controlling the stability of the vehicle is determined through the status information of each actuator, and then the stability of the vehicle operation is controlled through the target actuator. After a single actuator fails, the present application can use other non-failed alternative actuators as a backup solution for controlling stability, thereby ensuring the rationality and effectiveness of vehicle stability control.

[0111] Figure 7 is a schematic diagram of a vehicle stability control device provided by an embodiment of the present invention, the device comprising:

[0112] The acquisition module 201 is used to acquire the running status information of the vehicle;

[0113] A first determination module 202, configured to determine a target yaw moment required to maintain vehicle stability based on the operating state information when it is determined that the vehicle is in an unstable state according to the operating state information;

[0114] A second determination module 203, configured to determine a target actuator for controlling the stability of the vehicle from among the plurality of actuators according to the working state information corresponding to each of the plurality of actuators of the vehicle;

[0115] The control module 204 is used to control the target actuator to operate so that the vehicle outputs the target yaw moment.

[0116] Optionally, the second determining module includes:

[0117] The first determination submodule is used to determine at least one actuator whose working state information is not in a failed state from among the multiple actuators of the vehicle as the target actuator according to the working state information corresponding to each of the multiple actuators of the vehicle.

[0118] Optionally, the actuator includes: a rear wheel independent drive system, the rear wheel independent drive system includes a left rear wheel side motor and a right rear wheel side motor, and when the rear wheel independent drive system is the target actuator, the control module includes:

[0119] A second determination submodule, configured to determine a first target feedback torque of the left rear wheel motor and a second target feedback torque of the right rear wheel motor based on the target yaw moment;

[0120] The first control submodule is configured to enable the left rear wheel to perform feedback braking based on the first target feedback torque, and enable the right rear wheel to perform feedback braking based on the second target feedback torque, so as to output the target yaw moment.

[0121] Optionally, the actuator includes: a front wheel independent drive system, the front wheel independent drive system includes a left front wheel side motor and a right front wheel side motor, and when the front wheel independent drive system is the target actuator, the control module includes:

[0122] A third determination submodule, configured to determine a first target feedback torque of the left front wheel motor and a second target feedback torque of the right front wheel motor based on the target yaw moment;

[0123] The second control submodule is configured to enable the left front wheel to perform feedback braking based on the first target feedback torque, and enable the right front wheel to perform feedback braking based on the second target feedback torque, so as to output the target yaw moment.

[0124] Optionally, the actuator includes: a rear wheel electronic parking system, the rear wheel electronic parking system includes a left rear wheel electronic parking caliper and a right rear wheel electronic parking caliper, and when the rear wheel electronic parking system is the target actuator, the control module includes:

[0125] a fourth determining submodule, configured to determine a first target clamping force of the left rear wheel electronic parking caliper and a second target clamping force of the right rear wheel electronic parking caliper based on the target yaw moment;

[0126] The third control submodule is used to control the left rear wheel braking based on the first target clamping force, and to control the right rear wheel braking based on the second target clamping force, so as to output the target yaw moment.

[0127] Optionally, the actuator includes: a rear wheel independent steering system, the rear wheel independent steering system includes a left rear wheel steering machine and a right rear wheel steering machine. When the rear wheel independent steering system is the target actuator, the control module includes:

[0128] a fifth determination submodule, configured to determine a first target steering angle of a left rear wheel steering machine and a second target steering angle of a right rear wheel steering machine based on the target yaw moment;

[0129] The fourth control submodule is used to control the left rear wheel steering based on the first target steering angle, and to control the right rear wheel steering based on the second target steering angle, so as to output the target yaw moment.

[0130] Optionally, the actuator includes: an electronic stability control system, a rear wheel independent drive system, a rear wheel electronic parking system and a rear wheel independent steering system, and the first determination submodule includes:

[0131] The target determination unit is used to select at least one system whose working status information is not in a failed state as the target execution mechanism according to the priority order of the electronic stability control system, the rear-wheel independent drive system, the rear-wheel electronic parking system and the rear-wheel independent steering system.

[0132] Optionally, when the rear-wheel independent drive system and the rear-wheel independent steering system are determined as the target actuators, the control module includes:

[0133] a fifth control submodule, configured to provide a third target feedback torque to the rear wheels through the rear wheel independent drive system, and provide a third target steering angle to the rear wheels through the rear wheel independent steering system, so as to control the vehicle to output the target yaw moment;

[0134] In summary, in the embodiment of the present invention, the running status information of the vehicle is obtained; when it is determined that the vehicle is in an unstable state according to the running status information, the target yaw moment required to maintain the stability of the vehicle is determined based on the running status information; according to the working status information corresponding to each of the multiple actuators of the vehicle, a target actuator for controlling the stability of the vehicle is determined from the multiple actuators; and the target actuator is controlled to work so that the vehicle outputs the target yaw moment. The method of the present application uses each actuator of the vehicle as a backup system for controlling the stability of the vehicle. After determining the target yaw moment required to maintain the stability of the vehicle based on the running status information of the vehicle, the target actuator for controlling the stability of the vehicle is determined through the status information of each actuator, and then the stability of the vehicle operation is controlled through the target actuator. After a single actuator fails, the present application can use other non-failed alternative actuators as a backup solution for controlling stability, thereby ensuring the rationality and effectiveness of vehicle stability control.

[0135] As for the above-mentioned device embodiment, since it is basically similar to the vehicle stability control method embodiment, the relevant parts can be referred to the partial description of the method embodiment.

[0136] The embodiment of the present invention further provides an electronic device, such as Figure 8 As shown, it includes a processor 801 , a communication interface 802 , a memory 803 and a communication bus 804 , wherein the processor 801 , the communication interface 802 , and the memory 803 communicate with each other via the communication bus 804 .

[0137] The memory 803 is used to store computer programs.

[0138] When the processor 801 is used to execute the program stored in the memory 803, the following steps are implemented: obtaining the running status information of the vehicle;

[0139] In a case where it is determined according to the running state information that the vehicle is in an unstable state, determining a target yaw moment required to maintain vehicle stability based on the running state information;

[0140] Determining a target actuator for controlling the stability of the vehicle from among the plurality of actuators according to the respective corresponding working state information of the plurality of actuators of the vehicle;

[0141] The target actuator is controlled to operate so that the vehicle outputs the target yaw moment.

[0142] Among them, the processor 801 can also implement other steps in the above-mentioned vehicle stability control method, which will not be repeated here.

[0143] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0144] The communication interface is used for communication between the above electronic device and other devices.

[0145] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0146] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0147] In another embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the vehicle stability control method are implemented.

[0148] In another embodiment of the present invention, a computer program product including instructions is provided. When the computer program product is run on a computer, the computer executes the vehicle stability control method described in the above embodiment.

[0149] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0150] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0151] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For the embodiments of the device, electronic device, computer-readable storage medium and computer program products containing instructions, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0152] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A vehicle stability control method, characterized in that: The method comprises: Obtain vehicle operating status information; In a case where it is determined according to the running state information that the vehicle is in an unstable state, determining a target yaw moment required to maintain vehicle stability based on the running state information; Determining a target actuator for controlling the stability of the vehicle from among the plurality of actuators according to the respective corresponding working state information of the plurality of actuators of the vehicle; The target actuator is controlled to operate so that the vehicle outputs the target yaw moment.

2. The method according to claim 1, characterized in that The step of determining a target actuator for controlling the stability of the vehicle from among the plurality of actuators according to the respective corresponding working state information of the plurality of actuators of the vehicle comprises: According to the working state information corresponding to each of the plurality of actuators of the vehicle, at least one actuator whose working state information is not in a failed state is determined from the plurality of actuators as the target actuator.

3. The method according to claim 1, characterized in that The actuator includes: a rear wheel independent drive system, the rear wheel independent drive system includes a left rear wheel side motor and a right rear wheel side motor. When the rear wheel independent drive system is a target actuator, controlling the target actuator to work so that the vehicle outputs the target yaw moment includes: Based on the target yaw moment, determining a first target feedback torque of the left rear wheel motor and a second target feedback torque of the right rear wheel motor; The left rear wheel is braked based on the first target feedback torque, and the right rear wheel is braked based on the second target feedback torque, so as to output the target yaw moment.

4. The method according to claim 1, characterized in that: The actuator includes: a front wheel independent drive system, the front wheel independent drive system includes a left front wheel side motor and a right front wheel side motor. When the front wheel independent drive system is a target actuator, controlling the target actuator to work so that the vehicle outputs the target yaw moment includes: Based on the target yaw moment, determining a first target feedback torque of the left front wheel motor and a second target feedback torque of the right front wheel motor; The left front wheel is braked based on the first target feedback torque, and the right front wheel is braked based on the second target feedback torque, so as to output the target yaw moment.

5. The method according to claim 1, characterized in that The actuator includes: a rear wheel electronic parking system, the rear wheel electronic parking system includes a left rear wheel electronic parking caliper and a right rear wheel electronic parking caliper. When the rear wheel electronic parking system is a target actuator, controlling the target actuator to operate so that the vehicle outputs the target yaw moment includes: Based on the target yaw moment, determining a first target clamping force of the left rear wheel electronic parking caliper and a second target clamping force of the right rear wheel electronic parking caliper; The left rear wheel brake is controlled based on the first target clamping force, and the right rear wheel brake is controlled based on the second target clamping force to output the target yaw moment.

6. The method according to claim 1, characterized in that The actuator includes: a rear wheel independent steering system, the rear wheel independent steering system includes a left rear wheel steering machine and a right rear wheel steering machine. When the rear wheel independent steering system is a target actuator, controlling the target actuator to work so that the vehicle outputs the target yaw moment includes: Based on the target yaw moment, determining a first target steering angle of a left rear wheel steering machine and a second target steering angle of a right rear wheel steering machine; The left rear wheel steering is controlled based on the first target steering angle, and the right rear wheel steering is controlled based on the second target steering angle to output the target yaw moment.

7. The method according to claim 2, characterized in that The actuators include: an electronic stability control system, a rear wheel independent drive system, a rear wheel electronic parking system and a rear wheel independent steering system. According to the working state information corresponding to each of the multiple actuators of the vehicle, at least one actuator having working state information that is not in a failed state is determined from the multiple actuators as the target actuator, including: According to the priority order of the electronic stability control system, the rear-wheel independent drive system, the rear-wheel electronic parking system and the rear-wheel independent steering system, at least one system whose working status information is in a non-failed state is selected as the target actuator.

8. The method according to claim 7, characterized in that In the case where the rear-wheel independent drive system and the rear-wheel independent steering system are determined as the target actuators, controlling the target actuators to operate so that the vehicle outputs the target yaw moment includes: A third target feedback torque is provided to the rear wheels through the rear wheel independent drive system, and a third target steering angle is provided to the rear wheels through the rear wheel independent steering system, so as to control the vehicle to output the target yaw moment.

9. A vehicle stability control system, characterized in that: The system comprises: a vehicle state determination device, a fault monitoring device, and a chassis domain controller; The vehicle state determination device is used to obtain the running state information of the vehicle; The chassis domain controller is used to determine a target yaw moment required to maintain vehicle stability based on the operating state information when it is determined that the vehicle is in an unstable state according to the operating state information; The fault monitoring device is used to determine a target actuator for controlling the stability of the vehicle from among the plurality of actuators according to the working state information corresponding to each of the plurality of actuators of the vehicle; The chassis domain controller is used to control the target actuator to operate so that the vehicle outputs the target yaw moment.

10. A vehicle stability control device, characterized in that: The device comprises: An acquisition module, used to acquire the running status information of the vehicle; a first determination module, configured to determine, when it is determined according to the running state information that the vehicle is in an unstable state, a target yaw moment required to maintain vehicle stability based on the running state information; A second determination module is used to determine a target actuator for controlling the stability of the vehicle from a plurality of actuators according to the working state information corresponding to each of the plurality of actuators of the vehicle; A control module is used to control the target actuator to operate so that the vehicle outputs the target yaw moment.

11. An electronic device, characterized in that: include: A processor connected to the memory; The memory is used to store computer programs; When the processor is used to execute the computer program stored in the memory, the steps in the vehicle stability control method according to any one of claims 1 to 8 are implemented.

12. A vehicle, characterized in that: The vehicle includes the control system according to claim 9, the control device according to claim 10, or the electronic device according to claim 11.

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

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