Vehicle drift control method and device, vehicle and medium

Abstract

The embodiment of the invention provides a vehicle drift control method and device, a vehicle and a medium. The method comprises the steps that when a vehicle needs to drift, the vehicle torque and the rear wheel steering angle corresponding to drifting running of the vehicle are determined, and the vehicle is controlled to drift running according to the vehicle torque and the rear wheel steering angle. According to the embodiment of the invention, the drifting amplitude of the vehicle can be adjusted by controlling the steering of the rear wheels, so that the energy consumption generated by drifting of the vehicle is reduced.

Description

Technical Field

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

[0002] Drifting means that when the vehicle is moving, the driver controls the vehicle to slide sideways by oversteering, and keeps the vehicle on a rotating trajectory by controlling the steering wheel, accelerator and brake.

[0003] Vehicle drifting often depends on the driver's proficiency in driving the vehicle, such as the proficiency in the joint control of the steering wheel, accelerator and brake. Because drifting usually requires braking the rear wheels of the vehicle or driving the rear wheels at a speed greater than the vehicle speed, so that the rear wheels lose adhesion and produce side slip, braking the rear wheels will convert more kinetic energy into heat energy, and driving the rear wheels at a speed greater than the vehicle speed will produce a large kinetic energy loss, so the existing drift control methods result in a large energy consumption. Summary of the invention

[0004] The embodiments of the present application provide a vehicle drift control method, device, vehicle and medium. By controlling the rear wheel steering, the energy consumption generated by the vehicle drifting is reduced and the stability of the drifting is improved.

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

[0006] When the vehicle needs to drift, determining the vehicle torque and rear wheel steering angle corresponding to the drifting of the vehicle;

[0007] The vehicle is controlled to perform drift driving according to the vehicle torque and the rear wheel steering angle.

[0008] In the above method, the vehicle is controlled to drift by adjusting the vehicle torque and the rear wheel steering angle. Compared with the existing solution of drifting by braking the rear wheel or driving the rear wheel at a speed greater than the vehicle speed, the embodiment of the present application controls drifting by coordinating the vehicle torque and the rear wheel steering angle, which can make full use of the kinetic energy of the vehicle motor to adjust the amplitude of vehicle drift. The energy consumption can be reduced by distributing the vehicle torque, reducing the load of the brake actuator, supporting longer drifting, and improving economy. By controlling the vehicle to drift to a certain position through rear wheel steering, the torque required is less than the solution without controlling the rear wheel steering, so energy consumption can be saved. At the same time, the drift device does not need to apply a large driving force, reducing the load of the drift device.

[0009] In an optional solution of the first aspect, the vehicle torque includes a front axle torque of the vehicle and / or a rear axle torque of the vehicle.

[0010] In an optional solution of the first aspect, one or more of the front axle torque, the rear axle torque and the rear wheel steering angle are determined based on a steering parameter of the vehicle.

[0011] In the above method, the wheel speed of the rear wheel can be controlled by allocating the front axle torque and the rear axle torque, so that the rear wheel slips to achieve drift. By controlling the rear wheel steering, the user's operating difficulty of drift driving is reduced, and the operability of vehicle drift control is improved.

[0012] In an optional scheme of the first aspect, the steering parameters of the vehicle include a current steering parameter of the vehicle and a target steering parameter of the vehicle, and one or more of the front axle torque, the rear axle torque and the rear wheel steering angle are determined based on the difference between the current steering parameter and the target steering parameter.

[0013] In the above method, the front axle torque, rear axle torque and rear wheel steering angle of the vehicle are controlled based on the current steering parameters and the target steering parameters, so that the driving state of the vehicle can be closer to the target state, thereby improving the safety of drift driving.

[0014] In an optional scheme of the first aspect, the current steering parameter includes the current center of mass yaw angle of the vehicle and / or the current yaw rate of the vehicle, and the target steering parameter includes the target center of mass yaw angle of the vehicle and / or the target yaw rate of the vehicle.

[0015] In an optional scheme of the first aspect, the target steering parameter is determined based on the driving parameters of the vehicle, and the driving parameters include one or more of the vehicle speed, steering wheel angle, accelerator pedal depth, wheel speed, brake pedal depth and the road adhesion coefficient of the vehicle driving road.

[0016] In an optional solution of the first aspect, during the drifting process of the vehicle, when the current steering parameter is greater than the target steering parameter:

[0017] The front axle torque and the rear axle torque are determined by reducing the distribution ratio of the rear axle torque in the total torque of the vehicle; and / or,

[0018] The steering direction corresponding to the rear wheel steering angle is set to be the opposite direction of the front wheel steering direction, and the front wheel steering direction is determined according to the steering of the steering wheel of the vehicle.

[0019] In the above method, by reducing the proportion of the rear axle torque in the total torque of the vehicle and taking the opposite direction of the front wheel steering direction as the direction of the rear wheel steering angle, the drift amplitude of the vehicle can be reduced to a certain extent. The stability and safety of the vehicle drifting are improved, and the drifting distance of the vehicle is increased. The vehicle performance can be used more flexibly and drifting can be achieved under more conditions.

[0020] In an optional solution of the first aspect, during the drifting process of the vehicle, when the current steering parameter is less than the target steering parameter:

[0021] The front axle torque and the rear axle torque are determined by increasing the distribution ratio of the rear axle torque in the total torque of the vehicle; and / or,

[0022] The steering direction corresponding to the rear wheel steering angle is set as the front wheel steering direction, and the front wheel steering direction is determined according to the steering of the steering wheel of the vehicle.

[0023] In the above method, by increasing the distribution ratio of the rear axle torque in the total torque of the vehicle and taking the front wheel steering direction as the direction of the rear wheel steering angle, the drift amplitude of the vehicle can be increased to a certain extent. The stability and safety of the vehicle drifting are improved, and the drifting distance of the vehicle is increased. The vehicle performance can be used more flexibly and drifting can be achieved under more conditions.

[0024] In an optional scheme of the first aspect, the rear axle torque includes a first rear wheel torque of the vehicle and a second rear wheel torque of the vehicle, the first rear wheel torque is used to determine a first rear wheel speed of the first rear wheel, and the second rear wheel torque is used to determine a second rear wheel speed of the second rear wheel.

[0025] In the above method, the first rear wheel torque and the second rear wheel torque are determined according to the rear axle torque. Compared with the existing solution that controls the vehicle drifting only according to the rear axle torque, the embodiment of the present application controls the first rear wheel and the second rear wheel separately, so that the control result is more in line with the actual vehicle condition and improves the overall performance of the vehicle drifting.

[0026] In an optional scheme of the first aspect, when there is a first wheel speed difference between the first rear wheel speed and the second rear wheel speed, the first rear wheel torque and the second rear wheel torque are determined by reducing the distribution ratio of the target rear wheel torque in the rear axle torque based on the first wheel speed difference, and the rear wheel corresponding to the target rear wheel torque is the rear wheel with the larger wheel speed between the first rear wheel and the second rear wheel.

[0027] In the above method, since the rear wheel torque can be used to determine the wheel speed of the rear wheel, the vehicle can adjust the wheel speed of the rear wheel by adjusting the rear wheel torque. When there is a wheel speed difference between the first rear wheel and the second rear wheel, the wheel speed of the rear wheel can be reduced by reducing the torque of the rear wheel with a larger wheel speed, so that the wheel speed of the first rear wheel is basically the same as the wheel speed of the second rear wheel. Compared with the existing solution of braking the rear wheel with a larger wheel speed, the embodiment of the present application reduces the torque of the rear wheel with a larger wheel speed instead of directly braking the rear wheel. Reducing the torque is equivalent to reducing energy consumption, and also reduces the load of the braking device in the vehicle, supporting drifting for a longer time. In the existing solution, in the process of braking the rear wheel with a larger wheel speed, a part of the kinetic energy will be converted into heat energy, resulting in energy loss. Therefore, the embodiment of the present application improves the economy and stability of drifting.

[0028] In an optional scheme of the first aspect, the front axle torque includes a first front wheel torque of the vehicle and a second front wheel torque of the vehicle, the first front wheel torque is used to determine a first front wheel speed of a first front wheel of the vehicle, and the second front wheel torque is used to determine a second front wheel speed of a second front wheel of the vehicle.

[0029] In an optional scheme of the first aspect, when there is a second wheel speed difference between the first front wheel speed and the second front wheel speed, the first front wheel torque and the second front wheel torque are determined based on the second wheel speed difference to reduce the distribution ratio of the target front wheel torque in the front axle torque, and the front wheel corresponding to the target front wheel torque is the front wheel with a larger wheel speed between the first front wheel and the second front wheel.

[0030] In the above method, since the front wheel torque can be used to determine the wheel speed of the front wheel, the vehicle can adjust the wheel speed of the front wheel by adjusting the front wheel torque. When there is a wheel speed difference between the first front wheel and the second front wheel, the wheel speed of the front wheel can be reduced by reducing the torque of the front wheel with a larger wheel speed, so that the wheel speed of the first front wheel and the wheel speed of the second front wheel are substantially the same.

[0031] In an optional solution of the first aspect, at the initial stage of drifting of the vehicle, the steering direction corresponding to the rear wheel steering angle is set to the opposite direction of the front wheel steering direction; and / or,

[0032] At the end stage of drifting of the vehicle, the steering direction corresponding to the rear wheel steering angle is set as the front wheel steering direction;

[0033] Wherein, the front wheel steering direction is determined according to the steering wheel steering of the vehicle.

[0034] In the above method, at the end of the drift of the vehicle, reversing the front and rear wheels can increase the tail swing amplitude of the vehicle and help the vehicle quickly enter the drift state. At the end of the drift of the vehicle, making the front and rear wheels in the same direction can reduce the tail swing amplitude of the vehicle and help the vehicle return to the right direction, thereby ending the drifting.

[0035] In an optional solution of the first aspect, the operation of controlling the vehicle to perform drift driving according to the vehicle torque and the rear wheel steering angle is performed only when the driving condition of the vehicle meets a preset driving condition;

[0036] The preset driving condition includes: the vehicle speed of the vehicle is within a preset speed range, and / or the road adhesion coefficient of the road surface on which the vehicle is driving is within a preset adhesion coefficient range.

[0037] In the above method, the drift driving operation is performed only when the driving condition of the vehicle meets the preset driving condition, thereby ensuring the safety of vehicle drifting.

[0038] In a second aspect, an embodiment of the present application provides an electronic device, the device comprising:

[0039] A determination unit, used for determining a vehicle torque and a rear wheel steering angle corresponding to the drifting driving of the vehicle when the vehicle needs to drift;

[0040] A processing unit is used to control the vehicle to drift according to the vehicle torque and the rear wheel steering angle.

[0041] In an optional solution of the second aspect, the vehicle torque includes a front axle torque of the vehicle and / or a rear axle torque of the vehicle.

[0042] In an optional solution of the second aspect, one or more of the front axle torque, the rear axle torque and the rear wheel steering angle are determined based on a steering parameter of the vehicle.

[0043] In an optional scheme of the second aspect, the steering parameters of the vehicle include a current steering parameter of the vehicle and a target steering parameter of the vehicle, and one or more of the front axle torque, the rear axle torque and the rear wheel steering angle are determined based on the difference between the current steering parameter and the target steering parameter.

[0044] In an optional scheme of the second aspect, the current steering parameter includes the current center of mass yaw angle of the vehicle and / or the current yaw rate of the vehicle, and the target steering parameter includes the target center of mass yaw angle of the vehicle and / or the target yaw rate of the vehicle.

[0045] In an optional scheme of the second aspect, the target steering parameter is determined based on the driving parameters of the vehicle, and the driving parameters include one or more of the vehicle speed, steering wheel angle, accelerator pedal depth, wheel speed, brake pedal depth and the road adhesion coefficient of the vehicle driving road.

[0046] In an optional solution of the second aspect, during the drifting process of the vehicle, when the current steering parameter is greater than the target steering parameter:

[0047] The front axle torque and the rear axle torque are determined by reducing the distribution ratio of the rear axle torque in the total torque of the vehicle; and / or,

[0048] The steering direction corresponding to the rear wheel steering angle is set to be the opposite direction of the front wheel steering direction, and the front wheel steering direction is determined according to the steering of the steering wheel of the vehicle.

[0049] In an optional solution of the second aspect, during the drifting process of the vehicle, when the current steering parameter is less than the target steering parameter:

[0050] The front axle torque and the rear axle torque are determined by increasing the distribution ratio of the rear axle torque in the total torque of the vehicle; and / or,

[0051] The steering direction corresponding to the rear wheel steering angle is set as the front wheel steering direction, and the front wheel steering direction is determined according to the steering of the steering wheel of the vehicle.

[0052] In an optional scheme of the second aspect, the rear axle torque includes a first rear wheel torque of the vehicle and a second rear wheel torque of the vehicle, the first rear wheel torque is used to determine a first rear wheel speed of the first rear wheel, and the second rear wheel torque is used to determine a second rear wheel speed of the second rear wheel.

[0053] In an optional scheme of the second aspect, when there is a first wheel speed difference between the first rear wheel speed and the second rear wheel speed, the first rear wheel torque and the second rear wheel torque are determined by reducing the distribution ratio of the target rear wheel torque in the rear axle torque based on the first wheel speed difference, and the rear wheel corresponding to the target rear wheel torque is the rear wheel with the larger wheel speed between the first rear wheel and the second rear wheel.

[0054] In an optional scheme of the second aspect, the front axle torque includes a first front wheel torque of the vehicle and a second front wheel torque of the vehicle, the first front wheel torque is used to determine a first front wheel speed of a first front wheel of the vehicle, and the second front wheel torque is used to determine a second front wheel speed of a second front wheel of the vehicle.

[0055] In an optional scheme of the second aspect, when there is a second wheel speed difference between the first front wheel speed and the second front wheel speed, the first front wheel torque and the second front wheel torque are determined based on the second wheel speed difference to reduce the distribution ratio of the target front wheel torque in the front axle torque, and the front wheel corresponding to the target front wheel torque is the front wheel with a larger wheel speed between the first front wheel and the second front wheel.

[0056] In an optional solution of the second aspect, at the initial stage of drifting of the vehicle, the steering direction corresponding to the rear wheel steering angle is set to the opposite direction of the front wheel steering direction; and / or,

[0057] At the end stage of drifting of the vehicle, the steering direction corresponding to the rear wheel steering angle is set as the front wheel steering direction;

[0058] Wherein, the front wheel steering direction is determined according to the steering wheel steering of the vehicle.

[0059] In an optional solution of the second aspect, the operation of controlling the vehicle to perform drift driving according to the vehicle torque and the rear wheel steering angle is performed only when the driving condition of the vehicle meets a preset driving condition;

[0060] The preset driving condition includes: the vehicle speed of the vehicle is within a preset speed range, and / or the road adhesion coefficient of the road surface on which the vehicle is driving is within a preset adhesion coefficient range.

[0061] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor and a memory, wherein the processor is coupled to the memory, the memory is used to store a computer program, and the processor is used to call and run the computer program, so that the electronic device executes a method as described in any one of the first aspects above.

[0062] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising the electronic device as described in the second aspect or the third aspect.

[0063] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program runs on a computer or a processor, the method described in any one of the first aspects above is implemented.

[0064] The beneficial effects of the technical solutions provided in the second to fifth aspects of the present application can refer to the beneficial effects of the technical solution of the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The following is a brief introduction to the drawings required for describing the embodiments.

[0066] Figure 1 is a schematic diagram of the architecture of a vehicle provided in an embodiment of the present application;

[0067] Figure 2 It is a flow chart of a vehicle drift control method provided in an embodiment of the present application;

[0068] Figure 3 is a schematic diagram of a vehicle drifting provided in an embodiment of the present application;

[0069] Figure 4 is a schematic diagram of a U-curve drift provided in an embodiment of the present application;

[0070] Figure 5 is a schematic diagram of an L-shaped curve drift provided in an embodiment of the present application;

[0071] Figure 6 is a schematic diagram of a fixed circle drift provided in an embodiment of the present application;

[0072] Figure 7 It is a schematic diagram of an "8"-shaped drift provided in an embodiment of the present application;

[0073] Figure 8 is a flow chart of a drift control provided in an embodiment of the present application;

[0074] Fig. 9 is a schematic diagram of a drift control provided in an embodiment of the present application;

[0075] Fig.10 It is a block diagram of the functional units of an electronic device provided in an embodiment of the present application;

[0076] Fig.11 It is a schematic diagram of the structure of another electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0077] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0078] The terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0079] In order to facilitate the understanding of the embodiments of the present application, the technical problems that the present application specifically aims to solve are analyzed and proposed below.

[0080] In the existing vehicle drifting scheme, it is usually achieved by rear wheel slippage, wherein rear wheel slippage means that the rear wheel loses traction or grip with the ground during the vehicle's driving process. As a result, the rear wheel speed exceeds the range allowed by the friction between the tire and the ground, causing relative slip between the rear wheel and the ground. The existing scheme mainly achieves rear wheel slippage in the following ways:

[0081] Method 1: There is a negative speed difference between the rear wheels and the ground. Normally, the rear wheels of a vehicle should maintain a positive relative speed with the ground to ensure that the vehicle has enough traction or grip to provide power and control. However, if the relative speed between the rear wheels and the ground is negative, it means that the speed of the rear wheels is opposite to the direction of movement of the vehicle, which may cause the rear wheels to slip or lose traction.

[0082] Exemplarily, a negative speed difference between the rear wheels and the ground can be achieved by the user pulling the handbrake, and the speed of the rear wheels is relatively low. Since the handbrake is usually used to brake the rear wheels, the rear wheels can be locked by pulling the handbrake. Among them, locking refers to excessive braking causing the wheels to stop rotating and lock. Therefore, the rear wheels in the locked state lose traction or grip with the ground, allowing the vehicle to drift. Although drifting can be achieved by pulling the handbrake, it will also stop the vehicle from moving for a short time, resulting in an inability to drift continuously. The above method is often used in drifting of front-wheel drive vehicles, and has low hardware requirements for the vehicle.

[0083] Method 2: There is a positive speed difference between the rear wheels and the ground. A positive speed difference between the rear wheels and the ground means that the speed of the rear wheels relative to the ground is consistent with the direction of movement of the vehicle. In this case, the rear wheel speed is relatively high, thus ensuring that the vehicle can achieve long-distance drifting.

[0084] For example, in a rear-wheel drive vehicle or a four-wheel drive vehicle, by increasing the rear axle torque, the rear wheels can generate more driving force. The rear wheel speed is driven to be greater than the vehicle speed, causing the rear wheels to slip, thereby causing the vehicle to enter a drift state. The above method is often used in drifting of rear-wheel drive vehicles or four-wheel drive vehicles, and has high requirements on the vehicle hardware.

[0085] Method 3: Reduce the pressure between the rear wheels and the ground. Reducing the pressure between the rear wheels and the ground may reduce the traction and grip between the rear wheels and the ground, thereby achieving vehicle drift.

[0086] For example, the user slams on the brakes to reduce the pressure between the rear wheels and the ground. Slamming on the brakes causes the weight of the vehicle to shift forward, causing the front wheels to bear most of the braking force, while the ground pressure of the rear wheels is reduced accordingly, causing the rear wheels to slip. Although drifting can be achieved by slamming on the brakes, it will also cause the vehicle to stop moving for a short period of time, resulting in an inability to drift continuously and an adverse effect on the driving experience.

[0087] It can be seen that both the above methods 1 and 3 achieve drift by quickly braking the rear wheels to make them slip. However, a braking vehicle cannot achieve long-distance drift, and excessive braking may cause the vehicle to tilt or lose control, which is less safe.

[0088] The above method 2 mainly achieves drift by distributing the front axle torque and the rear axle torque to make the rear wheels slip. However, making the rear wheels slip is a prerequisite for vehicle drift. During the vehicle drifting process, the user is required to jointly control the steering wheel, accelerator and brake to make the vehicle drift according to the user's desired trajectory, which requires high driving skills of the user. In addition, the drift amplitude of the vehicle is affected by many factors. It is difficult to make the vehicle drift according to the desired trajectory only by the user's operation.

[0089] In view of this, the present application provides a vehicle drift control method, when the vehicle needs to drift, the vehicle torque and the rear wheel steering angle are determined based on the steering parameters of the vehicle. The vehicle controls the front axle torque and the rear axle torque according to the determined vehicle torque, so that the rear wheels slip. At the same time, during the drifting of the vehicle, the vehicle adjusts the drift amplitude by controlling the rear wheel steering angle. Therefore, the vehicle controls the vehicle to drift based on the front axle torque, the rear axle torque and the rear wheel steering angle, thereby reducing the energy consumption of the vehicle. On the basis of enabling the vehicle to drift over a long distance, the stability of the drifting can also be improved, the user's operating difficulty can be reduced, and the vehicle can be made to drift according to the trajectory expected by the user.

[0090] The following is an introduction to the system architecture of the embodiment of the present application. It should be noted that the system architecture and business scenarios described in this application are intended to more clearly illustrate the technical solution of this application, and do not constitute a limitation on the technical solution provided by this application. It is known to those skilled in the art that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided by this application is also applicable to similar technical problems.

[0091] See also Figure 1 , Figure 1 Schematic diagram of a vehicle structure provided by an embodiment of the present application. Figure 1 As shown, the vehicle 10 includes a motor 101. It is understood that Figure 1The number and position of the motors shown are only one possible case and are not limited in the embodiments of the present application.

[0092] The vehicle 10 is a rear-wheel drive vehicle or a four-wheel drive vehicle. Exemplarily, when the vehicle 10 is a rear-wheel drive vehicle, it can be a front-engine rear-wheel drive vehicle, a mid-engine rear-wheel drive vehicle, or a rear-engine rear-wheel drive vehicle, etc. When the vehicle 10 is a four-wheel drive vehicle, it can be a full-time four-wheel drive vehicle, a manual lockable four-wheel drive vehicle, an automatic lockable four-wheel drive vehicle, or an all-terrain four-wheel drive vehicle, etc.

[0093] The vehicle 10 may be a vehicle driven by electric energy, a vehicle driven by fuel, or a vehicle driven by new energy hybrid power. Exemplarily, when the vehicle 10 is a vehicle driven by electric energy, it may be a new energy vehicle, such as a pure electric vehicle, an extended-range electric vehicle, a hybrid vehicle, a fuel cell electric vehicle, etc. When the vehicle 10 is a vehicle driven by fuel, it may be a car, an agricultural transport vehicle, or a trailer, etc. When the vehicle 10 is a car, it may be a sedan, an off-road vehicle, a truck, a bus, or a van, etc.

[0094] The motor 101 is generally a power source of the vehicle 10 , and may be one or more of an internal combustion engine, an electric motor, or a hybrid power system.

[0095] For example, when the vehicle 10 includes three motors, one of the three motors is located at the front axle of the vehicle 10, and the other two of the three motors are located at the rear axle of the vehicle 10. After the vehicle 10 determines the front axle torque, the rear axle torque, and the rear wheel steering angle according to the steering parameters, the three motors can be used to control the wheel speed of the front wheels according to the front axle torque, the wheel speed of the rear wheels according to the rear axle torque, and the rotation of the rear wheels according to the rear wheel steering angle, thereby achieving control of drift driving.

[0096] Exemplarily, when the vehicle 10 includes four motors, two of the four motors are located at the front axle of the vehicle 10, and are used to drive the first front wheel and the second front wheel, respectively. The other two of the four motors are located at the rear axle of the vehicle 10, and are used to drive the first rear wheel and the second rear wheel, respectively. After the vehicle 10 determines the first front wheel torque, the second front wheel torque, the first rear wheel torque, the second rear wheel torque, and the rear wheel steering angle according to the steering parameters, the four motors can control the wheel speed of the first front wheel according to the first front wheel torque, the wheel speed of the second front wheel according to the second front wheel torque, the wheel speed of the first rear wheel according to the first rear wheel torque, the wheel speed of the second rear wheel according to the second rear wheel torque, and the rotation of the rear wheels according to the rear wheel steering angle, thereby achieving control of drift driving.

[0097] For example, when the vehicle 10 includes a rear axle dual motor, after the vehicle 10 determines the first rear wheel torque, the second rear wheel torque and the rear wheel steering angle according to the steering parameter, the rear axle dual motor can drive the first rear wheel according to the first rear wheel torque and drive the second rear wheel according to the second rear wheel torque. The vehicle 10 controls the rotation of the rear wheels according to the rear wheel steering angle, thereby achieving control of drift driving.

[0098] For example, when the vehicle 10 includes front and rear dual motors, one of the front and rear dual motors is located at the front axle of the vehicle 10, and the other is located at the rear axle of the vehicle 10. After the vehicle 10 determines the front axle torque, rear axle torque, and rear wheel steering angle according to the steering parameters, the front and rear dual motors can drive the front wheels according to the front axle torque and drive the rear wheels according to the rear axle torque. The vehicle 10 controls the rotation of the rear wheels according to the rear wheel steering angle, thereby achieving control of drift driving.

[0099] Exemplarily, when the vehicle 10 includes a single rear axle motor, after the vehicle 10 determines the rear axle torque and the rear wheel steering angle according to the steering parameters, the rear wheels can be driven by the single rear axle motor according to the rear axle torque, and the vehicle controls the rotation of the rear wheels according to the rear wheel steering angle, thereby achieving control of drift driving.

[0100] In one implementation, when the rear axle of the vehicle 10 includes two motors, for example, the vehicle 10 includes dual motors, three motors, or four motors on the rear axle. The vehicle 10 can control the wheel speeds of the first rear wheel and the second rear wheel through the two motors on the rear axle, respectively. For example, when there is a first wheel speed difference between the wheel speed of the first rear wheel and the wheel speed of the second rear wheel, the vehicle 10 reduces the distribution ratio of the target rear wheel in the rear axle torque based on the first wheel speed difference, thereby determining the first rear wheel torque and the second rear wheel torque. Among them, the rear wheel corresponding to the target rear wheel is the rear wheel with the larger wheel speed of the first rear wheel and the second rear wheel. Then, the vehicle 10 drives the rear wheels through the two motors on the rear axle according to the determined first rear wheel torque and second rear wheel torque, which can reduce the wheel speed difference between the first rear wheel and the second rear wheel and improve the drift stability of the vehicle 10.

[0101] In one implementation, when the rear axle of the vehicle 10 includes a motor, for example, the vehicle 10 includes a single motor on the rear axle, or dual motors on the front and rear axles. When there is a first wheel speed difference between the first rear wheel speed and the second rear wheel speed, the vehicle 10 can reduce the wheel speed difference between the first rear wheel and the second rear wheel by braking the target rear wheel, thereby improving the drift stability of the vehicle 10. The rear wheel corresponding to the target rear wheel is the rear wheel with the larger wheel speed between the first rear wheel and the second rear wheel.

[0102] In one implementation, in the case where the front axle of the vehicle 10 includes two motors, for example, the vehicle 10 includes four motors. The vehicle 10 can control the wheel speeds of the first front wheel and the second front wheel respectively through the two motors of the front axle. When there is a second wheel speed difference between the first front wheel speed and the second front wheel speed, the vehicle 10 reduces the distribution ratio of the target front wheel in the front axle torque based on the second wheel speed difference, thereby determining the first front wheel torque and the second front wheel torque. Among them, the front wheel corresponding to the target front wheel is the front wheel with the larger wheel speed of the first front wheel and the second front wheel. Then, the vehicle 10 drives the front wheels through the two motors of the front axle according to the determined first front wheel torque and second front wheel torque, which can reduce the wheel speed difference between the first front wheel and the second front wheel and improve the drift stability of the vehicle 10.

[0103] In one implementation, when the front axle of the vehicle 10 includes one motor, or the front axle has no motor, for example, the vehicle 10 includes a single motor on the rear axle, dual motors on the rear axle, three motors, or dual motors on the front and rear axles. When there is a first wheel speed difference between the first front wheel speed and the second front wheel speed, the vehicle 10 can reduce the wheel speed difference between the first front wheel and the second front wheel by braking the target front wheel, thereby improving the drift stability of the vehicle 10. The front wheel corresponding to the target front wheel is the front wheel with the larger wheel speed of the first front wheel and the second front wheel.

[0104] See also Figure 2 , Figure 2 is a flow chart of a vehicle drift control method provided by an embodiment of the present application, and the method is applied to Figure 1 The vehicle shown. Figure 2 As shown, the method includes but is not limited to the following steps:

[0105] Step S201, when the vehicle needs to drift, determine the vehicle torque and rear wheel steering angle corresponding to the vehicle drifting.

[0106] Specifically, since the vehicle can increase the rear axle torque to make the rear wheel speed greater than the vehicle speed, thereby causing the rear wheels to slip and enter a drifting state, the vehicle torque can be used to make the vehicle enter a drifting state. When the vehicle needs to drift, the vehicle can first determine the vehicle torque and rear wheel steering angle required for drifting.

[0107] In one possible implementation, the vehicle torque includes a front axle torque of the vehicle and / or a rear axle torque of the vehicle.

[0108] When the vehicle includes a single motor or dual motors on the rear axle, the vehicle torque includes the rear axle torque. When the vehicle includes a front axle motor and a rear axle motor, the vehicle torque includes the front axle torque and the rear axle torque.

[0109] Specifically, the vehicle controls the vehicle to drift by simultaneously controlling the magnitude of the front axle torque, the magnitude of the rear axle torque, and the direction and angle of the rear wheel steering angle. For example, the vehicle can make the rear wheels slip by controlling the front axle torque and the rear axle torque, thereby achieving drift. At the same time, the vehicle can control the tail swing amplitude of the vehicle during the drifting process by controlling the rear wheel steering angle. While improving the drifting stability of the vehicle, the vehicle can be driven according to the desired drift trajectory.

[0110] In a possible implementation, one or more of the front axle torque, the rear axle torque and the rear wheel steering angle is determined based on the steering parameters of the vehicle. The steering parameters of the vehicle include the current steering parameters of the vehicle and the target steering parameters of the vehicle. The current steering parameters include the current center of mass yaw angle of the vehicle and / or the current yaw rate of the vehicle, and the target steering parameters include the target center of mass yaw angle of the vehicle and / or the target yaw rate of the vehicle.

[0111] In one possible implementation, the target steering parameter is determined based on driving parameters of the vehicle, which include one or more of the vehicle's speed, steering wheel angle, accelerator pedal depth, wheel speed, brake pedal depth, and a road adhesion coefficient of the vehicle's driving road.

[0112] Specifically, the vehicle may obtain driving parameters through one or more sensors installed on the vehicle. The vehicle may determine the driving state of the vehicle in real time according to the obtained driving parameters, thereby performing drift control based on the driving state.

[0113] Exemplarily, the driving parameters may include one or more of the following: vehicle speed, steering wheel angle, accelerator pedal depth, wheel speed, brake pedal depth, and road adhesion coefficient of the vehicle's driving road. Among them, the steering wheel angle, accelerator pedal depth, and brake pedal depth can be controlled by the user. The vehicle can determine whether the user starts to drift by turning according to the steering wheel angle, and determine parameters such as the amplitude of the user's desired drift according to the steering wheel angle. The accelerator pedal depth and / or brake pedal depth can be used to determine the total torque of the vehicle, so that the vehicle can determine the front axle torque and rear axle torque according to the total torque. The vehicle speed and wheel speed are used to characterize the current driving state of the vehicle.

[0114] The road adhesion coefficient of the vehicle's driving surface refers to the friction coefficient between the tire and the road surface, which is usually used to measure the vehicle's grip under different road conditions. For example, the vehicle can evaluate the road adhesion coefficient by monitoring the wheel speed and steering angle, and then adopt corresponding drift control strategies.

[0115] Specifically, when the determined road adhesion coefficient is greater than the calibrated threshold, it means that the friction between the tire and the road is large, and the grip between the wheel and the ground is also large. Therefore, the vehicle can increase the distribution of the rear axle torque in the vehicle torque, so that the rear wheel generates more driving force to achieve drift. When the estimated value of the determined road adhesion coefficient is less than or equal to the calibrated threshold, it means that the friction between the tire and the road is small, and the grip between the wheel and the ground is also small. Therefore, the vehicle can achieve drift without allocating a large torque to the rear axle, saving energy.

[0116] Step S202, controlling the vehicle to drift according to the vehicle torque and the rear wheel steering angle.

[0117] Specifically, the vehicle is controlled to drift based on the front wheel speed determined by the front axle torque, the rear wheel speed determined by the rear axle torque, and the rear wheel steering angle.

[0118] The total torque output by the motor and / or engine on the vehicle is the vehicle torque, which includes the front axle torque and the rear axle torque. The vehicle can determine the vehicle torque based on the accelerator pedal depth. For example, the greater the accelerator pedal depth, the greater the driving force the vehicle needs to output to make the wheels rotate quickly, and the vehicle torque determined by the vehicle is relatively large.

[0119] Since torque can be understood as the driving force output by the vehicle to the wheels, it can drive the wheels to rotate under a certain driving force. Therefore, torque can also be used to determine the wheel speed. For example, the front axle torque can be used to determine the front wheel speed, and the rear axle torque is used to determine the rear wheel speed. In a possible implementation, when the rear wheel speed is greater than the vehicle speed, the rear wheel slips, thereby causing the vehicle to drift.

[0120] In addition, the rear wheel steering angle includes the direction of the rear wheel steering angle and the size of the rear wheel steering angle. The direction of the rear wheel steering angle is used to determine whether the rear wheel is turning left or right, and the size of the rear wheel steering angle is used to determine the degree of rear wheel steering. Since drifting is also called tail swinging, tail swinging refers to the loss of adhesion of the rear wheel of the vehicle, causing the rear of the vehicle to suddenly deviate from the original trajectory, forming a tail swinging action. Therefore, by controlling the rear wheel steering angle, the tail swing amplitude and tail swing direction of the vehicle can be better controlled, thereby enhancing the operability and stability of the vehicle during drift driving. In a possible implementation, the vehicle performs the drift driving operation according to the vehicle torque and the rear wheel steering angle only when the driving condition of the vehicle meets the preset driving condition condition. Among them, the preset driving condition condition includes: the vehicle speed is within the preset speed range, and / or, the road adhesion coefficient of the road surface on which the vehicle is driving is within the preset adhesion coefficient range.

[0121] Specifically, the preset driving condition is to ensure the safety of the vehicle drifting. If the vehicle is too fast and / or the road adhesion coefficient is small, the wheels are prone to slipping, affecting the safety of drifting.

[0122] In a possible implementation, at the initial stage of drifting of the vehicle, the steering direction corresponding to the rear wheel steering angle is set to the opposite direction of the front wheel steering direction, wherein the front wheel steering direction is determined according to the steering of the vehicle's steering wheel.

[0123] Specifically, before the vehicle starts drifting, the user usually steers in a certain direction with the steering wheel. Then quickly steer in the opposite direction to put the vehicle into a drifting state. For example, the user first steers to the left with the steering wheel, and then quickly steers to the right, causing the vehicle to swing to the right and drift to the right. Therefore, in order to make the vehicle quickly enter the drifting state, the vehicle can control the rear wheels to turn in the opposite direction of the front wheels. For example, before the vehicle starts drifting, the vehicle determines that the user is steering to the left through the collected steering wheel angle. According to the above example, it can be known that the user may steer to the right after steering to the left, which can determine that the user wants to control the vehicle to swing to the right. Therefore, the vehicle controls the rear wheels to turn right, which can assist in swinging to the right. The difficulty of vehicle drifting is reduced and the operability of drifting is improved.

[0124] For example, see Figure 3 , Figure 3 Schematic diagram of a vehicle drifting provided in an embodiment of the present application. Figure 3 As shown, the vehicle travels from position A to position B, and then from position B to position C. At position A, the vehicle travels in a straight line, and neither the front nor the rear wheels are turned. It can be seen that the vehicle has not drifted yet. At position B, the front wheels of the vehicle turn to the left and the rear wheels of the vehicle turn to the right. At this time, the user turns the steering wheel to the left, causing the front wheels to turn to the left. Since the user wants to control the vehicle to swing to the right and drift to the right. Therefore, in order to make the vehicle enter the drift state faster and reduce the energy consumption generated by the vehicle's output torque. The vehicle can control the rear wheels to turn in the opposite direction of the front wheels, that is, at this time the vehicle controls the rear wheels to turn to the right. At position C, the user quickly turns the steering wheel in the opposite direction to make the vehicle enter the drift state, that is, the user quickly turns the steering wheel to the right, causing the vehicle to swing to the right and drift to the right.

[0125] In one possible implementation, one or more of the front axle torque, the rear axle torque and the rear wheel steering angle is determined based on a difference between a current steering parameter and a target steering parameter.

[0126] In one possible implementation, during the drifting process of the vehicle, when the current steering parameter is greater than the target steering parameter, the front axle torque and the rear axle torque are determined by reducing the distribution ratio of the rear axle torque in the total torque of the vehicle, and / or the steering direction corresponding to the rear wheel steering angle is set to the opposite direction of the front wheel steering direction, and the front wheel steering direction is determined according to the steering wheel steering of the vehicle.

[0127] If the current steering parameter is greater than the target steering parameter, it can be considered that the vehicle has a large drift amplitude. A large drift amplitude of the vehicle may cause the lateral offset angle or lateral speed of the vehicle to exceed the control range of the driver, thereby causing the vehicle to lose stability and may subsequently cause a loss of control or an accident. The lateral offset angle or lateral speed of the vehicle can be determined based on the vehicle's center of mass sideslip angle and / or yaw rate.

[0128] Normally, moderate drift is the lateral movement of the vehicle that the driver consciously controls in order to maintain vehicle control and stability during driving. If the drift is large, it means that the vehicle has deviated from the driver's expected trajectory or is beyond the driver's ability, which may lead to dangerous situations such as loss of control, collision or rollover. Therefore, the vehicle needs to control the situation of large drift.

[0129] Specifically, the vehicle determines the front axle torque and the rear axle torque by reducing the distribution ratio of the rear axle torque in the total torque of the vehicle. Reducing the distribution ratio of the rear axle torque in the total torque of the vehicle can be understood as reducing the driving force of the rear axle, so that the side slip of the rear wheels is reduced, thereby reducing the drift of the vehicle.

[0130] At the same time, the opposite direction of the front wheel steering direction is used as the steering direction corresponding to the rear wheel steering angle, so that the rear wheels rotate in the opposite direction to the front wheels. Because the drift of the vehicle is mainly achieved by the tail swing caused by the side slip of the rear wheels, the larger the deviation of the vehicle can also be understood as the larger tail swing amplitude. Therefore, by turning the rear wheels in the opposite direction to the front wheels, the tail swing amplitude can be reduced to a certain extent, thereby reducing the drift amplitude of the vehicle.

[0131] In one possible implementation, during the drifting process of the vehicle, when the current steering parameter is less than the target steering parameter, the front axle torque and the rear axle torque are determined by increasing the distribution ratio of the rear axle torque in the total torque of the vehicle, and / or the steering direction corresponding to the rear wheel steering angle is set to the front wheel steering direction, and the front wheel steering direction is determined according to the steering wheel steering of the vehicle.

[0132] Among them, the current steering parameter being less than the target steering parameter can be regarded as a small drift amplitude of the vehicle. The small drift amplitude of the vehicle means that the lateral offset angle or lateral speed of the vehicle is small during the drifting process of the vehicle. As a result, the drift effect does not meet the user's expectations, or the vehicle does not travel according to the drift trajectory expected by the user. Among them, the lateral offset angle or lateral speed of the vehicle can be determined based on the vehicle's center of mass sideslip angle and / or yaw angular velocity.

[0133] Specifically, the vehicle determines the front axle torque and the rear axle torque by increasing the distribution ratio of the rear axle torque in the total torque of the vehicle. Increasing the distribution ratio of the rear axle torque in the total torque of the vehicle can be understood as increasing the driving force of the rear axle, so that the side slip of the rear wheels increases, thereby increasing the drift amplitude of the vehicle.

[0134] At the same time, the steering direction of the front wheels is used as the steering direction corresponding to the steering angle of the rear wheels, so that the rear wheels rotate in the same direction as the front wheels. Because the drift of the vehicle is mainly achieved by the tail swing caused by the side slip of the rear wheels, the smaller the deviation of the vehicle can be understood as the smaller tail swing amplitude. Therefore, by turning the rear wheels in the same direction as the front wheels, the tail swing amplitude can be increased to a certain extent, thereby increasing the drift amplitude of the vehicle.

[0135] In one possible implementation, the rear axle torque includes a first rear wheel torque of the vehicle and a second rear wheel torque of the vehicle, the first rear wheel torque is used to determine a first rear wheel speed of the first rear wheel, and the second rear wheel torque is used to determine a second rear wheel speed of the second rear wheel.

[0136] Specifically, the vehicle determines the front axle torque, the rear axle torque and the rear wheel steering angle according to the steering parameters. Then, the vehicle determines the first rear wheel torque and the second rear wheel torque according to the rear axle torque. The vehicle controls the vehicle to drift based on the front wheel speed determined by the front wheel torque, the first rear wheel speed determined by the first rear wheel torque, the second rear wheel speed determined by the second rear wheel torque and the rear wheel steering angle.

[0137] In one possible implementation, when there is a first wheel speed difference between the first rear wheel speed and the second rear wheel speed, the first rear wheel torque and the second rear wheel torque are determined by reducing the distribution ratio of the target rear wheel torque in the rear axle torque based on the first wheel speed difference, and the rear wheel corresponding to the target rear wheel torque is the rear wheel with the larger wheel speed between the first rear wheel and the second rear wheel.

[0138] Specifically, since the first rear wheel torque is used to determine the first rear wheel speed of the first rear wheel, and the second rear wheel torque is used to determine the second rear wheel speed of the second rear wheel, when there is a first wheel speed difference between the first rear wheel speed and the second rear wheel speed, the vehicle can reduce the first wheel speed difference by controlling the first rear wheel torque and the second rear wheel torque.

[0139] For example, the vehicle drifts by skidding the rear wheels. During the drifting process, the vehicle load is transferred laterally. Specifically, the vertical load on the outer wheels increases and the vertical load on the inner wheels decreases. For example, when the vehicle drifts to the right, the right side is the outer side and the left side is the inner side. In this case, the load on the right rear wheel increases and the load on the left rear wheel decreases.

[0140] If the first rear wheel torque is equal to the second rear wheel torque, the driving force transmitted by the vehicle to the first rear wheel and the second rear wheel is also equal. Since the load of the first rear wheel and the load of the second rear wheel are not equal, the wheel speeds of the first rear wheel and the second rear wheel under the same driving force are not equal. That is, there is a first wheel speed difference between the first rear wheel and the second rear wheel.

[0141] In a possible implementation, the vehicle collects the wheel speed of the first rear wheel and the wheel speed of the second rear wheel through a sensor. For example, the vehicle collects the wheel speed by installing a wheel speed sensor near the wheel. When there is a first wheel speed difference between the second wheel speed of the first rear wheel collected by the sensor and the second wheel speed of the second rear wheel, the vehicle determines the first rear wheel torque and the second rear wheel torque according to the first wheel speed difference. Then, the vehicle is controlled to drift based on the front wheel speed, the first rear wheel torque, the second rear wheel torque and the rear wheel steering angle.

[0142] For example, if the second rear wheel speed is greater than the first rear wheel speed, then the second rear wheel is the target rear wheel, and the second rear wheel is also the inner rear wheel when the vehicle is drifting. The vehicle determines the first rear wheel torque and the second rear wheel torque by reducing the distribution ratio of the second rear wheel torque in the rear axle torque.

[0143] It should be noted that since the rear wheel torque can be used to determine the wheel speed of the corresponding wheel, reducing the distribution ratio of the target rear wheel torque in the rear axle torque is equivalent to reducing the target rear wheel speed, so that the wheel speed of the first rear wheel and the wheel speed of the second rear wheel are basically consistent, reducing the risk caused by the wheel speed difference between the first rear wheel and the second rear wheel.

[0144] In one possible implementation, the front axle torque includes a first front wheel torque of the vehicle and a second front wheel torque of the vehicle, the first front wheel torque being used to determine a first front wheel speed of a first front wheel of the vehicle, and the second front wheel torque being used to determine a second front wheel speed of a second front wheel of the vehicle.

[0145] In one possible implementation, when there is a second wheel speed difference between the first front wheel speed and the second front wheel speed, the first front wheel torque and the second front wheel torque are determined based on the second wheel speed difference to reduce the distribution ratio of the target front wheel torque in the front axle torque, and the front wheel corresponding to the target front wheel torque is the front wheel with the larger wheel speed among the first front wheel and the second front wheel.

[0146] Specifically, since the first front wheel torque is used to determine the first front wheel speed of the first front wheel, and the second front wheel torque is used to determine the second front wheel speed of the second front wheel, when there is a second wheel speed difference between the first front wheel speed and the second front wheel speed, the vehicle can reduce the second wheel speed difference by controlling the first front wheel torque and the second front wheel torque.

[0147] For example, if the second front wheel speed is greater than the first front wheel speed, then the second front wheel is the target front wheel. The vehicle determines the first front wheel torque and the second front wheel torque by reducing the distribution ratio of the second front wheel torque in the front axle torque.

[0148] It is understandable that, since the front wheel torque can be used to determine the wheel speed of the corresponding wheel, reducing the distribution ratio of the target front wheel torque in the front axle torque is equivalent to reducing the wheel speed of the target front wheel, so that the wheel speed of the first front wheel and the wheel speed of the second front wheel are basically the same, reducing the risk caused by the wheel speed difference between the first front wheel and the second front wheel.

[0149] The above embodiment introduces that the vehicle reduces the first wheel speed difference between the first rear wheel and the second rear wheel by adjusting the first rear wheel torque and the second rear wheel torque, and reduces the second wheel speed difference between the first front wheel and the second front wheel by adjusting the first front wheel torque and the second front wheel torque. The following will specifically introduce how the vehicle reduces the first wheel speed difference and / or the second wheel speed difference by braking.

[0150] In a possible implementation, when the rear axle of the vehicle includes a motor, for example, the vehicle includes a single motor on the rear axle, or dual motors on the front and rear axles. When there is a first wheel speed difference between the first rear wheel speed and the second rear wheel speed, the vehicle can reduce the wheel speed difference between the first rear wheel and the second rear wheel by braking the target rear wheel, thereby improving the drift stability of the vehicle. The rear wheel corresponding to the target rear wheel is the rear wheel with the larger wheel speed of the first rear wheel and the second rear wheel.

[0151] In a possible implementation, when the front axle of the vehicle includes one motor, or no motor, for example, the vehicle includes a single motor on the rear axle, dual motors on the rear axle, three motors, or dual motors on the front and rear axles. When there is a first wheel speed difference between the first front wheel speed and the second front wheel speed, the vehicle can reduce the wheel speed difference between the first front wheel and the second front wheel by braking the target front wheel, thereby improving the stability of the vehicle drift. The front wheel corresponding to the target front wheel is the front wheel with the larger wheel speed of the first front wheel and the second front wheel.

[0152] It should be noted that if there is a first wheel speed difference between the first rear wheel and the second rear wheel, and / or there is a second wheel speed difference between the first front wheel and the second front wheel, a series of problems may occur. For example, the first wheel speed difference and / or the second wheel speed difference may cause an imbalance in the traction of the vehicle. At the same time, if the wheel speed of one side is greater than the wheel speed of the other side, the tire of the wheel may slip or lose traction, while the slower wheel speed of the other side may cause insufficient traction, affecting the power transmission and acceleration performance of the vehicle. Therefore, the embodiment of the present application can reduce the first wheel speed difference by adjusting the first rear wheel torque and the second rear wheel torque, and can reduce the second wheel speed difference by adjusting the first front wheel torque and the second front wheel torque. At the same time, the vehicle can reduce the second wheel speed difference by braking the target front wheel with a faster wheel speed, and the vehicle can reduce the first wheel speed difference by braking the target rear wheel with a faster wheel speed. Thereby improving the stability of the vehicle's drifting driving and extending the drifting distance.

[0153] In a possible implementation, at the end of the drifting phase of the vehicle, the steering direction corresponding to the rear wheel steering angle is set as the front wheel steering direction, wherein the front wheel steering direction is determined according to the steering of the vehicle's steering wheel.

[0154] Specifically, the steering direction corresponding to the rear wheel steering angle is set to the front wheel steering direction, which can reduce the vehicle's tail swing amplitude and help the vehicle body return to the center, thereby ending the drift.

[0155] See also Figure 4 , Figure 4 Schematic diagram of a U-curve drift provided in an embodiment of the present application. Figure 4 As shown, the vehicle drifts from position A, passes through position B, position C and position D, and then moves to position E. At position A, the vehicle moves in a straight line, and the front and rear wheels are not turned. It can be seen that the vehicle has not drifted yet. At position B, the front wheels of the vehicle turn left and the rear wheels of the vehicle turn right. At this time, the user turns the steering wheel to the left, causing the front wheels to turn left. Since the user wants to control the vehicle to swing to the right and drift to the right, the vehicle can drift to the right. Figure 4 U-shaped curve. Therefore, in order to make the vehicle enter the drift state faster and reduce the energy consumption generated by the vehicle output torque. The vehicle can control the rear wheels to turn in the opposite direction of the front wheels, that is, the vehicle controls the rear wheels to turn right. At position C, the user quickly turns the steering wheel in the opposite direction to make the vehicle enter the drift state, that is, the user quickly turns the steering wheel to the right, causing the vehicle to swing to the right and drift to the right.

[0156] like Figure 4As shown in FIG. 1 , the vehicle moves from position B to position C, and it can be seen that the drift amplitude of the vehicle increases, that is, the tail swing amplitude of the vehicle increases. The vehicle can increase the driving force of the rear axle by increasing the distribution ratio of the rear axle torque in the total torque of the vehicle, and at the same time control the rotation direction of the rear wheels of the vehicle to be consistent with the rotation direction of the front wheels to increase the tail swing amplitude of the vehicle.

[0157] like Figure 4 As shown, the vehicle travels from position C to position D, and it can be seen that the drift amplitude of the vehicle is reduced, that is, the tail-swing amplitude of the vehicle is reduced. The vehicle can reduce the driving force of the rear axle by reducing the distribution ratio of the rear axle torque in the total torque of the vehicle, and at the same time control the rotation direction of the rear wheels of the vehicle to be opposite to the rotation direction of the front wheels to reduce the tail-swing amplitude of the vehicle. Therefore, when the vehicle is traveling on a curve, for example, when the vehicle travels from position B to position C and then to position D, the vehicle can drift according to the trajectory expected by the user. The vehicle travels from position D to position E, and it can be seen that the vehicle has driven out of the curve, and the vehicle has returned to the correct direction at position E.

[0158] Vehicles passing Figure 4 During the U-shaped curve shown in the figure, the vehicle can determine the front axle torque, rear axle torque and rear wheel steering angle in real time through the steering parameters, so as to control the vehicle to drift according to the desired trajectory based on the front axle torque, rear axle torque and rear wheel steering angle. At the same time, the vehicle determines the first rear wheel torque and the second rear wheel torque based on the rear axle torque. Thus, based on the first rear wheel torque and the second rear wheel torque, the first wheel speed difference between the first rear wheel and the second rear wheel is adjusted. The wheel speed of the first rear wheel and the wheel speed of the second rear wheel are made equal or close. The vehicle determines the first front wheel torque and the second front wheel torque based on the front axle torque. Thus, based on the first front wheel torque and the second front wheel torque, the second wheel speed difference between the first front wheel and the second front wheel is adjusted. The wheel speed of the first front wheel and the wheel speed of the second front wheel are made equal or close to improve the stability of the vehicle.

[0159] See also Figure 5 , Figure 5 Schematic diagram of an L-shaped curve drift provided in an embodiment of the present application. Figure 5 As shown, the vehicle drifts from position A, passes through position B, position C and position D, and then moves to position E. At position A, the vehicle moves in a straight line, and the front and rear wheels are not turned. It can be seen that the vehicle has not drifted yet. At position B, the front wheels of the vehicle turn left and the rear wheels of the vehicle turn right. At this time, the user turns the steering wheel to the left, causing the front wheels to turn left. Since the user wants to control the vehicle to swing to the right and drift to the right, the vehicle can drift to the right. Figure 5L-shaped curve. Therefore, in order to make the vehicle enter the drift state faster and reduce the energy consumption generated by the vehicle output torque. The vehicle can control the rear wheels to turn in the opposite direction of the front wheels, that is, the vehicle controls the rear wheels to turn right. At position C, the user quickly turns the steering wheel in the opposite direction to make the vehicle enter the drift state, that is, the user quickly turns the steering wheel to the right, causing the vehicle to swing to the right and achieve drift to the right.

[0160] like Figure 5 As shown in FIG. 1 , the vehicle moves from position B to position C, and it can be seen that the drift amplitude of the vehicle increases, that is, the tail swing amplitude of the vehicle increases. The vehicle can increase the driving force of the rear axle by increasing the distribution ratio of the rear axle torque in the total torque of the vehicle, and at the same time control the rotation direction of the rear wheels of the vehicle to be consistent with the rotation direction of the front wheels to increase the tail swing amplitude of the vehicle.

[0161] like Figure 5 As shown, at position D, when the vehicle is exiting the curve, the user turns left, causing the front of the vehicle to exit the curve to the left. When the vehicle is exiting the curve, the vehicle can determine the front axle torque, rear axle torque, and rear wheel steering angle in real time through steering parameters, thereby controlling the vehicle to drift along the desired trajectory based on the front axle torque, rear axle torque, and rear wheel steering angle. For example, the vehicle can reduce the lateral speed to 0 before the vehicle approaches the edge of the road through the front axle torque, rear axle torque, and rear wheel steering angle. This shortens the time for the vehicle to drift through a curve, increases the speed of the vehicle to drift through a curve, and improves the vehicle's track performance.

[0162] See also Figure 6 , Figure 6 Schematic diagram of a fixed circle drift provided in an embodiment of the present application. Figure 6 As shown, the vehicle drifts around the reference object in a circular trajectory. First, the user gradually accelerates the vehicle and controls the steering of the vehicle through the steering wheel. Then the vehicle quickly reverses the direction to make the vehicle enter a drifting state. During the drifting process, the vehicle controls the rear wheel steering angle to assist in adjusting the direction of the vehicle, so that the vehicle drifts in a circular trajectory.

[0163] exist Figure 6 During the entire drift process shown, the participation of rear-wheel steering reduces the requirements for user skills and increases the stability of the vehicle in the drifting state. Compared with the prior art, the front and rear axle torque distribution and the rear wheel torque distribution can track the user's desired drift trajectory through a control algorithm. At the same time, the energy consumption generated during the vehicle drifting and the load of the actuator related to the vehicle drift are optimized, which can support drifting for a longer time. Therefore, the method provided in the embodiment of the present application can be used as the basis for goals such as automatic drifting according to a preset trajectory and impacting the vehicle to drift the longest distance.

[0164] See also Figure 7 , Figure 7 Schematic diagram of an "8" figure drift provided in the embodiment of the present application. Figure 7 As shown in the figure, the vehicle drifts along an "8"-shaped trajectory. First, the user controls the vehicle's steering through the steering wheel and gradually increases the speed. Then the vehicle quickly reverses the direction to make the vehicle enter a drifting state. During the vehicle's drifting, the vehicle distributes the front axle torque and the rear axle torque, and controls the rear wheel steering at the same time, so that the vehicle can adjust its posture in real time and drift along an "8"-shaped trajectory. Figure 6 Similar to the fixed circle drift shown in the figure, the advantage of the embodiment of the present application is that it optimizes the energy consumption generated during the vehicle drifting and the load of the actuators related to the vehicle drifting. It can accurately track the drift trajectory expected by the user and can also serve as the basis for realizing automatic drift along the "8" trajectory.

[0165] In summary, the drift control method provided by the embodiment of the present application has good drift performance whether the vehicle is drifting in a U-shaped curve, drifting in an L-shaped curve, drifting in a fixed circle or drifting in an "8" shape. Therefore, by allocating the front axle torque and the rear axle torque and controlling the rear wheel steering at the same time, the drifting and fast cornering requirements in the track racing scene can be better realized. Compared with the drift control of the existing scheme, the method provided by the embodiment of the present application has better control performance and stability. In scenes that tend to perform such as fixed circle drift and "8" drift, the embodiment of the present application has better performance of tracking the user's expected trajectory than the existing scheme. And the requirements for user drifting technology are reduced, and beginners can also get started in a very short time, complete fixed circle drift and "8" drift, and experience the fun of drifting. Because the energy consumption generated during the vehicle drifting and the load of the actuator related to the vehicle drift are optimized, and the performance of trajectory tracking is possessed. Therefore, it has a good foundation for realizing automatic tracking of trajectory drift, various records of impact drift, and even using drift for emergency obstacle avoidance.

[0166] See also Figure 8 , Figure 8 is a flow chart of a drift control provided by an embodiment of the present application. Figure 8 As shown, the process includes one or more steps from step S801 to step S805, and each step is specifically as follows:

[0167] S801, determine whether the drift mode is turned on. In order to ensure driving safety, the vehicle may first determine whether the drift mode is turned on before the vehicle performs drift control. For example, the user turns on the drift mode through a physical button on the vehicle or a function control on a display screen, and the vehicle may receive a corresponding drift mode turn-on signal.

[0168] Then, the vehicle can determine whether to perform drift control through a series of verifications. For example, it can determine whether the occupants are wearing seat belts, whether the doors are closed, whether the battery is sufficient, and whether the state of the actuator used for drifting is normal. If the verification passes, after ensuring that all conditions are normal, the vehicle starts the drift mode and enters S802. If the verification fails, the vehicle does not start the drift mode and the process ends.

[0169] S802, obtaining vehicle speed and road adhesion coefficient. The vehicle can determine the estimated values ​​of vehicle speed and road adhesion coefficient based on the obtained driving parameters, and thus adopt the corresponding drift control strategy based on the estimated values ​​of vehicle speed and road adhesion coefficient. The road adhesion coefficient refers to the friction coefficient between the tire and the road surface, which is usually used to measure the grip of the vehicle under different road conditions. For example, the vehicle can evaluate the road adhesion coefficient by monitoring the wheel speed and steering angle, thereby determining the estimated value of the road adhesion coefficient.

[0170] S803, determine whether the drift requirement is met. Specifically, when the estimated value of the road adhesion coefficient determined is greater than the calibrated threshold, it means that the friction between the tire and the road surface is large, and the grip between the wheel and the ground is also large. Therefore, the vehicle can increase the distribution of the rear axle torque so that the rear wheel generates more driving force to achieve drift. When the estimated value of the road adhesion coefficient determined is less than or equal to the calibrated threshold, it means that the friction between the tire and the road surface is small, and the grip between the wheel and the ground is also small. Therefore, the vehicle can achieve drift without allocating a large torque to the rear axle, saving energy consumption. When the estimated values ​​of the vehicle speed and the road adhesion coefficient are within the calibration range, enter S804, and when the estimated values ​​of the vehicle speed and the road adhesion coefficient are not within the calibration range, return to S801.

[0171] S804, obtaining driving parameters of the vehicle. The vehicle may obtain the driving parameters through one or more sensors installed on the vehicle. The vehicle may determine the driving state of the vehicle in real time according to the obtained driving parameters, and thus perform drift control based on the driving state.

[0172] Exemplarily, the driving parameters may include one or more of the following: vehicle speed, steering wheel angle, accelerator pedal depth, wheel speed, brake pedal depth, and road adhesion coefficient of the vehicle's driving road. Among them, the steering wheel angle, accelerator pedal depth, and brake pedal depth can be controlled by the user. The vehicle can determine whether the user starts to drift by turning according to the steering wheel angle, and determine parameters such as the amplitude of the user's desired drift according to the steering wheel angle. The accelerator pedal depth and / or brake pedal depth can be used to determine the total torque of the vehicle, so that the vehicle can determine the front axle torque and rear axle torque according to the total torque. The vehicle speed and wheel speed are used to characterize the current driving state of the vehicle.

[0173] S805, determining the front axle torque, rear axle torque and rear wheel steering angle. The vehicle determines the total torque and rear wheel steering angle according to the driving parameters, and then determines the front axle torque and rear axle torque according to the driving parameters based on the total torque. At the same time, the vehicle also determines the rear wheel steering angle according to the driving parameters. The rear wheel steering angle includes the direction of the rear wheel steering angle and the magnitude of the rear wheel steering angle. The direction of the rear wheel steering angle is used to determine whether the rear wheel is turning left or right, and the magnitude of the rear wheel steering angle is used to determine the degree of rear wheel steering.

[0174] After the vehicle outputs the corresponding front axle torque, rear axle torque and rear wheel steering angle according to the currently acquired driving parameters, it returns to S801 again. Therefore, the vehicle can obtain driving parameters at preset intervals and then control the drift. Therefore, the embodiment of the present application can control the drift driving of the vehicle in real time to meet the real-time vehicle condition of the vehicle.

[0175] During the entire control process, the drift mode needs to be kept on, that is, the switch is not turned off by the driver, all passengers are wearing seat belts, etc. If the vehicle detects any abnormality, the vehicle will exit drift control.

[0176] See also Fig. 9 , Fig. 9 Schematic diagram of a drift control provided by an embodiment of the present application. Fig. 9 As shown, the embodiment of the present application achieves the control target of the target steering parameter according to the current state of the vehicle, such as the current driving parameters of the vehicle, by means of the method of front and rear axle torque distribution and rear wheel steering coordination. The target steering parameter is the target expected value determined by the vehicle according to the driving parameters. For example, the vehicle determines the target yaw rate and / or target center of mass sideslip angle of the vehicle at the next moment according to the driving parameters acquired at the current moment. The vehicle achieves the target yaw rate and / or the target center of mass sideslip angle of the vehicle by means of the method of front and rear axle torque distribution and rear wheel steering coordination.

[0177] The vehicle achieves the control goal of improving vehicle stability by distributing torque to the rear wheels based on the vehicle's status, such as but not limited to lateral acceleration, wheel speed, etc.

[0178] The method of the embodiment of the present application is described in detail above, and the device of the embodiment of the present application is provided below.

[0179] See also Fig.10 , Fig.10 1 is a block diagram of the functional units of an electronic device provided in an embodiment of the present application. The vehicle electronic device 100 may include a determination unit 1001 and a processing unit 1002. The vehicle electronic device 100 is used to implement the aforementioned vehicle drift control method, for example Figure 2 The vehicle drift control method shown.

[0180] It should be noted that the division of the above multiple units is only a logical division based on functions, and does not limit the specific structure of the vehicle electronic device 100. In a specific implementation, some functional modules may be subdivided into more small functional modules, and some functional modules may be combined into one functional module.

[0181] In a possible implementation manner, the determination unit 1001 is configured to determine the vehicle torque and rear wheel steering angle corresponding to the drifting of the vehicle when the vehicle needs to drift;

[0182] The processing unit 1002 is used to control the vehicle to drift according to the vehicle torque and the rear wheel steering angle.

[0183] In another possible implementation manner, the vehicle torque includes a front axle torque of the vehicle and / or a rear axle torque of the vehicle.

[0184] In another possible implementation manner, one or more of the front axle torque, the rear axle torque and the rear wheel steering angle are determined based on a steering parameter of the vehicle.

[0185] In another possible implementation, the steering parameters of the vehicle include a current steering parameter of the vehicle and a target steering parameter of the vehicle, and one or more of the front axle torque, the rear axle torque and the rear wheel steering angle are determined based on the difference between the current steering parameter and the target steering parameter.

[0186] In another possible implementation, the current steering parameter includes a current center of mass yaw angle of the vehicle and / or a current yaw rate of the vehicle, and the target steering parameter includes a target center of mass yaw angle of the vehicle and / or a target yaw rate of the vehicle.

[0187] In another possible implementation, the target steering parameter is determined based on driving parameters of the vehicle, and the driving parameters include one or more of the vehicle speed, steering wheel angle, accelerator pedal depth, wheel speed, brake pedal depth and the road adhesion coefficient of the vehicle's driving road.

[0188] In another possible implementation manner, during the drifting process of the vehicle, when the current steering parameter is greater than the target steering parameter:

[0189] The front axle torque and the rear axle torque are determined by reducing the distribution ratio of the rear axle torque in the total torque of the vehicle; and / or,

[0190] The steering direction corresponding to the rear wheel steering angle is set to be the opposite direction of the front wheel steering direction, and the front wheel steering direction is determined according to the steering of the steering wheel of the vehicle.

[0191] In another possible implementation manner, during the drifting process of the vehicle, when the current steering parameter is less than the target steering parameter:

[0192] The front axle torque and the rear axle torque are determined by increasing the distribution ratio of the rear axle torque in the total torque of the vehicle; and / or,

[0193] The steering direction corresponding to the rear wheel steering angle is set as the front wheel steering direction, and the front wheel steering direction is determined according to the steering of the steering wheel of the vehicle.

[0194] In another possible implementation, the rear axle torque includes a first rear wheel torque of the vehicle and a second rear wheel torque of the vehicle, the first rear wheel torque being used to determine a first rear wheel speed of the first rear wheel, and the second rear wheel torque being used to determine a second rear wheel speed of the second rear wheel.

[0195] In another possible implementation, when there is a first wheel speed difference between the first rear wheel speed and the second rear wheel speed, the first rear wheel torque and the second rear wheel torque are determined by reducing the distribution ratio of the target rear wheel torque in the rear axle torque based on the first wheel speed difference, and the rear wheel corresponding to the target rear wheel torque is the rear wheel with the larger wheel speed between the first rear wheel and the second rear wheel.

[0196] In another possible implementation, the front axle torque includes a first front wheel torque of the vehicle and a second front wheel torque of the vehicle, the first front wheel torque being used to determine a first front wheel speed of a first front wheel of the vehicle, and the second front wheel torque being used to determine a second front wheel speed of a second front wheel of the vehicle.

[0197] In another possible implementation, when there is a second wheel speed difference between the first front wheel speed and the second front wheel speed, the first front wheel torque and the second front wheel torque are determined based on the second wheel speed difference to reduce the distribution ratio of the target front wheel torque in the front axle torque, and the front wheel corresponding to the target front wheel torque is the front wheel with the larger wheel speed between the first front wheel and the second front wheel.

[0198] In another possible implementation manner, at the initial stage of drifting of the vehicle, the steering direction corresponding to the rear wheel steering angle is set to be opposite to the steering direction of the front wheels; and / or,

[0199] At the end stage of drifting of the vehicle, the steering direction corresponding to the rear wheel steering angle is set as the front wheel steering direction;

[0200] Wherein, the front wheel steering direction is determined according to the steering wheel steering of the vehicle.

[0201] In another possible implementation manner, the operation of controlling the vehicle to perform drift driving according to the vehicle torque and the rear wheel steering angle is performed only when the driving condition of the vehicle meets a preset driving condition;

[0202] The preset driving condition includes: the vehicle speed of the vehicle is within a preset speed range, and / or the road adhesion coefficient of the road surface on which the vehicle is driving is within a preset adhesion coefficient range.

[0203] It should be noted that in the embodiments of the present application, the specific implementation and technical effects of each unit can also refer to Figure 2 The corresponding description of the method embodiment shown in .

[0204] See also Fig.11 , Fig.11 is a schematic diagram of the structure of another electronic device provided in an embodiment of the present application. Fig.11 As shown, the electronic device 110 may include: one or more processors 1101, one or more memories 1102, and one or more communication interfaces 1103. These components may be connected via a bus 1104 or other means. Fig.11 Take the connection via bus 1104 as an example.

[0205] The communication interface 1103 may be used for the electronic device 110 to communicate with other communication devices, such as other electronic devices. Specifically, the communication interface 1103 may be a wired interface.

[0206] The memory 1102 can be coupled to the processor 1101 through the bus 1104 or the input and output ports, and the memory 1102 can also be integrated with the processor 1101. The memory 1102 is used to store various software programs and / or multiple sets of instructions or data. Specifically, the memory 1102 can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 1102 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more disk storage devices, flash memory devices or other non-volatile solid-state storage devices. The memory 1102 may store an operating system (hereinafter referred to as system), such as an embedded operating system such as uCOS, VxWorks, RTLinux, etc. The memory 1102 may also store a network communication program, which may be used to communicate with one or more additional devices, one or more user devices, or one or more terminals. The memory 1102 may be independent and connected to the processor 1101 via a bus 1104. The memory 1102 may also be integrated with the processor 1101.

[0207] The memory 1102 is used to store application code for executing the above solution, and the execution is controlled by the processor 1101. The processor 1101 is used to execute the application code stored in the memory 1102.

[0208] Processor 1101 may be a central processing unit, a general purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a transistor logic device, a hardware component 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 1101 may also be a combination that implements a certain function, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, and the like.

[0209] The present application also provides a vehicle, the vehicle comprising Fig.10 The electronic device and Fig.11 The electronic device shown.

[0210] The present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on at least one processor, the above-mentioned vehicle drift control method is implemented, for example Figure 2 method.

[0211] In the embodiments of the present application, the words "for example" or "such as" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "for example" or "such as" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the words "for example" or "such as" is intended to present related concepts in a specific way.

[0212] The "at least one" mentioned in the embodiments of the present application refers to one or more, and "plurality" refers to two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can be represented by: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0213] Furthermore, unless otherwise specified, the ordinal numbers such as "first" and "second" used in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects. For example, the first device and the second device are only for the convenience of description, and do not represent the difference in structure, importance, etc. between the first device and the second device. In some embodiments, the first device and the second device can also be the same device.

[0214] In the above embodiments, the term "when..." can be interpreted as meaning "if..." or "after..." or "in response to determining..." or "in response to detecting...", depending on the context. The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the concept and principle of the present application shall be included in the protection scope of the present application.

[0215] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0216] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A vehicle drift control method, characterized in that: The method comprises: When the vehicle needs to drift, determining the vehicle torque and rear wheel steering angle corresponding to the drifting of the vehicle; The vehicle is controlled to perform drift driving according to the vehicle torque and the rear wheel steering angle.

2. The method according to claim 1, characterized in that: The vehicle torque includes a front axle torque of the vehicle and / or a rear axle torque of the vehicle.

3. The method according to claim 2, characterized in that One or more of the front axle torque, the rear axle torque, and the rear wheel steering angle are determined based on a steering parameter of the vehicle.

4. The method according to claim 3, characterized in that The steering parameters of the vehicle include a current steering parameter of the vehicle and a target steering parameter of the vehicle, and one or more of the front axle torque, the rear axle torque and the rear wheel steering angle are determined based on a difference between the current steering parameter and the target steering parameter.

5. The method according to claim 4, characterized in that The current steering parameter includes a current center-of-mass yaw angle of the vehicle and / or a current yaw rate of the vehicle, and the target steering parameter includes a target center-of-mass yaw angle of the vehicle and / or a target yaw rate of the vehicle.

6. The method according to claim 4 or 5, characterized in that: The target steering parameter is determined based on the driving parameters of the vehicle, and the driving parameters include one or more of the vehicle speed, steering wheel angle, accelerator pedal depth, wheel speed, brake pedal depth and road adhesion coefficient of the vehicle driving road.

7. The method according to any one of claims 4 to 6, characterized in that: During the drifting process of the vehicle, when the current steering parameter is greater than the target steering parameter: The front axle torque and the rear axle torque are determined by reducing the distribution ratio of the rear axle torque in the total torque of the vehicle; and / or, The steering direction corresponding to the rear wheel steering angle is set to be the opposite direction of the front wheel steering direction, and the front wheel steering direction is determined according to the steering of the steering wheel of the vehicle.

8. The method according to any one of claims 4 to 7, characterized in that: During the drifting process of the vehicle, when the current steering parameter is less than the target steering parameter: The front axle torque and the rear axle torque are determined by increasing the distribution ratio of the rear axle torque in the total torque of the vehicle; and / or, The steering direction corresponding to the rear wheel steering angle is set as the front wheel steering direction, and the front wheel steering direction is determined according to the steering of the steering wheel of the vehicle.

9. The method according to any one of claims 2 to 8, characterized in that: The rear axle torque includes a first rear wheel torque of the vehicle and a second rear wheel torque of the vehicle, the first rear wheel torque is used to determine a first rear wheel speed of the first rear wheel, and the second rear wheel torque is used to determine a second rear wheel speed of the second rear wheel.

10. The method according to claim 9, characterized in that When there is a first wheel speed difference between the first rear wheel speed and the second rear wheel speed, the first rear wheel torque and the second rear wheel torque are determined by reducing the distribution ratio of the target rear wheel torque in the rear axle torque based on the first wheel speed difference, and the rear wheel corresponding to the target rear wheel torque is the rear wheel with a larger wheel speed between the first rear wheel and the second rear wheel.

11. The method according to any one of claims 2 to 10, characterized in that: The front axle torque includes a first front wheel torque of the vehicle and a second front wheel torque of the vehicle, wherein the first front wheel torque is used to determine a first front wheel speed of a first front wheel of the vehicle, and the second front wheel torque is used to determine a second front wheel speed of a second front wheel of the vehicle.

12. The method according to claim 11, characterized in that When there is a second wheel speed difference between the first front wheel speed and the second front wheel speed, the first front wheel torque and the second front wheel torque are determined based on the second wheel speed difference to reduce the distribution ratio of the target front wheel torque in the front axle torque, and the front wheel corresponding to the target front wheel torque is the front wheel with the larger wheel speed between the first front wheel and the second front wheel.

13. The method according to claim 7 or 8, characterized in that: At the initial stage of drifting of the vehicle, the steering direction corresponding to the rear wheel steering angle is set to be opposite to the steering direction of the front wheels; and / or, At the end stage of drifting of the vehicle, the steering direction corresponding to the rear wheel steering angle is set as the front wheel steering direction; Wherein, the front wheel steering direction is determined according to the steering wheel steering of the vehicle.

14. The method according to any one of claims 1 to 13, characterized in that: The operation of controlling the vehicle to perform drift driving according to the vehicle torque and the rear wheel steering angle is performed only when the driving condition of the vehicle meets a preset driving condition; The preset driving condition includes: the vehicle speed of the vehicle is within a preset speed range, and / or the road adhesion coefficient of the road surface on which the vehicle is driving is within a preset adhesion coefficient range.

15. An electronic device, characterized in that: The device comprises: A determination unit, used for determining a vehicle torque and a rear wheel steering angle corresponding to the drifting driving of the vehicle when the vehicle needs to drift; A processing unit is used to control the vehicle to drift according to the vehicle torque and the rear wheel steering angle.

16. An electronic device, characterized in that: The method comprises a processor connected to a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program to execute the method according to any one of claims 1 to 14.

17. A vehicle, characterized in that: The vehicle comprises an electronic device as claimed in claim 15 or claim 16.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes instructions for executing the method according to any one of claims 1 to 14.

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