Vehicle control method and device and vehicle

Abstract

The invention relates to a control method and device of a vehicle and the vehicle, and belongs to the technical field of vehicle control. The control method of the vehicle comprises the steps that an active steering instruction output by a steering braking device is responded, and road condition information of the vehicle is detected; when the road condition information shows that the road surface state changes, longitudinal deviation data and transverse deviation data of the vehicle are obtained; controlling the driving device according to the longitudinal offset data; and controlling the steering brake device according to the transverse offset data.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the technical field of vehicle control, and more specifically, to a vehicle control method, a control device, and a vehicle. Background Art

[0002] With the rapid development of transportation, cars have become a more common means of transportation, and people are paying more and more attention to the safety of cars during driving. At present, vehicles can be equipped with drive devices and steering and braking devices. The drive device can drive the vehicle to travel, and the steering and braking device can control the steering and braking of the vehicle. When the road surface changes, the deviation of the vehicle can usually be controlled by the drive device, but when the vehicle turns, the change of the road surface will cause the vehicle to yaw, affecting the stability of the vehicle. Summary of the invention

[0003] One purpose of the embodiments of the present disclosure is to provide a new technical solution for controlling a vehicle.

[0004] According to a first aspect of the present disclosure, a control method for a vehicle is provided, the vehicle comprising a driving device and a steering and braking device, the method comprising:

[0005] In response to the active steering command output by the steering brake device, detecting road condition information of the vehicle;

[0006] When the road condition information indicates a change in road surface state, obtaining longitudinal offset data and lateral offset data of the vehicle;

[0007] controlling the driving device according to the longitudinal offset data;

[0008] The steering brake device is controlled according to the lateral deviation data.

[0009] Optionally, the road condition information includes a first estimated time for the vehicle to reach a first position; wherein the first position is a position when a change in road adhesion exceeds a set change;

[0010] When the road condition information indicates that the road surface state changes, obtaining the longitudinal offset data and the lateral offset data of the vehicle includes:

[0011] When the vehicle travels for the first time period, longitudinal offset data and lateral offset data of the vehicle are acquired.

[0012] Optionally, the vehicle further comprises a wheel speed sensor, and the longitudinal offset data comprises a slip rate obtained by the wheel speed sensor;

[0013] The step of controlling the driving device according to the longitudinal offset data comprises:

[0014] When the slip ratio exceeds a set range, a driving signal is output to the driving device according to the slip ratio and the road condition information.

[0015] Optionally, outputting the driving signal to the driving device according to the slip rate and the road condition information includes:

[0016] outputting a first driving signal to the driving device according to the slip rate and the road condition information indicating that the road adhesion is reduced to a first value, so that the driving device reduces the driving force of the vehicle according to the first driving signal;

[0017] According to the slip rate and the road condition information indicating that the road adhesion is improved to a second value, a second driving signal is output to the driving device, so that the driving device increases the driving force of the vehicle according to the second driving signal.

[0018] Optionally, the vehicle further comprises a yaw rate sensor, and the lateral offset data comprises a yaw rate obtained by the yaw rate sensor;

[0019] The step of controlling the steering brake device according to the lateral offset data comprises:

[0020] When the yaw angular velocity is greater than a set threshold, a control signal is output to the steering brake device according to the yaw angular velocity and the road condition information.

[0021] Optionally, the steering brake device brakes the first wheel of the first axle of the vehicle individually;

[0022] When the yaw angular velocity is greater than a set threshold, outputting a control signal to the steering brake device according to the yaw angular velocity and the road condition information includes:

[0023] When the yaw angular velocity is greater than a set threshold, a first control signal is output to the steering brake device according to the yaw angular velocity and the road condition information, so that the steering brake device adjusts the braking force on the first wheel according to the first control signal.

[0024] Optionally, the vehicle has an active steering mode and an auxiliary steering mode. In the active steering mode, the steering brake device controls the second wheels on the second axle of the vehicle to steer simultaneously. In the auxiliary steering mode, the steering brake device controls the second wheels on the second axle to steer simultaneously and controls the third wheels on the third axle of the vehicle to steer simultaneously.

[0025] When the yaw angular velocity is greater than a set threshold, outputting a control signal to the steering brake device according to the yaw angular velocity and the road condition information includes:

[0026] When the yaw angular velocity is greater than a set threshold, setting the steering brake device to enter the auxiliary steering mode;

[0027] According to the yaw angular velocity and the road condition information, a second control signal is output to the steering brake device, so that the steering brake device adjusts the steering force of each third wheel on the third axle according to the second control signal.

[0028] Optionally, the method further comprises:

[0029] When the yaw angular velocity is less than or equal to a set threshold, the steering brake device is set to be in the active steering mode.

[0030] According to a second aspect of the present disclosure, there is also provided a vehicle control device, comprising:

[0031] An information acquisition module, used to respond to the active steering command output by the steering brake device and detect the road condition information of the vehicle;

[0032] A data acquisition module, used for acquiring longitudinal offset data and lateral offset data of the vehicle when the road condition information indicates a change in road surface state;

[0033] A drive control module, used for controlling the drive device according to the longitudinal offset data;

[0034] A steering control module is used to control the steering brake device according to the lateral offset data.

[0035] According to a third aspect of the present disclosure, a vehicle control device is also provided, comprising a memory and a processor, wherein the memory is used to store a computer program; the processor is used to execute the computer program to implement the method described in the first aspect of the present disclosure.

[0036] According to a fourth aspect of the present disclosure, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0037] According to a fifth aspect of the present disclosure, a computer program product is further provided, comprising a computer program, wherein when the computer program is executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0038] According to a sixth aspect of the present disclosure, a vehicle is further provided, comprising:

[0039] It includes a driving device, a steering and braking device, and a control device;

[0040] Wherein, the control device is the control device of the vehicle described in the first aspect, and the control device is respectively communicated with the driving device and the steering and braking device to control the driving device and the steering and braking device.

[0041] A beneficial effect of the embodiments of the present disclosure is that the vehicle control method provided by the present invention can detect the road condition information of the vehicle when the vehicle is turning, and when the road condition information indicates a change in the road surface state, obtain the longitudinal offset data and lateral offset data of the vehicle, control the driving device by the longitudinal offset data, and control the steering and braking device by the lateral offset data, thereby achieving the change in the road surface during the vehicle turning process and adjusting the longitudinal and lateral stability of the vehicle. The vehicle control method can be applicable to vehicles with different drive modes such as front-wheel drive, rear-wheel drive or four-wheel drive, and has low hardware requirements for the vehicle.

[0042] Other features and advantages of the embodiments of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0044] Figure 1 is a schematic diagram of a structure of a vehicle to which an embodiment of the present invention can be applied;

[0045] Figure 2 is a flow chart of a vehicle control method according to an embodiment;

[0046] Figure 3 is a block diagram of a control device for a vehicle according to an embodiment;

[0047] Figure 4 is a schematic diagram of the hardware structure of a vehicle control device according to an embodiment. DETAILED DESCRIPTION

[0048] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0049] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0050] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0051] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0052] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0053] <System Embodiment>

[0054] Figure 1 FIG. 1 is a schematic diagram of a structure of a vehicle to which an embodiment of the present invention can be applied. Figure 1 As shown, the vehicle may include a road condition detection device 10 , a control device 20 , a driving device 30 and a steering and braking device 40 .

[0055] The above road condition detection device 10 may include a preview system 11, a driver's input device 12 and a road surface detection sensor 13. The preview system 11 may be an existing preview system, and the preview system 11 may be a front camera to monitor the road condition in front of the vehicle in real time. The driver's input device 12 may be a touch screen or a button in the vehicle cabin, so that the driver can manually input the road condition in front of the vehicle. The road surface detection sensor 13 is, for example, an infrared sensor to detect the road condition in front of the vehicle.

[0056] The above driving device 30 may be a driving motor of a vehicle, which may control the rotation of one wheel of the vehicle, may control the rotation of each wheel of one axle of the vehicle, or may control the rotation of all wheels of the vehicle, which is not limited here.

[0057] The above steering brake device 40 may include a steering component 41 and a brake component 42. The steering component 41 may control the wheels of the vehicle to rotate independently, may control the wheels of one axle of the vehicle to rotate simultaneously, or may control the wheels of different axles of the vehicle to rotate in coordination, which is not limited here. For example, the rotating component may control the front wheels of the vehicle to rotate to a larger angle, while controlling the rear wheels of the vehicle to rotate to a smaller angle, so that the turning radius of the vehicle is smaller, thereby making the vehicle more flexible. The brake component 42 may control the wheels of the vehicle to stop rotating or rotate at a low speed independently, and may control the wheels of one axle of the vehicle to stop rotating or rotate at a low speed, which is not limited here.

[0058] The above control device 20 can be an electronic control unit (ECU), which can be electrically connected to the road condition detection device 10, the drive device 30 and the steering and braking device 40 respectively, or can be communicatively connected to the road condition detection device 10, the drive device 30 and the steering and braking device 40 respectively, which is not limited here.

[0059] As used in the embodiments of the present disclosure, the memory of the control device 20 is used to store a computer program, which is used to control the processor of the control device 20 to operate according to the vehicle control method of any embodiment. A technician can design a computer program according to the scheme of the embodiments of the present disclosure. How the computer program controls the processor to operate is well known in the art, so it will not be described in detail here.

[0060] <Method Example>

[0061] Figure 2 is a flow chart of a vehicle control method according to an embodiment. Figure 1 Middle control device 20.

[0062] like Figure 2 As shown, the vehicle control method of this embodiment may include the following steps S210 to S240:

[0063] Step S210, responding to the active steering command output by the steering brake device, detecting the road condition information of the vehicle.

[0064] In some examples, the steering brake device may include a steering wheel angle sensor, which can detect whether the driver controls the steering wheel to turn, and the steering wheel angle sensor can feedback the turning angle to the steering brake device, and the steering brake device can generate a corresponding active steering instruction to control the wheel to turn a corresponding angle. The control device can also respond to the active steering instruction to control the road condition detection device to work.

[0065] Step S220: When the road condition information indicates that the road surface state has changed, the longitudinal offset data and the lateral offset data of the vehicle are obtained.

[0066] In this embodiment, the change in road surface state may be a change in road surface adhesion. For example, when a vehicle travels from a dry road to a wet road or an icy road, the road surface state may change from adhesion corresponding to a dry road to adhesion corresponding to a wet road or an icy road.

[0067] In some examples, taking a vehicle with four wheels as an example, the longitudinal offset data can be represented by the relative speed deviation between the two front wheels and the two rear wheels of the vehicle and the vehicle speed, that is, it can be represented by the slip rate. The lateral offset data can be represented by the relative speed deviation between the two wheels on the same axle of the vehicle and the steering angle of the wheels, that is, it can be represented by the yaw angle.

[0068] In some examples, when the road condition information indicates that the road surface state has not changed or no active steering command has been obtained, there is no need to turn on the wheel speed sensor or the yaw rate sensor, etc., so there is no need to obtain the longitudinal offset data and lateral offset data of the vehicle.

[0069] In some embodiments, in order to accurately control the driving device and steering and braking device of the vehicle when the road surface changes, the working time of each sensor that detects the offset data is reduced. The road condition information may include a first estimated time for the vehicle to reach a first position; wherein the first position is the position when the change in road adhesion exceeds a set change. Step S220 may include the following step S310:

[0070] Step S310, when the vehicle travels for a first time period, obtaining longitudinal offset data and lateral offset data of the vehicle.

[0071] In this embodiment, the setting change amount can be set manually, which is not limited here.

[0072] In this embodiment, the preview system can feed back the distance between the current position and the first position to the control device, and the control device can estimate the first time to reach the first position according to the vehicle speed and the distance. At the same time, the control device can establish a connection with the drive device and the steering brake device, so that the drive device and the steering brake device are in a standby state.

[0073] In other words, the control device can represent the change in road surface state by the first time duration of reaching the road surface with different adhesion, so as to realize digital control of the vehicle.

[0074] Step S230, controlling the driving device according to the longitudinal offset data.

[0075] In some examples, when the longitudinal offset data indicates that the slip rate is high, if the road adhesion changes from high adhesion to low adhesion, the drive device can be controlled to reduce the drive force, that is, reduce the drive voltage of the drive motor that drives the wheels to rotate. If the road adhesion changes from low adhesion to high adhesion, the drive device can be controlled to increase the drive force, that is, increase the drive voltage of the drive motor that drives the wheels to rotate.

[0076] In some embodiments, the vehicle further includes a wheel speed sensor, and the longitudinal offset data includes a slip rate obtained by the wheel speed sensor. Step S230 may include the following step S410:

[0077] Step S410: When the slip rate exceeds a set range, a driving signal is output to the driving device according to the slip rate and road condition information.

[0078] In this embodiment, the setting range is, for example, 10%-15% or 12%-15%, etc., which can be set manually and is not limited here.

[0079] In other words, the control device determines whether to control the driving device according to the slip rate, so as to realize digital control of the driving device.

[0080] In some embodiments, in order to control the driving device to reduce the occurrence of vehicle slippage, step S410 may include the following steps S4101 and S4102:

[0081] Step S4101: According to the slip rate and the road condition information indicating that the road adhesion is reduced to a first value, a first driving signal is output to the driving device, so that the driving device reduces the driving force of the vehicle according to the first driving signal.

[0082] In this embodiment, different road adhesion values ​​may correspond to different first driving signals, and the specific corresponding relationship may be set manually and is not limited here.

[0083] Step S4102: According to the slip rate and the road condition information indicating that the road adhesion is increased to a second value, a second driving signal is output to the driving device, so that the driving device increases the driving force of the vehicle according to the second driving signal.

[0084] In other words, when the road adhesion decreases sharply, the control device can control the drive device to reduce the driving force on the vehicle, so that the vehicle slows down. When the road adhesion increases suddenly, the control device can control the drive device to increase the driving force on the vehicle, so that the vehicle speeds up, thereby effectively reducing the occurrence of vehicle slippage.

[0085] Step S240, controlling the steering brake device according to the lateral offset data.

[0086] In some examples, when the lateral offset data indicates that the yaw rate is large, if the road adhesion changes, the wheels on one side can be braked, that is, the speed of the wheels on one side can be reduced, or the rear wheels can be controlled to rotate to change the turning radius of the vehicle.

[0087] In some embodiments, in order to control the steering brake device to reduce the occurrence of vehicle yaw, the vehicle further includes a yaw rate sensor, and the lateral offset data includes the yaw rate obtained by the yaw rate sensor. Step S240 may include the following step S510:

[0088] Step S510: When the yaw angular velocity is greater than a set threshold, a control signal is output to the steering brake device according to the yaw angular velocity and road condition information.

[0089] In this embodiment, the threshold value is set to, for example, 2 radians / second or 5 radians / second, etc. It can be set manually and is not limited here.

[0090] In other words, the control device determines whether to control the steering brake device according to the yaw angular velocity to achieve digital control of the steering brake device.

[0091] In some embodiments, the steering brake device brakes the first wheel of the first axle of the vehicle separately. Step S510 may include the following steps S5101:

[0092] Step S5101: when the yaw angular velocity is greater than a set threshold, a first control signal is output to the steering brake device according to the yaw angular velocity and road condition information, so that the steering brake device adjusts the braking force on the first wheel according to the first control signal.

[0093] In some examples, taking the vehicle as a four-wheel vehicle, the first wheel is one of the two front wheels of the vehicle, the first axle is the axle corresponding to the front wheel of the vehicle, and the braking component of the steering brake device can control the two first wheels to rotate at different speeds.

[0094] In this embodiment, different yaw angular velocities may correspond to different first control signals, and the specific corresponding relationship may be set manually and is not limited here.

[0095] In some examples, when the yaw rate is greater than a set threshold and the yaw rate is relatively large, a first control signal is output to the steering brake device with a larger braking force, so as to apply a larger braking force to a faster first wheel among the two first wheels.

[0096] In some embodiments, the vehicle has an active steering mode and an assisted steering mode. When the vehicle is in the active steering mode, the steering brake device controls the second wheels on the second axle of the vehicle to steer simultaneously. When the vehicle is in the assisted steering mode, the steering brake device controls the second wheels on the second axle to steer simultaneously, and controls the third wheels on the third axle of the vehicle to steer simultaneously.

[0097] The step S510 may include the following steps S5102 and S5103:

[0098] Step S5102, when the yaw angular velocity is greater than a set threshold, setting the steering brake device to enter an auxiliary steering mode.

[0099] In some examples, taking the vehicle as a four-wheel vehicle, the second wheels are the two front wheels of the vehicle, the second axle is the axle corresponding to the two front wheels, the third wheels are the two rear wheels of the vehicle, and the third axle is the axle corresponding to the two rear wheels. While the second wheel rotates, the third wheel can also cooperate with steering to reduce the turning radius of the vehicle.

[0100] In this embodiment, when the vehicle is in the auxiliary steering mode, the control device can control the rear wheel steering to reduce the yaw angular velocity of the front wheels.

[0101] Step S5103: output a second control signal to the steering brake device according to the yaw angular velocity and the road condition information, so that the steering brake device adjusts the steering force of each third wheel on the third axle according to the second control signal.

[0102] In some examples, for a vehicle with an auxiliary steering mode, the corresponding turning angle coefficients of the second wheel and the third vehicle can be set according to the turning angle of the second wheel, and a two-degree-of-freedom dynamic model of the rear wheel steering can be established. The specific expression is as follows:

[0103]

[0104] In formula (1), k1 is the cornering stiffness of the second wheel, k2 is the cornering stiffness of the front and rear wheels; β is the speed of the second wheel; is the time derivative of the speed of the second wheel; δ1 is the turning angle of the first wheel; δ2 is the turning angle of the second wheel; m is the mass of the vehicle; u is the speed of the vehicle; a is the distance from the center of mass to the front axle, b is the distance from the center of mass to the rear axle; W r is the yaw angular velocity; is the time derivative of the yaw rate; I z is the moment of inertia of the vehicle around the Z axis, where the Z axis is the axis of the vehicle's height direction.

[0105] In w r = 0, the vehicle does not yaw, and w r =0 is substituted into formula (1) to obtain the expression of the rotation angle proportional coefficient k of the first wheel and the second wheel, which is specifically as follows:

[0106]

[0107] The angle ratio coefficient k between the first wheel and the second wheel is δ2 / δ1, and the angle of the third wheel can be obtained according to the above k and the angle of the second wheel, and the direction of the angle of the third wheel is opposite to the direction of the yaw. The control device can generate a corresponding second control signal according to the angle of the third wheel and the direction of the angle, so that the steering brake device adjusts the steering force of each third wheel on the third axle according to the second control signal.

[0108] In other words, by utilizing the third wheel, the occurrence of vehicle yaw is reduced, effectively improving the utilization efficiency of the third wheel.

[0109] In some embodiments, the method further includes the following step S610:

[0110] Step S610: When the yaw angular velocity is less than or equal to a set threshold, the steering brake device is set to an active steering mode.

[0111] In other words, when the vehicle's yaw angular velocity is small, using the second wheel as the steering wheel can effectively improve the stability of the vehicle when turning.

[0112] <Equipment Example 1>

[0113] Figure 3 is a functional block diagram of a control device according to an embodiment. Figure 3 As shown, the control device 300 of the vehicle may include an information acquisition module 310 , a data acquisition module 320 , a drive control module 330 and a steering control module 340 .

[0114] The information acquisition module 310 is used to respond to the active steering command output by the steering brake device and detect the road condition information of the vehicle;

[0115] The data acquisition module 320 is used to acquire longitudinal offset data and lateral offset data of the vehicle when the road condition information indicates that the road surface state changes;

[0116] The drive control module 330 is used to control the drive device according to the longitudinal offset data;

[0117] The steering control module 340 is used to control the steering brake device according to the lateral deviation data.

[0118] Optionally, the data acquisition module 320 is further configured to acquire longitudinal offset data and lateral offset data of the vehicle when the vehicle travels for a first time period.

[0119] Optionally, the drive control module 330 is further configured to output a drive signal to the drive device according to the slip rate and road condition information when the slip rate exceeds a set range.

[0120] Optionally, the drive control module 330 is also used to output a first drive signal to the drive device when the slip rate and road condition information indicate that the road adhesion is reduced to a first value, so that the drive device reduces the driving force of the vehicle according to the first drive signal; and output a second drive signal to the drive device when the slip rate and road condition information indicate that the road adhesion is increased to a second value, so that the drive device increases the driving force of the vehicle according to the second drive signal.

[0121] Optionally, the steering control module 340 is further configured to output a control signal to the steering brake device according to the yaw angular velocity and road condition information when the yaw angular velocity is greater than a set threshold.

[0122] Optionally, the steering control module 340 is also used to output a first control signal to the steering brake device according to the yaw angular velocity and road condition information when the yaw angular velocity is greater than a set threshold, so that the steering brake device adjusts the braking force on the first wheel according to the first control signal.

[0123] Optionally, the steering control module 340 is further configured to set the steering brake device to enter an auxiliary steering mode when the yaw angular velocity is greater than a set threshold;

[0124] According to the yaw angular velocity and the road condition information, a second control signal is output to the steering brake device, so that the steering brake device adjusts the steering force of each third wheel on the third axle according to the second control signal.

[0125] Optionally, the control device 300 of the vehicle further includes a mode setting module, and the mode setting module is used to set the steering brake device to an active steering mode when the yaw angular velocity is less than or equal to a set threshold.

[0126] The vehicle control device 300 may be Figure 1 The control device 20 in.

[0127] <Equipment Example 2>

[0128] Figure 4 is a schematic diagram of the hardware structure of a vehicle control device according to another embodiment.

[0129] like Figure 4 As shown, the control device 400 of the vehicle includes a processor 410 and a memory 420, wherein the memory 420 is used to store an executable computer program, and the processor 410 is used to execute a method such as any of the above method embodiments according to the control of the computer program.

[0130] The vehicle control device 400 may be Figure 1 The control device 20 in.

[0131] Each module of the above control device 300 can be implemented by the processor 410 in this embodiment executing a computer program stored in the memory 420, or can be implemented by other structures, which is not limited here.

[0132] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0133] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0134] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0135] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0136] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0137] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0138] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0139] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0140] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A vehicle control method, characterized in that: The vehicle comprises a driving device and a steering brake device, and the method comprises: In response to the active steering command output by the steering brake device, detecting road condition information of the vehicle; When the road condition information indicates a change in road surface state, obtaining longitudinal offset data and lateral offset data of the vehicle; controlling the driving device according to the longitudinal offset data; The steering brake device is controlled according to the lateral deviation data.

2. The method according to claim 1, characterized in that The road condition information includes a first estimated time duration for the vehicle to reach a first position; wherein the first position is a position when a change in road adhesion exceeds a set change; When the road condition information indicates that the road surface state changes, obtaining the longitudinal offset data and the lateral offset data of the vehicle includes: When the vehicle travels for the first time period, longitudinal offset data and lateral offset data of the vehicle are acquired.

3. The method according to claim 1, characterized in that The vehicle further includes a wheel speed sensor, and the longitudinal offset data includes a slip rate obtained by the wheel speed sensor; The step of controlling the driving device according to the longitudinal offset data comprises: When the slip ratio exceeds a set range, a driving signal is output to the driving device according to the slip ratio and the road condition information.

4. The method according to claim 3, characterized in that The step of outputting the driving signal to the driving device according to the slip rate and the road condition information comprises: outputting a first driving signal to the driving device according to the slip rate and the road condition information indicating that the road adhesion is reduced to a first value, so that the driving device reduces the driving force of the vehicle according to the first driving signal; According to the slip rate and the road condition information indicating that the road adhesion is improved to a second value, a second driving signal is output to the driving device, so that the driving device increases the driving force of the vehicle according to the second driving signal.

5. The method according to claim 1, characterized in that The vehicle further includes a yaw rate sensor, and the lateral offset data includes a yaw rate obtained by the yaw rate sensor; The step of controlling the steering brake device according to the lateral offset data comprises: When the yaw angular velocity is greater than a set threshold, a control signal is output to the steering brake device according to the yaw angular velocity and the road condition information.

6. The method according to claim 5, characterized in that The steering brake device brakes the first wheel of the first axle of the vehicle individually; When the yaw angular velocity is greater than a set threshold, outputting a control signal to the steering brake device according to the yaw angular velocity and the road condition information includes: When the yaw angular velocity is greater than a set threshold, a first control signal is output to the steering brake device according to the yaw angular velocity and the road condition information, so that the steering brake device adjusts the braking force on the first wheel according to the first control signal.

7. The method according to claim 5, characterized in that The vehicle has an active steering mode and an auxiliary steering mode. In the active steering mode, the steering brake device controls the second wheels on the second axle of the vehicle to steer simultaneously. In the auxiliary steering mode, the steering brake device controls the second wheels on the second axle to steer simultaneously and controls the third wheels on the third axle of the vehicle to steer simultaneously. When the yaw angular velocity is greater than a set threshold, outputting a control signal to the steering brake device according to the yaw angular velocity and the road condition information includes: When the yaw angular velocity is greater than a set threshold, setting the steering brake device to enter the auxiliary steering mode; According to the yaw angular velocity and the road condition information, a second control signal is output to the steering brake device, so that the steering brake device adjusts the steering force of each third wheel on the third axle according to the second control signal.

8. The method according to claim 7, characterized in that The method further comprises: When the yaw angular velocity is less than or equal to a set threshold, the steering brake device is set to be in the active steering mode.

9. A vehicle control device, characterized in that: include: An information acquisition module, used to respond to the active steering command output by the steering brake device and detect the road condition information of the vehicle; A data acquisition module, used for acquiring longitudinal offset data and lateral offset data of the vehicle when the road condition information indicates a change in road surface state; A drive control module, used for controlling the drive device according to the longitudinal offset data; A steering control module is used to control the steering brake device according to the lateral offset data.

10. A vehicle control device, characterized in that: The invention comprises a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program to implement the method according to any one of claims 1 to 8.

11. A computer storage medium, characterized in that: The computer readable storage medium stores a computer program, which implements the method according to any one of claims 1 to 8 when executed by a processor.

12. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 8 when being executed by a processor.

13. A vehicle, characterized in that: It includes a driving device, a steering and braking device, and a control device; Wherein, the control device is the control device of the vehicle according to claim 9 or 10, and the control device is communicatively connected with the driving device and the steering and braking device respectively to control the driving device and the steering and braking device.

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