Vehicle transverse driving control method and device and vehicle

Abstract

The invention relates to a vehicle transverse driving control method and device and a vehicle, and the method comprises the steps that the vehicle transverse driving direction and the front wheel steering direction are obtained; the steering direction of a rear wheel is determined, and the steering direction of the rear wheel is opposite to the steering direction of the front wheel; and according to the front wheel steering direction and the rear wheel steering direction, the vehicle is controlled to run transversely.

Description

Technical Field

[0001] The present disclosure relates to vehicle technology, and more specifically, to a control method and device for lateral travel of a vehicle and a vehicle. Background Art

[0002] With the development of automobile technology, the requirements for automobile driving functions are getting higher and higher, for example, crab driving.

[0003] In the prior art, when performing a crab maneuver, although the vehicle is displaced in the lateral direction, the vehicle inevitably moves in the longitudinal direction, and the vehicle cannot be completely moved sideways.

[0004] Therefore, it is necessary to provide a new technical solution to achieve the complete sideways movement of the vehicle. Summary of the invention

[0005] An object of the present invention is to provide a new technical solution for a method of controlling the lateral travel of a vehicle.

[0006] According to a first aspect of the present invention, there is provided a method for controlling lateral travel of a vehicle, comprising:

[0007] Obtain the vehicle's lateral driving direction and front wheel steering direction;

[0008] Determining a rear wheel steering direction, wherein the rear wheel steering direction is opposite to the front wheel steering direction;

[0009] The vehicle is controlled to travel laterally according to the front wheel steering direction and the rear wheel steering direction.

[0010] Optionally, the method further comprises: determining a front wheel drive torque and a rear wheel drive torque; wherein the direction of the front wheel drive torque is opposite to the direction of the rear wheel drive torque; wherein,

[0011] The controlling the vehicle to travel along the lateral travel direction of the vehicle according to the front wheel steering direction and the rear wheel steering direction comprises:

[0012] The vehicle is controlled to travel along the lateral travel direction of the vehicle according to the front wheel steering direction, the rear wheel steering direction, the front wheel driving torque and the rear wheel driving torque.

[0013] Optionally, the determining of the front wheel driving torque and the rear wheel driving torque includes:

[0014] Obtain the turning angle value of each wheel, the lateral force value of each wheel, the rolling friction value of each wheel, the distance value from the center of mass of the vehicle to the front axle, the distance value from the center of mass of the vehicle to the rear axle, the distance value from the center of the front axle of the vehicle to each front wheel, and the distance value from the center of the rear axle of the vehicle to each rear wheel;

[0015] The front wheel driving torque and the rear wheel driving torque are determined based on the steering angle value of each wheel, the lateral force value of each wheel, the rolling friction value of each wheel, the distance value from the center of mass of the vehicle to the front axle, the distance value from the center of mass of the vehicle to the rear axle, the distance value from the center of the front axle of the vehicle to each front wheel, and the distance value from the center of the rear axle of the vehicle to each rear wheel.

[0016] Optionally, determining the front wheel driving torque and the rear wheel driving torque according to the turning angle value of each wheel, the lateral force value of each wheel, the rolling friction value of each wheel, the distance value from the center of mass of the vehicle to the front axle, the distance value from the center of mass of the vehicle to the rear axle, the distance value from the center of the front axle of the vehicle to each front wheel, and the distance value from the center of the rear axle of the vehicle to each rear wheel includes:

[0017] According to the steering angle values ​​of each wheel, the lateral force values ​​of each wheel, the rolling friction values ​​of each wheel, and the driving torque of each wheel, a first dynamic relationship corresponding to the longitudinal driving direction of the vehicle and a second dynamic relationship corresponding to the lateral driving direction of the vehicle are established;

[0018] According to the left front wheel driving torque, the right front wheel driving torque, the left front wheel steering angle value and the right front wheel steering angle value, a third dynamic relationship is established in which the longitudinal driving torque of the left front wheel and the longitudinal driving torque of the right front wheel are equal;

[0019] According to the left rear wheel driving torque, the right rear wheel driving torque, the left rear wheel turning angle value and the right rear wheel turning angle value, a fourth dynamic relationship is established in which the longitudinal driving torque of the left rear wheel and the longitudinal driving torque of the right rear wheel are equal;

[0020] A fifth dynamic relationship corresponding to the yaw of the vehicle is established according to the turning angle value of each wheel, the lateral force value of each wheel, the rolling friction value of each wheel, the distance value from the center of mass of the vehicle to the front axle, the distance value from the center of mass of the vehicle to the rear axle, the distance value from the center of the front axle of the vehicle to each front wheel, and the distance value from the center of the rear axle of the vehicle to each rear wheel;

[0021] The front wheel driving torque and the rear wheel driving torque are determined according to the first dynamic relationship, the second dynamic relationship, the third dynamic relationship, the fourth dynamic relationship and the fifth dynamic relationship.

[0022] Optionally, the determining of the rear wheel steering direction, the front wheel driving torque and the rear wheel driving torque includes:

[0023] When the lateral driving direction of the vehicle is to the left and the steering direction of the front wheel is to the left, the steering direction of the rear wheel is determined to be to the right, the driving torque direction of the front wheel is forward, and the driving torque direction of the rear wheel is backward;

[0024] When the lateral driving direction of the vehicle is leftward and the front wheel steering direction is rightward, the rear wheel steering direction is determined to be leftward, the front wheel driving torque direction is backward, and the rear wheel driving torque direction is forward;

[0025] When the lateral driving direction of the vehicle is rightward and the front wheel steering direction is leftward, the rear wheel steering direction is determined to be rightward, the front wheel driving torque direction is backward, and the rear wheel driving torque direction is forward;

[0026] When the lateral driving direction of the vehicle is rightward and the front wheel steering direction is rightward, the rear wheel steering direction is determined to be leftward, the front wheel driving torque direction is forward, and the rear wheel driving torque direction is backward.

[0027] Optionally, the method further includes:

[0028] When it is determined that the front wheel driving torque and the rear wheel driving torque have a solution, performing an operation of controlling the vehicle driving according to the front wheel steering direction, the rear wheel steering direction, the front wheel driving torque and the rear wheel driving torque;

[0029] When it is determined that there is no solution for the front wheel driving torque and the rear wheel driving torque, no response is given to the vehicle lateral travel demand input by the driver.

[0030] Optionally, before determining the front wheel drive torque and the rear wheel drive torque, the method further includes:

[0031] Obtain the yaw angular velocity value collected by the yaw angular velocity sensor;

[0032] In a case where the yaw rate value is less than a preset yaw rate value, an operation of determining a front wheel driving torque and a rear wheel driving torque is performed.

[0033] Optionally, before determining the front wheel drive torque and the rear wheel drive torque, the method further includes:

[0034] Obtain the slip rate of each wheel;

[0035] In a case where the slip ratio of each wheel is within a preset slip ratio range, an operation of determining the front wheel driving torque and the rear wheel driving torque is performed.

[0036] Optionally, in the case of controlling the vehicle to travel laterally, the method further includes:

[0037] Get the vehicle speed value;

[0038] When the vehicle speed value is greater than a preset vehicle speed value, the control of the vehicle to travel laterally is stopped.

[0039] Optionally, in the case of controlling the vehicle to travel laterally, the method further includes:

[0040] Get the brake pedal opening value;

[0041] When the brake pedal opening value is greater than a preset opening value, the lateral movement of the vehicle is stopped.

[0042] According to a second aspect of the present invention, there is provided a device for controlling lateral travel of a vehicle, comprising:

[0043] An acquisition module, used to acquire the lateral driving direction of the vehicle and the front wheel steering direction;

[0044] A steering direction determination module, used to determine a rear wheel steering direction, wherein the rear wheel steering direction is opposite to the front wheel steering direction;

[0045] The control module is used to control the lateral travel of the vehicle according to the steering direction of the front wheels and the steering direction of the rear wheels.

[0046] According to a third aspect of the present invention, a device for controlling lateral travel of a vehicle is provided, comprising a memory and a processor, wherein the memory stores a computer program, and the computer program is used to control the processor to operate so as to execute a method for controlling lateral travel of a vehicle according to any one of the first aspects of the present invention.

[0047] According to a fourth aspect of the present invention, a vehicle is provided, comprising the vehicle lateral travel control device as described in the second aspect or the third aspect of the present invention.

[0048] The method for controlling the lateral travel of a vehicle provided by the present invention realizes the lateral travel of the vehicle by controlling the vehicle to travel in the lateral travel direction according to the steering direction of the front wheels and the steering direction of the rear wheels, through the steering direction of the rear wheels being opposite to the steering direction of the front wheels.

[0049] Features and advantages of the embodiments of the present specification will become apparent from the following detailed description of exemplary embodiments of the present specification with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the specification and, together with the description, serve to explain the principles of the embodiments of the specification.

[0051] Figure 1 Detailed description is a process flow chart of a method for controlling lateral travel of a vehicle according to an embodiment of the present invention.

[0052] Figure 2 Schematic diagram of wheel steering and wheel driving torque according to an embodiment of the present invention.

[0053] Figure 3 Schematic diagram of wheel steering and wheel driving torque according to an embodiment of the present invention.

[0054] Figure 4 Schematic diagram of wheel steering and wheel driving torque according to an embodiment of the present invention.

[0055] Figure 5 Schematic diagram of wheel steering and wheel driving torque according to an embodiment of the present invention.

[0056] Figure 6 Schematic diagram of various parameters for determining front wheel driving torque and rear wheel driving torque according to an embodiment of the present invention.

[0057] Figure 7 Detailed description is a process flow chart of a method for controlling lateral travel of a vehicle according to an embodiment of the present invention.

[0058] Figure 8 4 is a principle block diagram of a device for controlling lateral travel of a vehicle according to an embodiment of the present invention.

[0059] Fig. 9 Schematic diagram of the hardware structure of a vehicle lateral travel control device according to an embodiment of the present invention.

[0060] Fig.10 is a functional block diagram of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0061] Various exemplary embodiments of the present specification will now be described in detail with reference to the accompanying drawings.

[0062] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the embodiments of the present specification and its application or uses.

[0063] 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.

[0064] In one embodiment of the present invention, a method for controlling lateral travel of a vehicle is provided. Figure 1 As shown, the vehicle lateral travel control method of this embodiment may include the following steps S110 to S130.

[0065] Step S110, obtaining the lateral driving direction of the vehicle and the front wheel steering direction.

[0066] The vehicle's lateral travel direction may be selected by the driver. Specifically, the driver may select to turn on or off the vehicle's lateral travel mode (i.e., crab mode) through the vehicle-mounted display screen, or may select the vehicle's lateral travel direction through the vehicle-mounted display screen.

[0067] The lateral driving direction of the vehicle selected by the driver may be leftward or rightward, wherein the left and right are determined based on the driver's perspective.

[0068] The steering direction of the front wheels can be determined by the steering wheel angle sensor. When the driver turns the steering wheel to the left, the steering direction of the front wheels determined by the steering wheel angle sensor is left. When the driver turns the steering wheel to the right, the steering direction of the front wheels determined by the steering wheel angle sensor is right.

[0069] Step S120, determining the rear wheel steering direction, wherein the rear wheel steering direction is opposite to the front wheel steering direction.

[0070] When the vehicle's lateral driving direction is to the left and the front wheel steering direction is to the left, the rear wheel steering direction is determined to be right. When the vehicle's lateral driving direction is to the left and the front wheel steering direction is to the right, the rear wheel steering direction is determined to be left. When the vehicle's lateral driving direction is to the right and the front wheel steering direction is to the left, the rear wheel steering direction is determined to be right. When the vehicle's lateral driving direction is to the right and the front wheel steering direction is to the right, the rear wheel steering direction is determined to be left.

[0071] Step S130, controlling the vehicle to travel laterally according to the steering direction of the front wheels and the steering direction of the rear wheels.

[0072] In this embodiment, the rear wheel steering direction is opposite to the front wheel steering direction. According to the front wheel steering direction and the rear wheel steering direction, the vehicle is controlled to travel in the lateral travel direction of the vehicle, thereby achieving lateral travel of the vehicle.

[0073] In one embodiment, the method for controlling lateral travel of a vehicle further includes: determining a front wheel driving torque and a rear wheel driving torque; wherein the direction of the front wheel driving torque is opposite to the direction of the rear wheel driving torque.

[0074] In this embodiment, step S130 specifically includes: controlling the vehicle to travel along the lateral travel direction of the vehicle according to the front wheel steering direction, the rear wheel steering direction, the front wheel driving torque and the rear wheel driving torque.

[0075] This embodiment determines corresponding driving torques for the front and rear wheels respectively through different steering of the front and rear wheels, and the directions of the front wheel driving torque and the rear wheel driving torque are opposite, so that the direction of the resultant torque of the four-wheel driving torque of the whole vehicle is the same as the lateral driving direction of the vehicle, thereby driving the vehicle to achieve lateral driving and achieve a true crab walking effect.

[0076] The combined torque of the front wheel drive torque and the rear wheel drive torque can drive the vehicle along the lateral direction of the vehicle.

[0077] Specifically, when the vehicle is traveling in a lateral direction to the left and the front wheel is turning to the left, the rear wheel is turning to the right, the front wheel driving torque is forward, and the rear wheel driving torque is backward. Figure 2 , the front wheels shown in the figure are turned to the left and the rear wheels are turned to the right. Figure 2 The directions of the arrows shown represent the directions of the driving torques of the corresponding wheels, that is, the directions of the driving torques of the two front wheels are forward, and the directions of the driving torques of the two rear wheels are backward.

[0078] When the vehicle is traveling in the left lateral direction and the front wheel is turning in the right direction, the rear wheel is turning in the left direction, the front wheel driving torque is in the backward direction, and the rear wheel driving torque is in the forward direction. Figure 3 , the front wheels shown in the figure are turned to the right and the rear wheels are turned to the left. Figure 3 The directions of the arrows shown represent the directions of the driving torques of the corresponding wheels, that is, the directions of the driving torques of the two front wheels are both backward, and the directions of the driving torques of the two rear wheels are both forward.

[0079] When the vehicle is traveling in the right direction and the front wheel is turning to the left, the rear wheel is turning to the right, the front wheel driving torque is in the backward direction, and the rear wheel driving torque is in the forward direction. Figure 4 , the front wheels shown in the figure are turned to the left and the rear wheels are turned to the right. Figure 4 The directions of the arrows shown represent the directions of the driving torques of the corresponding wheels, that is, the directions of the driving torques of the two front wheels are both backward, and the directions of the driving torques of the two rear wheels are both forward.

[0080] When the vehicle is traveling in the right direction and the front wheel is turning to the right, the rear wheel is turning to the left, the front wheel driving torque is forward, and the rear wheel driving torque is backward. Figure 5 , the front wheels shown in the figure are turned to the right and the rear wheels are turned to the left. Figure 5 The directions of the arrows shown represent the directions of the driving torques of the corresponding wheels, that is, the directions of the driving torques of the two front wheels are forward, and the directions of the driving torques of the two rear wheels are backward.

[0081] In one embodiment, step S130 specifically includes steps S131 to S132.

[0082] Step S131, obtain the steering angle value of each wheel, the lateral force value of each wheel, the rolling friction value of each wheel, the distance value from the center of mass of the vehicle to the front axle, the distance value from the center of mass of the vehicle to the rear axle, the distance value from the center of the front axle of the vehicle to each front wheel, and the distance value from the center of the rear axle of the vehicle to each rear wheel.

[0083] The driver turns the steering wheel, and the torque sensor in the vehicle steering system is used to collect the front wheel steering angle value corresponding to the steering wheel rotation, and send the steering angle value to the wheel steering control device to control the front wheel to produce the corresponding steering angle.

[0084] The turning angle value of the left rear wheel and the turning angle value of the right rear wheel are both preset values. The turning angle value of the left rear wheel and the turning angle value of the right rear wheel can be the same preset value or different preset values.

[0085] The lateral force of the wheel is the magnitude of the lateral force exerted on the wheel by the ground during the vehicle's driving process. The lateral force here refers to the direction perpendicular to the vehicle's driving direction.

[0086] The lateral force value of each wheel can be determined according to the slip rate of the corresponding wheel. Specifically, a correspondence table of the slip rate of the wheel and the lateral force value of the wheel is pre-stored, and the lateral force value of the wheel can be found from the correspondence table using the slip rate of the wheel. The slip rate of the wheel can be determined according to the wheel speed, and the wheel speed can be acquired by a wheel speed sensor.

[0087] The rolling friction value of each wheel can be determined based on the mass of the vehicle and the rolling friction coefficient. The rolling friction coefficient can be determined based on the road adhesion coefficient, that is, the road adhesion coefficient can be directly used as the rolling friction coefficient. The road adhesion coefficient can be determined based on the road image collected by the camera. Alternatively, the road adhesion coefficient can be determined based on the ground braking force of the vehicle traveling on the current road surface.

[0088] Step S132, determines the front wheel driving torque and the rear wheel driving torque according to the steering angle value of each wheel, the lateral force value of each wheel, the rolling friction value of each wheel, the distance value from the center of mass of the vehicle to the front axle, the distance value from the center of mass of the vehicle to the rear axle, the distance value from the center of the front axle of the vehicle to each front wheel, and the distance value from the center of the rear axle of the vehicle to each rear wheel.

[0089] In one embodiment, step S132 specifically includes establishing a first dynamic relationship corresponding to the longitudinal driving direction of the vehicle and a second dynamic relationship corresponding to the lateral driving direction of the vehicle according to the steering angle value of each wheel, the lateral force value of each wheel, the rolling friction value of each wheel, and the driving torque of each wheel; establishing a third dynamic relationship in which the longitudinal driving torque of the left front wheel and the longitudinal driving torque of the right front wheel are equal according to the left front wheel driving torque, the right front wheel driving torque, the left front wheel steering angle value, and the right front wheel steering angle value; establishing a third dynamic relationship in which the longitudinal driving torque of the left front wheel and the longitudinal driving torque of the right front wheel are equal according to the left rear wheel driving torque, the right rear wheel driving torque, the left rear wheel steering angle value, and the right rear wheel steering angle value. A fourth dynamic relationship is established in which the longitudinal driving torque of the left rear wheel is equal to that of the right rear wheel; a fifth dynamic relationship corresponding to the vehicle yaw is established according to the turning angle value of each wheel, the lateral force value of each wheel, the rolling friction value of each wheel, the distance value from the center of mass of the vehicle to the front axle, the distance value from the center of mass of the vehicle to the rear axle, the distance value from the center of the front axle of the vehicle to each front wheel, and the distance value from the center of the rear axle of the vehicle to each rear wheel; the front wheel driving torque and the rear wheel driving torque are determined according to the first dynamic relationship, the second dynamic relationship, the third dynamic relationship, the fourth dynamic relationship and the fifth dynamic relationship.

[0090] It should be noted that the driving torque based on each wheel can be decomposed into lateral driving torque and longitudinal driving torque. The lateral driving torque is the driving torque along the lateral direction of the vehicle. The longitudinal driving torque is the driving torque in the vertical direction along the lateral direction of the vehicle.

[0091] The distance from the center of the front axle of the vehicle to the left front wheel is equal to the distance from the center of the front axle of the vehicle to the right front wheel. The distance from the center of the rear axle of the vehicle to the left rear wheel is equal to the distance from the center of the rear axle of the vehicle to the right rear wheel.

[0092] Specifically, the left front wheel driving torque, the right front wheel driving torque, the left rear wheel driving torque and the right rear wheel driving torque are calculated using the first dynamic relationship, the third dynamic relationship, the fourth dynamic relationship and the fifth dynamic relationship. Then, the second dynamic relationship is used to verify whether the resultant torque of the left front wheel driving torque, the right front wheel driving torque, the left rear wheel driving torque and the right rear wheel driving torque can drive the vehicle laterally.

[0093] In one embodiment, when it is determined that the front wheel drive torque and the rear wheel drive torque have a solution, an operation of controlling the vehicle's travel is performed according to the front wheel steering direction, the rear wheel steering direction, the front wheel drive torque and the rear wheel drive torque. When it is determined that there is no solution for the front wheel drive torque and the rear wheel drive torque, no response is given to the vehicle's lateral travel demand input by the driver.

[0094] If it is determined that the front-wheel drive torque and the rear-wheel drive torque have a solution, it means that the vehicle can achieve lateral driving under the current driving road surface and current state. Then, according to the front-wheel steering direction, the rear-wheel steering direction, the front-wheel drive torque and the rear-wheel drive torque, the steering system of the vehicle is controlled to achieve front-wheel steering and rear-wheel steering, and the power system of the vehicle is controlled to output the corresponding front-wheel drive torque and rear-wheel drive torque.

[0095] If it is determined that there is no solution for the front wheel drive torque and the rear wheel drive torque, it means that the vehicle cannot achieve lateral movement under the current driving road surface and current state, and therefore, the vehicle will not respond to the lateral movement demand input by the driver.

[0096] by Figure 4 As shown, the front wheels turn left, the rear wheels turn right, the driving torque directions of the two front wheels are backward, and the driving torque directions of the two rear wheels are forward. Figure 6 The parameters shown are used to establish the first dynamic relationship, the second dynamic relationship, the third dynamic relationship, the fourth dynamic relationship and the fifth dynamic relationship. The specific dynamic relationships are as follows. Figure 6 The y-axis direction shown represents the lateral travel direction of the vehicle, and the x-axis direction represents the longitudinal travel direction of the vehicle.

[0097] The first kinetic relationship is: T 1 cosδ 1 +F 1 sinδ 1 -f 1 cosδ 1 +T 2 cosδ 2 +F 2 sinδ 2 -f 2 cosδ 2 -T 3 cosδ 3 -F 3 sinδ 3 +f 3 cosδ 3 -T 4 cosδ 4 -F 4 sinδ 4 +f 4 cosδ 4 =0.

[0098] The second kinetic relationship is: T 1 sinδ 1 -F 1 cosδ 1 -f 1 sinδ 1 +T2 sinδ 2 -F 2 cosδ 2 -f 2 sinδ 2 +T 3 sinδ 3 -F 3 cosδ 3 -f 3 sinδ 3 +T 4 sinδ 4 -F 4 cosδ 4 -f 4 sinδ 4 ≥0.

[0099] The third kinetic relationship is: T 1 cosδ 1 =T 2 cosδ 2 .

[0100] The fourth kinetic relationship is: T 3 cosδ 3 =T 4 cosδ 4 .

[0101] The fifth kinetic relationship is:

[0102] Among them, T 1 is the left front wheel driving torque, T 2 is the right front wheel driving torque, T 3 is the right rear wheel driving torque, T 4 is the left rear wheel driving torque. 1 is the turning angle of the left front wheel, δ 2 is the turning angle of the right front wheel, δ 3 is the turning angle of the right rear wheel, δ 4 is the turning angle of the left rear wheel. 1 is the lateral force of the left front wheel, F 2 is the lateral force of the right front wheel, F 3 is the lateral force of the right rear wheel, F 4 is the lateral force of the left rear wheel. 1 is the rolling friction value of the left front wheel, f 2 is the rolling friction value of the right front wheel, f 3 is the rolling friction value of the right rear wheel, f 4 is the rolling friction value of the left rear wheel. 1 is the distance from the center of the vehicle's front axle to each front wheel, l2 is the distance from the center of the vehicle's rear axle to each rear wheel. a is the distance from the center of mass of the vehicle to the front axle, and b is the distance from the center of mass of the vehicle to the rear axle.

[0103] It should be noted that although the parameters of the above dynamic formulas represent different physical meanings, when using the above dynamic formulas to calculate the front-wheel drive torque and the rear-wheel drive torque, only the numerical values ​​of the parameters are input, and the units of the parameters are not considered.

[0104] In one embodiment, after the driver selects the lateral driving direction of the vehicle, it is detected whether the vehicle throttle is turned on. If it is detected that the vehicle throttle is turned on, the above steps of determining the front wheel driving torque and the rear wheel driving torque are performed. If it is detected that the vehicle throttle is not turned on, the operation of the lateral driving of the vehicle selected by the driver is not responded to.

[0105] The operation of detecting whether the vehicle throttle is on can be performed after the driver selects the lateral driving direction of the vehicle, or after the above step S110 and before step S120, or after the rear wheel steering direction is determined in the above step S120 and before the front wheel driving torque and the rear wheel driving torque are determined.

[0106] In one embodiment, before determining the front wheel driving torque and the rear wheel driving torque, the method further includes: acquiring a yaw angular velocity value collected by a yaw angular velocity sensor; and when the yaw angular velocity value is less than a preset yaw angular velocity value, executing an operation of determining the front wheel driving torque and the rear wheel driving torque.

[0107] In this embodiment, when the yaw rate value is greater than or equal to the preset yaw rate value, the vehicle braking system is controlled to brake the left rear wheel or the right rear wheel of the vehicle so that the yaw rate value is less than the preset yaw rate value. Specifically, when the yaw rate value is greater than or equal to the preset yaw rate value, the vehicle will drift. When the vehicle drifts left, the vehicle braking system is controlled to brake the left rear wheel of the vehicle. When the vehicle drifts right, the vehicle braking system is controlled to brake the right rear wheel of the vehicle.

[0108] This can avoid the problem that the lateral driving effect does not meet the driver's expectations due to the vehicle yaw, which occurs before the front wheel driving torque and the rear wheel driving torque are determined during the vehicle driving process. When the yaw angular velocity value is greater than or equal to the preset yaw angular velocity value, the vehicle braking system is controlled to brake the left rear wheel or the right rear wheel of the vehicle so that the yaw angular velocity value is less than the preset yaw angular velocity value, the vehicle body posture is kept stable, and the vehicle is ensured to complete the crab action in the selected lateral driving direction.

[0109] In one embodiment, before determining the front wheel driving torque and the rear wheel driving torque, the method further includes: obtaining the slip rate of each wheel; and when the slip rate of each wheel is within a preset slip rate range, performing operations to determine the front wheel driving torque and the rear wheel driving torque.

[0110] It should be noted that when the vehicle is traveling laterally, it needs to overcome the lateral force applied to the wheels by the ground. Within the preset slip rate range, the lateral force exerted on the wheels will be reduced to a stable value, while the longitudinal force of the wheels will be maintained at a higher value. In this way, the possibility of having a solution for the front wheel drive torque and the rear wheel drive torque will increase.

[0111] In this embodiment, when the slip rate of at least one wheel is not within the preset slip rate range, the vehicle braking system is controlled to brake the vehicle to reduce the vehicle speed, thereby making the slip rate of each wheel within the preset slip rate range to increase the possibility of a solution for the front wheel drive torque and the rear wheel drive torque.

[0112] The slip rate of each wheel can be determined based on the wheel speed of each wheel, and the wheel speed of each wheel can be acquired by a corresponding wheel speed sensor.

[0113] In one embodiment, when controlling the lateral movement of the vehicle, the method further includes: obtaining a vehicle speed value; and when the vehicle speed value is greater than a preset vehicle speed value, stopping controlling the lateral movement of the vehicle to ensure driving safety.

[0114] In one embodiment, when controlling the lateral movement of the vehicle, the method further includes: obtaining a brake pedal opening value; and when the brake pedal opening value is greater than a preset opening value, stopping controlling the lateral movement of the vehicle to ensure driving safety.

[0115] The following is a specific embodiment of the vehicle lateral travel control method provided by the present invention. Figure 7 The vehicle lateral travel control method includes steps S701 to S718.

[0116] Step S701, obtaining the vehicle's lateral driving direction and front wheel steering direction selected by the driver.

[0117] Step S702, determining the rear wheel steering direction, the front wheel driving torque direction and the rear wheel driving torque direction, wherein the rear wheel steering direction is opposite to the front wheel steering direction, and the front wheel driving torque direction is opposite to the rear wheel driving torque direction.

[0118] Step S703, detecting whether the vehicle throttle is on.

[0119] When the result of executing step S703 is no, step S704 is executed to not respond to the operation of the vehicle moving sideways selected by the driver.

[0120] If the result of executing step S703 is yes, step S705 is executed to obtain the yaw angular velocity value collected by the yaw angular velocity sensor.

[0121] Step S706, determining whether the yaw angular velocity value is less than a preset yaw angular velocity value.

[0122] If the judgment result of step S706 is no, step S707 is executed to control the vehicle braking system to brake the left rear wheel or the right rear wheel of the vehicle so that the yaw angular velocity value is less than the preset yaw angular velocity value.

[0123] If the judgment result of step S706 is yes, step S708 is executed to obtain the slip rate of each wheel.

[0124] Step S709: determining whether the slip rate of each wheel is within a preset slip rate range.

[0125] When the judgment result of step S709 is that the slip rate of at least one wheel is not within the preset slip rate range, step S710 is executed to control the vehicle braking system to brake the vehicle to reduce the vehicle speed, thereby making the slip rate of each wheel within the preset slip rate range.

[0126] If the judgment result of step S709 is yes, execute step S711 to obtain the steering angle value of each wheel, the lateral force value of each wheel, the rolling friction value of each wheel, the distance value from the center of mass of the vehicle to the front axle, the distance value from the center of mass of the vehicle to the rear axle, the distance value from the center of the front axle of the vehicle to the left front wheel or the right front wheel, and the distance value from the center of the rear axle of the vehicle to the left rear wheel or the right rear wheel.

[0127] Step S712, determines whether there is a solution for the front wheel driving torque and the rear wheel driving torque based on the steering angle value of each wheel, the lateral force value of each wheel, the rolling friction value of each wheel, the distance value from the center of mass of the vehicle to the front axle, the distance value from the center of mass of the vehicle to the rear axle, the distance value from the center of the front axle of the vehicle to the left front wheel or the right front wheel, and the distance value from the center of the rear axle of the vehicle to the left rear wheel or the right rear wheel.

[0128] If the execution result of step S712 is that there is no solution, step S704 is executed.

[0129] When the execution result of step S712 is that there is a solution, step S713 is executed to control the lateral movement of the vehicle according to the front wheel steering direction, the rear wheel steering direction, the front wheel driving torque and the rear wheel driving torque.

[0130] Step S714, obtaining the vehicle speed value.

[0131] Step S715, detecting whether the vehicle speed is greater than a preset vehicle speed value.

[0132] When the detection result of step S715 is no, continue to execute step S712.

[0133] If the result of executing step S715 is yes, step S716 is executed to stop controlling the lateral travel of the vehicle.

[0134] Step S717, obtaining the brake pedal opening value.

[0135] Step S718, detecting whether the brake pedal opening value is greater than a preset opening value.

[0136] If the detection result of step S718 is no, continue to execute step S712.

[0137] If the execution result of step S718 is yes, step S716 is executed.

[0138] The execution order of the above steps S714 and S717 can be simultaneously executed or one after the other, and the specific order is not limited.

[0139] One embodiment of the present invention provides a control device for lateral travel of a vehicle, such as Figure 8 The vehicle lateral travel control device 800 comprises an acquisition module 810 , a steering direction determination module 820 and a control module 830 .

[0140] The acquisition module 810 is used to acquire the lateral driving direction of the vehicle and the front wheel steering direction.

[0141] The steering direction determination module 820 is used to determine the rear wheel steering direction, wherein the rear wheel steering direction is opposite to the front wheel steering direction.

[0142] The control module 830 is used to control the lateral movement of the vehicle according to the steering direction of the front wheels and the steering direction of the rear wheels.

[0143] In one embodiment, the vehicle lateral travel control device further includes a driving torque determination module.

[0144] The driving torque determination module is used to determine the front wheel driving torque and the rear wheel driving torque, wherein the direction of the front wheel driving torque is opposite to the direction of the rear wheel driving torque.

[0145] In this embodiment, the control module 830 is also used to control the vehicle to travel in the lateral direction of the vehicle according to the front wheel steering direction, the rear wheel steering direction, the front wheel driving torque and the rear wheel driving torque.

[0146] In one embodiment, the driving torque determination module is also used to obtain the steering angle value of each wheel, the lateral force value of each wheel, the rolling friction value of each wheel, the distance value from the center of mass of the vehicle to the front axle, the distance value from the center of mass of the vehicle to the rear axle, the distance value from the center of the front axle of the vehicle to each front wheel, and the distance value from the center of the rear axle of the vehicle to each rear wheel; the front wheel driving torque and the rear wheel driving torque are determined according to the steering angle value of each wheel, the lateral force value of each wheel, the rolling friction value of each wheel, the distance value from the center of mass of the vehicle to the front axle, the distance value from the center of mass of the vehicle to the rear axle, the distance value from the center of the front axle of the vehicle to each front wheel, and the distance value from the center of the rear axle of the vehicle to each rear wheel.

[0147] In one embodiment, the driving torque determination module is further used to establish a first dynamic relationship corresponding to the longitudinal driving direction of the vehicle and a second dynamic relationship corresponding to the lateral driving direction of the vehicle according to the steering angle value of each wheel, the lateral force value of each wheel, the rolling friction value of each wheel, and the driving torque of each wheel; to establish a third dynamic relationship in which the longitudinal driving torque of the left front wheel and the longitudinal driving torque of the right front wheel are equal according to the left front wheel driving torque, the right front wheel driving torque, the left front wheel steering angle value, and the right front wheel steering angle value; and to establish a third dynamic relationship in which the longitudinal driving torque of the left front wheel and the longitudinal driving torque of the right front wheel are equal according to the left rear wheel driving torque, the right rear wheel driving torque, the left rear wheel steering angle value, and the right rear wheel steering angle value. A fourth dynamic relationship is established in which the longitudinal driving torque of the left rear wheel is equal to that of the right rear wheel; a fifth dynamic relationship corresponding to the vehicle yaw is established according to the turning angle value of each wheel, the lateral force value of each wheel, the rolling friction value of each wheel, the distance value from the center of mass of the vehicle to the front axle, the distance value from the center of mass of the vehicle to the rear axle, the distance value from the center of the front axle of the vehicle to each front wheel, and the distance value from the center of the rear axle of the vehicle to each rear wheel; the front wheel driving torque and the rear wheel driving torque are determined according to the first dynamic relationship, the second dynamic relationship, the third dynamic relationship, the fourth dynamic relationship and the fifth dynamic relationship.

[0148] In one embodiment, the steering direction determination module and the driving torque determination module are also used to determine that the rear wheel steering direction is right, the front wheel driving torque direction is forward, and the rear wheel driving torque direction is backward when the vehicle's lateral driving direction is left and the front wheel steering direction is left; determine that the rear wheel steering direction is left, the front wheel driving torque direction is backward, and the rear wheel driving torque direction is forward when the vehicle's lateral driving direction is left and the front wheel steering direction is right; determine that the rear wheel steering direction is right, the front wheel driving torque direction is backward, and the rear wheel driving torque direction is forward when the vehicle's lateral driving direction is right and the front wheel steering direction is left; determine that the rear wheel steering direction is left, the front wheel driving torque direction is forward, and the rear wheel driving torque direction is backward when the vehicle's lateral driving direction is right and the front wheel steering direction is right.

[0149] In one embodiment, when the driving torque determination module determines that the front wheel driving torque and the rear wheel driving torque have a solution, the control module 830 performs an operation to control the vehicle's driving according to the front wheel steering direction, the rear wheel steering direction, the front wheel driving torque and the rear wheel driving torque; when the driving torque determination module determines that the front wheel driving torque and the rear wheel driving torque have no solution, the control module 830 does not respond to the vehicle's lateral driving demand input by the driver.

[0150] In one embodiment, the acquisition module 810 is further used to acquire the yaw rate value collected by the yaw rate sensor. When the yaw rate value is less than the preset yaw rate value, the driving torque determination module performs the operation of determining the front wheel driving torque and the rear wheel driving torque.

[0151] In one embodiment, the acquisition module 810 is further used to acquire the slip ratio of each wheel. When the slip ratio of each wheel is within a preset slip ratio range, the driving torque determination module performs the operation of determining the front wheel driving torque and the rear wheel driving torque.

[0152] In one embodiment, when controlling the vehicle to travel laterally, the acquisition module 810 is further used to acquire the vehicle speed value of the vehicle. When the vehicle speed value is greater than a preset vehicle speed value, the control of the vehicle to travel laterally is stopped.

[0153] In one embodiment, when the vehicle is controlled to travel laterally, the acquisition module 810 is further used to acquire the brake pedal opening value. When the brake pedal opening value is greater than a preset opening value, the vehicle is stopped from being controlled to travel laterally.

[0154] One embodiment of the present invention provides a control device for lateral travel of a vehicle, such as Fig. 9 The vehicle lateral travel control device 900 comprises a memory 920 and a processor 910. The memory 920 stores a computer program, and the computer program is used to control the processor 910 to operate so as to execute the vehicle lateral travel control method in any of the above embodiments.

[0155] An embodiment of the present invention provides a vehicle, including the vehicle lateral travel control device as described in any of the above embodiments, Fig.10 .

[0156] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For the device embodiment, its related parts can be referred to the partial description of the method embodiment.

[0157] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0158] The embodiments of the present specification may be systems, methods and / or computer program products. The computer program product may include a computer-readable storage medium carrying computer instructions for causing a processor to implement various aspects of the embodiments of the present specification.

[0159] A computer-readable storage medium may be a tangible device that can hold and store computer instructions used by a computer 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 computer 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.

[0160] The computer 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 through a network layer, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network layer may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network layer adapter card or network layer interface in each computing / processing device receives the computer instructions from the network layer and forwards the computer instructions for storage in a computer-readable storage medium in each computing / processing device.

[0161] The flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to the multiple embodiments of this specification. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a computer instruction, and a part of a module, a program segment or a computer instruction contains one or more executable computer 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 the flowchart, and the combination of the boxes in the block diagram and / or the flowchart 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.

[0162] The embodiments of the present specification have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art without departing from the scope of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for controlling lateral travel of a vehicle, characterized in that: include: Obtain the vehicle's lateral driving direction and front wheel steering direction; Determining a rear wheel steering direction, wherein the rear wheel steering direction is opposite to the front wheel steering direction; According to the front wheel steering direction and the rear wheel steering direction, the vehicle is controlled to travel along the lateral travel direction of the vehicle.

2. The method according to claim 1, characterized in that The method further comprises: Determine the front wheel drive torque and the rear wheel drive torque; wherein the direction of the front wheel drive torque is opposite to the direction of the rear wheel drive torque; wherein, The controlling the vehicle to travel along the lateral travel direction of the vehicle according to the front wheel steering direction and the rear wheel steering direction comprises: The vehicle is controlled to travel along the lateral travel direction of the vehicle according to the front wheel steering direction, the rear wheel steering direction, the front wheel driving torque and the rear wheel driving torque.

3. The method according to claim 2, characterized in that The determining of the front wheel driving torque and the rear wheel driving torque comprises: Obtain the turning angle value of each wheel, the lateral force value of each wheel, the rolling friction value of each wheel, the distance value from the center of mass of the vehicle to the front axle, the distance value from the center of mass of the vehicle to the rear axle, the distance value from the center of the front axle of the vehicle to each front wheel, and the distance value from the center of the rear axle of the vehicle to each rear wheel; The front wheel driving torque and the rear wheel driving torque are determined based on the steering angle value of each wheel, the lateral force value of each wheel, the rolling friction value of each wheel, the distance value from the center of mass of the vehicle to the front axle, the distance value from the center of mass of the vehicle to the rear axle, the distance value from the center of the front axle of the vehicle to each front wheel, and the distance value from the center of the rear axle of the vehicle to each rear wheel.

4. The method according to claim 3, characterized in that Determining the front wheel driving torque and the rear wheel driving torque according to the turning angle value of each wheel, the lateral force value of each wheel, the rolling friction value of each wheel, the distance value from the center of mass of the vehicle to the front axle, the distance value from the center of mass of the vehicle to the rear axle, the distance value from the center of the front axle of the vehicle to each front wheel, and the distance value from the center of the rear axle of the vehicle to each rear wheel includes: According to the steering angle values ​​of each wheel, the lateral force values ​​of each wheel, the rolling friction values ​​of each wheel, and the driving torque of each wheel, a first dynamic relationship corresponding to the longitudinal driving direction of the vehicle and a second dynamic relationship corresponding to the lateral driving direction of the vehicle are established; According to the left front wheel driving torque, the right front wheel driving torque, the left front wheel steering angle value and the right front wheel steering angle value, a third dynamic relationship is established in which the longitudinal driving torque of the left front wheel and the longitudinal driving torque of the right front wheel are equal; According to the left rear wheel driving torque, the right rear wheel driving torque, the left rear wheel turning angle value and the right rear wheel turning angle value, a fourth dynamic relationship is established in which the longitudinal driving torque of the left rear wheel and the longitudinal driving torque of the right rear wheel are equal; A fifth dynamic relationship corresponding to the yaw of the vehicle is established according to the turning angle value of each wheel, the lateral force value of each wheel, the rolling friction value of each wheel, the distance value from the center of mass of the vehicle to the front axle, the distance value from the center of mass of the vehicle to the rear axle, the distance value from the center of the front axle of the vehicle to each front wheel, and the distance value from the center of the rear axle of the vehicle to each rear wheel; The front wheel driving torque and the rear wheel driving torque are determined according to the first dynamic relationship, the second dynamic relationship, the third dynamic relationship, the fourth dynamic relationship and the fifth dynamic relationship.

5. The method according to any one of claims 2 to 4, characterized in that: The determining of the rear wheel steering direction and the front wheel driving torque and the rear wheel driving torque comprises: When the lateral driving direction of the vehicle is to the left and the steering direction of the front wheel is to the left, the steering direction of the rear wheel is determined to be to the right, the driving torque direction of the front wheel is forward, and the driving torque direction of the rear wheel is backward; When the lateral driving direction of the vehicle is leftward and the front wheel steering direction is rightward, the rear wheel steering direction is determined to be leftward, the front wheel driving torque direction is backward, and the rear wheel driving torque direction is forward; When the lateral driving direction of the vehicle is rightward and the front wheel steering direction is leftward, the rear wheel steering direction is determined to be rightward, the front wheel driving torque direction is backward, and the rear wheel driving torque direction is forward; When the lateral driving direction of the vehicle is rightward and the front wheel steering direction is rightward, the rear wheel steering direction is determined to be leftward, the front wheel driving torque direction is forward, and the rear wheel driving torque direction is backward.

6. The method according to claim 5, characterized in that The method further comprises: When it is determined that the front wheel driving torque and the rear wheel driving torque have a solution, performing an operation of controlling the vehicle driving according to the front wheel steering direction, the rear wheel steering direction, the front wheel driving torque and the rear wheel driving torque; When it is determined that the front wheel driving torque and the rear wheel driving torque have no solution, the vehicle lateral travel demand is not responded to.

7. The method according to claim 6, characterized in that Before determining the front wheel driving torque and the rear wheel driving torque, the method further includes: Obtain the yaw angular velocity value collected by the yaw angular velocity sensor; In a case where the yaw rate value is less than a preset yaw rate value, an operation of determining a front wheel driving torque and a rear wheel driving torque is performed.

8. The method according to claim 6 or 7, characterized in that: Before determining the front wheel driving torque and the rear wheel driving torque, the method further includes: Obtain the slip rate of each wheel; In a case where the slip ratio of each wheel is within a preset slip ratio range, an operation of determining the front wheel driving torque and the rear wheel driving torque is performed.

9. The method according to claim 8, characterized in that In the case of controlling the lateral movement of the vehicle, the method further includes: Get the vehicle speed value; When the vehicle speed value is greater than a preset vehicle speed value, the control of the vehicle to travel laterally is stopped.

10. The method according to claim 9, characterized in that In the case of controlling the lateral movement of the vehicle, the method further includes: Get the brake pedal opening value; When the brake pedal opening value is greater than a preset opening value, the lateral movement of the vehicle is stopped.

11. A vehicle lateral travel control device, characterized in that: include: An acquisition module, used to acquire the lateral driving direction of the vehicle and the front wheel steering direction; A steering direction determination module, used to determine a rear wheel steering direction, wherein the rear wheel steering direction is opposite to the front wheel steering direction; The control module is used to control the lateral travel of the vehicle according to the steering direction of the front wheels and the steering direction of the rear wheels.

12. A vehicle lateral travel control device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the computer program is used to control the processor to operate so as to execute the method according to any one of claims 1 to 10.

13. A vehicle, characterized in that: The invention comprises a vehicle lateral travel control device as claimed in claim 11 or 12.

Images