Vehicle control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a vehicle control method and device, electronic equipment and a storage medium, and the method comprises the steps: when a target function is activated, controlling a first wheel at a first end of a vehicle to be in a braking state, and controlling two second wheels at a second end of the vehicle to rotate outwards by a target angle; and the vehicle is driven, so that the vehicle rotates with the first wheel as a fixed point. According to the embodiment of the invention, a certain front wheel is used as a fixed wheel and rotates around a single wheel, so that the turning diameter is reduced.

Description

Technical Field

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

[0002] Traditional vehicle steering requires the driver to manipulate the steering wheel to control the front wheel angle, but the turning radius is large. For vehicles that need to turn or make a U-turn on narrow roads, ordinary normal steering is limited by the large turning diameter and cannot complete the U-turn or steering. Summary of the invention

[0003] In view of the above problems, a vehicle control method and device, electronic device, and storage medium are proposed to overcome the above problems or at least partially solve the above problems, including:

[0004] A vehicle control method, the method comprising:

[0005] When the target function is activated, the first wheel at the first end of the vehicle is controlled to be in a braking state, and the two second wheels at the second end of the vehicle are controlled to rotate outwardly by a target angle;

[0006] The vehicle is driven so that the vehicle rotates with the first wheel as a fixed point.

[0007] Optionally, the target angle is suitable for being set to any value between zero degrees and a steering angle threshold.

[0008] Optionally, the step of controlling the two second wheels at the second end of the vehicle to rotate outwardly by a target angle comprises:

[0009] The two second wheels at the second end of the vehicle are controlled to rotate outward to an angle corresponding to a steering angle threshold.

[0010] Optionally, the step of driving the vehicle comprises:

[0011] The two second wheels are driven so that the vehicle rotates with the first wheel as a fixed point.

[0012] Optionally, the step of driving the two second wheels comprises:

[0013] One of the two second wheels is driven to move in a first direction, and the other of the two second wheels is driven to move in a second direction, wherein the first direction and the second direction are different.

[0014] Optionally, the step of driving the two second wheels comprises:

[0015] determining a driving parameter of each second wheel;

[0016] The motors corresponding to the second wheels are controlled according to the driving parameters of the second wheels.

[0017] Optionally, the driving parameters include a target wheel speed, and the target wheel speed of each second wheel is determined according to an operating mode of the vehicle and a preset corresponding relationship, wherein the operating mode includes an ice and snow mode, an off-road mode, and a road mode.

[0018] Optionally, the step of controlling the motor corresponding to each second wheel according to the driving parameters of each second wheel includes:

[0019] The driving parameters of each second wheel are corrected according to the yaw angular velocity, and the motors corresponding to each second wheel are controlled according to the corrected driving parameters.

[0020] Optionally, the step of controlling the motor corresponding to each second wheel according to the driving parameters of each second wheel includes:

[0021] According to the torque loading slope and / or wheel speed loading slope of each second wheel, the motor corresponding to each second wheel is controlled so that the target wheel speed is between a preset wheel speed upper limit value and a preset wheel speed lower limit value, and / or the target torque is between a preset torque upper limit value and a preset torque lower limit value.

[0022] Optionally, the step of driving the vehicle comprises:

[0023] The other first wheel at the first end of the vehicle is driven, and the two second wheels are driven so that the vehicle rotates with the first wheel as a fixed point.

[0024] Optionally, the step of driving the other first wheel at the first end of the vehicle and driving the two second wheels comprises:

[0025] Driving a first target wheel of the two second wheels to move in a first direction, and driving a second target wheel of the two second wheels to move in a second direction, and driving another first wheel at a first end of the vehicle to move in the first direction, wherein the first direction is different from the second direction, and the first target wheel is on the same side of the vehicle as the first wheel.

[0026] Optionally, the step of driving the other first wheel at the first end of the vehicle and driving the two second wheels comprises:

[0027] determining driving parameters of the other first wheel and each of the second wheels;

[0028] According to the driving parameters of the other first wheel and each of the second wheels, the motors corresponding to the other first wheel and each of the second wheels are controlled.

[0029] Optionally, the step of controlling the motors corresponding to the other first wheel and the second wheels according to the driving parameters of the other first wheel and the second wheels includes:

[0030] The driving parameters of the other first wheel and each second wheel are corrected according to the yaw angular velocity, and the motors corresponding to the other first wheel and each second wheel are controlled according to the corrected driving parameters.

[0031] Optionally, the driving parameters include a target wheel speed, and the target wheel speed of another first wheel and each second wheel is determined according to an operating mode of the vehicle and a preset corresponding relationship, wherein the operating mode includes an ice and snow mode, an off-road mode, and a road mode.

[0032] Optionally, the step of controlling the motors corresponding to the other first wheel and the second wheels according to the driving parameters of the other first wheel and the second wheels includes:

[0033] According to the torque loading slope and / or wheel speed loading slope of the other first wheel and each second wheel, the motors corresponding to the other first wheel and each second wheel are controlled so that the target wheel speed is between a preset wheel speed upper limit value and a preset wheel speed lower limit value, and / or the target torque is between a preset torque upper limit value and a preset torque lower limit value.

[0034] Optionally, before the step of activating the target function, the step further includes:

[0035] When it is determined that the vehicle meets a preset activation condition according to the vehicle environment information and the vehicle driving related information, the target function is activated;

[0036] When it is determined that the vehicle does not meet a preset activation condition according to the vehicle environment information and the vehicle driving related information, the target function is not activated.

[0037] Optionally, the vehicle driving information includes vehicle indicator light information, motor information, steering wheel information, vehicle speed signal status, braking depth identification position information, gear status information, four doors and two covers status, and battery status parameters; the vehicle environment information includes slope information;

[0038] The preset activation conditions include: the vehicle indicator light information, motor information, steering wheel information, vehicle speed signal status, braking depth information, gear status information, four doors and two lids status are preset states, and the battery status parameter is greater than the preset battery parameter.

[0039] Optionally, the slope value is less than a preset threshold, and the duration is at least longer than a first preset duration.

[0040] Optionally, the vehicle speed is less than a preset vehicle speed, and the duration exceeds a second preset duration.

[0041] Optionally, before the step of activating the target function, the step further includes:

[0042] Obtaining rotation parameter information input by a user, wherein the rotation parameter information includes rotation direction and rotation angle information; the step of driving the vehicle so that the vehicle rotates with the first wheel as a fixed point comprises:

[0043] The vehicle is driven so that the vehicle rotates along the rotation direction with the first wheel as a fixed point and rotates by an angle corresponding to the rotation angle information.

[0044] Optionally, it also includes:

[0045] determining a target turning angle of the vehicle during the rotation;

[0046] determining a target turning radius of the vehicle during rotation;

[0047] Based on the target turning angle and the target turning radius, a turning trajectory of the vehicle is generated, and the turning trajectory is displayed.

[0048] Optionally, determining a target turning angle of the vehicle during a turning process includes:

[0049] Obtaining the rotation angle information input by the user, and determining the initial turning angle according to the rotation angle information;

[0050] A target turning angle for next turning control of the vehicle is predicted based on the initial turning angle and yaw rate information.

[0051] Optionally, the step of predicting a target turning angle for the next turning control of the vehicle based on the initial turning angle and yaw rate information comprises:

[0052] Determine the target angle difference according to the yaw rate information;

[0053] The target turning angle is determined by taking the difference between the initial turning angle and the target angle.

[0054] Optionally, the step of determining the target angle difference according to the yaw angular velocity information includes:

[0055] Obtaining a first yaw rate filter value of a previous turning control of the vehicle and a second yaw rate filter value of a current turning control;

[0056] determining a yaw rate filtered mean of the first yaw rate filtered value and the second yaw rate filtered value;

[0057] A target angle difference is determined based on a product of the yaw rate filtered mean value and a preset turning control period.

[0058] Optionally, it also includes:

[0059] The current driving trajectory is corrected according to the yaw angular velocity, and the corrected driving trajectory is output and displayed to assist the driver in driving.

[0060] A control device, comprising:

[0061] A vehicle controller and a motor control unit; the vehicle controller and the motor control unit are configured to execute the steps of the vehicle control method as described above.

[0062] A driving system, comprising: the control device as described above;

[0063] A first motor is used to output torque to the left front wheel and the right front wheel;

[0064] The second motor is used to output torque to the left rear wheel;

[0065] The third motor is used to output torque to the right rear wheel.

[0066] A vehicle comprises: a vehicle controller and a motor control unit; the vehicle controller and the motor control unit are configured to execute the steps of the vehicle control method as described above.

[0067] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle control method described above are implemented.

[0068] The embodiments of the present invention have the following advantages:

[0069] In an embodiment of the present invention, when the target function is activated, the first wheel at the first end of the vehicle is controlled to be in a braking state, and the two second wheels at the second end of the vehicle are controlled to rotate outward by a target angle; the vehicle is driven so that the vehicle rotates with the first wheel as a fixed point, thereby realizing rotation around a single wheel with a certain front wheel as a fixed wheel, thereby reducing the turning diameter. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0071] Figure 1 is a flow chart of steps of a vehicle control method provided by one embodiment of the present invention;

[0072] Figure 2 is a flowchart of another vehicle control method provided by an embodiment of the present invention;

[0073] Figure 3 is a flowchart of another vehicle control method provided by an embodiment of the present invention;

[0074] Figure 4a is a turning schematic diagram provided by an embodiment of the present invention;

[0075] Figure 4b is a system architecture diagram provided by an embodiment of the present invention;

[0076] Figure 4c The present invention is a schematic diagram of a vehicle turning control process. DETAILED DESCRIPTION

[0077] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0078] Reference Figure 1 , shows a flow chart of a vehicle control method provided by an embodiment of the present invention, which may specifically include the following steps:

[0079] Step S101, when the target function is activated, the first wheel at the first end of the vehicle is controlled to be in a braking state, and the two second wheels at the second end of the vehicle are controlled to rotate outward by a target angle;

[0080] The target angle is suitable for being set to any value between zero degrees and a steering angle threshold.

[0081] In actual applications, the vehicle is equipped with a turning function. The target function in the embodiment of the present invention is the turning function. The feature of the turning function is to turn with a certain wheel in the vehicle as a fixed point. The turning process of the vehicle in the state where the target function is activated is similar to a compass. In the state where the target function is activated, the two second wheels at the second end of the vehicle are controlled to rotate to the outside away from the center of the vehicle by a target angle, wherein the target angle can be set according to the actual scene.

[0082] When the vehicle activates the target function, the first wheel at the first end of the vehicle can be controlled to be in a braking state, wherein the first wheel can be any wheel of the vehicle.

[0083] For example, when the first end wheel is the front wheel of the vehicle, the second end wheel is the rear wheel of the vehicle. When the first end wheel is the rear wheel of the vehicle, the second end is the front wheel of the vehicle.

[0084] In one embodiment of the present invention, the step of controlling the two second wheels at the second end of the vehicle to rotate outwardly by a target angle includes: controlling the two second wheels at the second end of the vehicle to rotate outwardly to an angle corresponding to a steering angle threshold.

[0085] In one embodiment of the present invention, before the step of activating the target function, when it is determined that the vehicle meets the preset activation conditions based on the vehicle environment information and the vehicle driving related information, the target function is activated; when it is determined that the vehicle does not meet the preset activation conditions based on the vehicle environment information and the vehicle driving related information, the target function is not activated.

[0086] Among them, the vehicle driving information includes vehicle indicator information, motor information, steering wheel information, vehicle speed signal status, brake depth identification position information, gear status information, four doors and two covers status, and battery status parameters; vehicle environment information includes slope information;

[0087] The preset activation conditions include: vehicle indicator light information, motor information, steering wheel information, vehicle speed signal status, braking depth information, gear status information, four doors and two lids status are preset states, and battery status parameters are greater than preset battery parameters.

[0088] Specifically, the VCU (Vehicle Control Unit) in the vehicle can be used to determine the start-up conditions of the target model:

[0089] When the OK indicator light is OK; the FMCU (Front Motor Control Unit) / RLMCU (Rear Left Motor Control Unit) / RRMCU (Rear Right Motor Control Unit) motor start-up flag is allowed (that is, the system has confirmed that all necessary conditions have been met and the motor can be started safely); the drive motor transmission ratio fault status is no fault; the steering wheel angle valid flag is valid; the steering wheel angle calibration flag is calibrated; the vehicle speed signal status is no fault; the braking depth valid flag is valid; the gear system status is normal; the four doors and two covers are closed; the vehicle SOC (State of Charge) is greater than 15%, then the target function start condition is standby.

[0090] In the target function standby state, the vehicle environment information can be further collected to determine whether the target function can be activated. When the slope information is less than the preset threshold and the duration is at least longer than the first preset time, the target function is confirmed to be activated.

[0091] When the vehicle slope judgment is not satisfied, the target model is processed in a closed state, and the switch of the target function in the synchronous application setting interface is grayed out so that the user cannot turn on the target function.

[0092] For example, the vehicle slope judgment ABS (VCU calculated slope) is less than the vehicle is on flat ground judgment small slope threshold of 3%, and lasts for 200ms.

[0093] Furthermore, whether to activate the target function can be determined in combination with the vehicle speed. The vehicle speed is less than the preset vehicle speed, and the duration exceeds the second preset duration.

[0094] For example, the vehicle stationary determination ABS (vehicle speed calculated by the VCU) is less than the vehicle stationary determination speed lower limit of 0.5 km / h and lasts for 200 ms.

[0095] In an embodiment of the present invention, after the PAD sends the target fulcrum, target rotation direction, and rotation angle, if the vehicle is on flat ground (the slope is greater than a certain threshold); the vehicle is stationary; the gear is in D gear; Didyna determines that subsystems including EPS return to center, single-wheel braking, rear turn having executed outward eight-10°, disus, etc. have met the requirements, then the target function is activated.

[0096] In one embodiment of the present invention, the target model can be applicable to a vehicle with three independent motors and differential torque feedback. The target model can be based on front wheel steering and wheel speed control of the front motor, left rear motor, and right rear motor. In a narrow turn, the vehicle can realize a compass turn by real-time monitoring of the vehicle speed, steering angle, slip rate, and yaw angular velocity signals to coordinately control the braking, steering, and drive systems.

[0097] Step S102: driving the vehicle so that the vehicle rotates with the first wheel as a fixed point

[0098] After adjusting the second wheel, the vehicle can be driven and controlled to turn, and the vehicle can rotate with the first wheel as a fixed point.

[0099] In one embodiment of the present invention, before the step of activating the target function, rotation parameter information input by the user can also be obtained, and the rotation parameter information includes rotation direction and rotation angle information; then, after driving the vehicle, the vehicle can be rotated along the rotation direction with the first wheel as the fixed point, and rotated at an angle corresponding to the rotation angle information.

[0100] In one embodiment of the present invention, a target turning angle of a vehicle during rotation can be determined; a target turning radius of the vehicle during rotation can be determined; a turning trajectory of the vehicle can be generated based on the target turning angle and the target turning radius, and the turning trajectory can be displayed.

[0101] In practical applications, the turning trajectory of the vehicle can be fitted according to the target turning angle and target turning radius during the actual rotation process of the vehicle, and the turning trajectory can be displayed on the display screen of the vehicle to provide feedback to the user on the turning process of the vehicle.

[0102] In one example, the process of determining the target turning radius of a vehicle during a turning process is: obtaining a road adhesion coefficient lookup table and the vehicle's current road adhesion coefficient, and querying the target turning radius corresponding to the road adhesion coefficient based on the road adhesion coefficient lookup table, wherein the road adhesion coefficient lookup table includes the correspondence between the road adhesion coefficient and the turning radius of each wheel.

[0103] As shown in Table 1, this is a road adhesion coefficient lookup table:

[0104]

[0105]

[0106] In one embodiment of the present invention, the step of predicting the target turning angle of the next turning control of the vehicle based on the initial turning angle and yaw rate information includes: determining the target angle difference according to the yaw rate information; and determining the target turning angle by dividing the initial turning angle by the target angle difference.

[0107] In one embodiment of the present invention, the step of determining the target angle difference according to the yaw rate information includes: obtaining a first yaw rate filter value of a previous turning control of the vehicle and a second yaw rate filter value of a current turning control; determining a yaw rate filter mean of the first yaw rate filter value and the second yaw rate filter value; and determining the target angle difference based on the product of the yaw rate filter mean and a preset turning control period.

[0108] Specifically, the process of determining the target turning angle of the vehicle during a turning process includes obtaining rotation angle information input by a user, determining an initial turning angle based on the rotation angle information; and predicting the target turning angle of the vehicle's next turning control based on the initial turning angle and yaw angular velocity information.

[0109] Specifically, predicting a target turning angle of a next turning control of the vehicle based on an initial turning direction includes: acquiring a first yaw velocity filter value of a previous turning control of the vehicle and a second yaw velocity filter value of a current turning control; determining a yaw velocity filter mean of the first yaw velocity filter value and the second yaw velocity filter value; determining a target angle difference based on a product of the yaw velocity filter mean and a preset turning control period; and adding the initial turning angle to the target angle difference to obtain a target turning angle of the next turning control of the vehicle.

[0110] In an embodiment of the present invention, after turning on the target function, the user can set a target turning angle, which can be used as the initial angle during the vehicle turning process, and each angle during the vehicle turning process can be gradually predicted based on the initial angle. Specifically, the relationship between the turning angles during the two previous and subsequent turning control processes can be calculated based on the yaw rate filter value.

[0111] Wherein, rotation angle (t+1)=rotation angle (t)+0.5*[yaw rate filter value (t-1)+yaw rate filter value (t)]*software execution period.

[0112] The rotation angle (t) is the turning angle at time t, the rotation angle (t+1) is the turning angle at time t+1, the yaw rate filter value (t-1) is the yaw rate filter value at time t-1, the yaw rate filter value (t) is the yaw rate filter value at time t, and the execution period is the time interval of the forward and backward turning control processes. It should be noted that the rotation angle (t+1) in the embodiment of the present invention can be greater than the vehicle rotation angle threshold of 360°, that is, the vehicle can complete a turn of more than 360°.

[0113] In one embodiment of the present invention, the current driving trajectory is corrected according to the yaw angular velocity, and the corrected driving trajectory is output and displayed to assist the vehicle owner in driving.

[0114] In an embodiment of the present invention, when the target function is activated, the first wheel at the first end of the vehicle is controlled to be in a braking state, and the two second wheels at the second end of the vehicle are controlled to rotate outward by a target angle; the vehicle is driven so that the vehicle rotates with the first wheel as a fixed point, thereby realizing rotation around a single wheel with a certain front wheel as a fixed wheel, thereby reducing the turning diameter.

[0115] Reference Figure 2 , shows a flow chart of another vehicle control method provided by an embodiment of the present invention, which may specifically include the following steps:

[0116] Step S201, when the target function is activated, the first wheel at the first end of the vehicle is controlled to be in a braking state, and the two second wheels at the second end of the vehicle are controlled to rotate outward by a target angle;

[0117] Step S202: driving the two second wheels so that the vehicle rotates with the first wheel as a fixed point.

[0118] In the embodiment of the present invention, the fixed-point rotation around the first wheel can be achieved by driving the two second wheels.

[0119] In one embodiment of the present invention, the process of driving the two second wheels in step 202 is specifically: driving one of the two second wheels to move in a first direction, and driving the other of the two second wheels to move in a second direction, wherein the first direction and the second direction are different.

[0120] The two wheels move in different directions, and the first direction and the second direction are in an outward-facing "toe" shape.

[0121] In another embodiment of the present invention, the step of driving the two second wheels comprises:

[0122] Step S11, determining the driving parameters of each second wheel;

[0123] Among them, the driving parameters may include a target wheel speed, and the target wheel speed of each second wheel is determined according to the vehicle's operating mode and a preset corresponding relationship, wherein the operating mode includes an ice and snow mode, an off-road mode, and a road mode.

[0124] Step S12: controlling the motors corresponding to the second wheels according to the driving parameters of the second wheels.

[0125] In one embodiment of the present invention, the step of controlling the motor corresponding to each second wheel according to the driving parameters of each second wheel includes:

[0126] The driving parameters of each second wheel are corrected according to the yaw angular velocity, and the motors corresponding to each second wheel are controlled according to the corrected driving parameters.

[0127] In another embodiment of the present invention, the step of controlling the motor corresponding to each second wheel according to the driving parameters of each second wheel includes:

[0128] According to the torque loading slope and / or wheel speed loading slope of each second wheel, the motor corresponding to each second wheel is controlled so that the target wheel speed is between a preset wheel speed upper limit value and a preset wheel speed lower limit value, and / or the target torque is between a preset torque upper limit value and a preset torque lower limit value.

[0129] Specifically, the process of controlling the motor corresponding to each second wheel according to the torque loading slope and / or wheel speed loading slope of each second wheel includes:

[0130] (1) obtaining actual torque information and / or required torque information of the front wheels or rear wheels of the vehicle;

[0131] The actual torque information of the front or rear wheels of the vehicle is the torque information of the vehicle during the turning control process, which can be calculated and controlled by the motor control unit (MCU) according to the current driving conditions, vehicle status and driver input. The required torque information is the torque information that the driver expects the motor to output.

[0132] (2) determining first torque information of wheels other than the fixed wheel when the vehicle turns in a mode state based on the actual torque information and / or the required torque information;

[0133] The torque of the vehicle when turning is different in different mode states, so the first torque information of the wheels other than the fixed wheel when turning can be determined according to the known mode state. That is, in the embodiment of the present invention, torque can be respectively allocated to the wheels other than the fixed wheel of the vehicle during the turning process of the vehicle (that is, differential torque is applied) to reduce the turning radius.

[0134] In one embodiment of the present invention, when the mode state is the working state, a delay function of the vehicle torque is determined, and the delay function is a function with the actual torque of the vehicle as a variable; based on the delay function and the actual torque information, the first torque information of the wheels other than the fixed wheel when the vehicle turns is determined.

[0135] The delay function is used to introduce a time delay so that the first torque information does not immediately respond to changes in the actual torque information. This delay can help the system transition smoothly and avoid vehicle instability or difficulty in control caused by rapid changes in torque. Therefore, the delay function in the embodiment of the present invention is a function with the actual torque information as a variable. After substituting the actual torque information into the delay function, the delayed first torque information can be obtained, thereby achieving a smooth transition during the vehicle turning process.

[0136] In practical applications, a corresponding delay function may be set for each wheel other than the fixed wheel of the vehicle. When the current preset turning module of the vehicle is in working state, the actual torque information obtained may be substituted into the delay function to calculate the first torque information.

[0137] For example, the front axle first torque information=delay(front axle actual torque information).

[0138] The first torque information of the left rear motor=delay(actual torque information of the left rear motor).

[0139] The first torque information of the right rear motor=delay(the actual torque information of the right rear motor).

[0140] In another embodiment of the invention, the required torque information includes the front wheel required torque information and the rear wheel required torque information, the first torque information includes the front wheel first torque information and the rear wheel first torque information, and when the mode state is the exit state, the front wheel required torque information is used as the front wheel first torque information of the vehicle, and the rear wheel required torque information is weighted by a preset weight coefficient to obtain the rear wheel first torque information.

[0141] When the target model is in the exiting state, the first torque information of the front wheel = the required torque information of the front wheel; the first torque information of the rear wheel = the weight coefficient * the required torque information of the rear wheel, wherein the weight coefficient can be set according to actual needs, and the weight systems of different rear wheels can be the same or different.

[0142] For example, when the weight coefficient of the rear axle is 0.5:

[0143] Front axle first torque information=front axle driver demand torque information.

[0144] The first torque information of the left rear motor=the rear axle driver's required torque information / 2.

[0145] The first torque information of the right rear motor=the rear axle driver's required torque information / 2.

[0146] (3) determining first wheel speed information of wheels other than the fixed wheel of the vehicle in a mode state;

[0147] In one embodiment of the present invention, determining the first wheel speed information of the wheels other than the fixed wheel of the vehicle in a mode state includes: when the mode state is a working state, determining the vehicle driving terrain of the vehicle; and determining the first wheel speed information corresponding to the target driving terrain based on a preset corresponding relationship table between driving terrain and vehicle wheel speed.

[0148] In practical applications, the wheel speed of the vehicle during driving is associated with the terrain on which it is traveling, so that a correspondence table between the driving terrain and the vehicle wheel speed can be pre-built. When the target model is determined to be in the working state, the corresponding vehicle first wheel speed information can be queried in the correspondence table according to the terrain selected by the user or the current real-time terrain of the vehicle. The driving terrain may include but is not limited to ice and snow, off-road, highway and other terrains.

[0149] In another embodiment of the present invention, when the working state of the target model is in function exit, the target wheel speed of the front wheel VF / left rear wheel VRL / right rear wheel VRR is 0 km / h.

[0150] (4) Controlling the vehicle to turn based on the first wheel speed information and the first torque information.

[0151] After determining the first wheel speed information and the first torque information, the vehicle may perform vehicle turning based on the wheel speed and the torque.

[0152] In one embodiment of the present invention, after the target model is turned on, it also includes: determining the target turning angle of the vehicle during the turning process; determining the target turning radius of the vehicle during the turning process; generating a turning trajectory of the vehicle based on the target turning angle and the target turning radius, and displaying the turning trajectory.

[0153] The process of determining the target turning angle is as follows: determining the initial turning angle in response to the angle selection operation during the vehicle turning process; and predicting the target turning angle of the vehicle's next turning control based on the initial turning direction.

[0154] In one embodiment of the present invention, determining the motor speed information based on the first wheel speed information includes the following sub-steps:

[0155] Sub-step S21, performing limit processing on the first wheel speed information according to a preset wheel speed limit to obtain second wheel speed information;

[0156] When the first wheel speed information is greater than the maximum value of the preset wheel speed limit, the second wheel speed information after the first wheel speed information is limited is the maximum wheel speed. When the first wheel speed information is less than the minimum value of the preset wheel speed limit, the second wheel speed information after the first wheel speed information is limited is the minimum wheel speed.

[0157] Among them, the upper limit of the preset wheel speed limit can be set to 15kph, and the lower limit of the wheel speed can be set to -15kph.

[0158] Sub-step S22, determining the wheel speed slope information of the vehicle;

[0159] Wheel speed slope information can be used to smooth the wheel speed. Wheel speed slope information can specifically include wheel speed loading slope and wheel speed unloading slope. In the vehicle control system, loading and unloading slopes are used to smoothly adjust the wheel speed to ensure the stability and safety of the vehicle when turning or performing other operations. These slopes are usually used to control the rate of change of wheel speed to avoid vehicle instability or difficulty in handling caused by sudden changes in speed.

[0160] Specifically, the process of determining the wheel speed slope information of the vehicle includes: obtaining first selected information of the wheel speed slope of the vehicle; determining the wheel speed slope information corresponding to the selected information. The user can set and select to turn on the setting of the wheel speed slope, and then the corresponding wheel speed slope information can be generated according to the user's selection.

[0161] For example: when the user turns on the wheel speed loading selection switch (the default selection switch attribute value is 1), the wheel speed loading slope = the preset wheel speed loading slope calibration value (such as 0.015).

[0162] When the user's wheel speed loading selection switch is turned off (the selection switch attribute value is 0), the loading slope needs to be determined based on the second wheel speed information after limiting. In one example, the wheel speed loading slope = target wheel speed after limiting / wheel speed loading time (such as the wheel speed loading time can be set to 500ms).

[0163] When the user turns on the wheel speed unloading selection switch (the default selection switch attribute value is 1), the wheel speed unloading slope = the preset wheel speed unloading slope calibration value (such as -0.015).

[0164] When the user's wheel speed unloading selection switch is turned off (the selection switch attribute value is 0), the loading slope needs to be determined based on the second wheel speed information after limiting. In one example, the wheel speed unloading slope = target wheel speed after limiting / wheel speed unloading time (such as the wheel speed unloading time can be set to 500ms).

[0165] Sub-step S23, determining the third wheel speed information of the vehicle after smoothing based on the wheel speed slope information and the second wheel speed information;

[0166] Sub-step S24: determining the motor speed information corresponding to the third wheel speed information.

[0167] Specifically, determining the motor speed information corresponding to the third wheel speed information includes: obtaining the wheel rolling radius and the first motor transmission ratio of the vehicle, the first motor transmission ratio is used to convert the wheel speed into the motor speed; determining the motor speed information based on the wheel rolling radius, the first motor transmission ratio and the third wheel speed information.

[0168] The wheel rolling radius refers to the distance from the center of the wheel to the ground when the wheel is rolling. This value is usually determined based on the design parameters of the vehicle or can be obtained through measurement.

[0169] The first motor gear ratio refers to the ratio of the speed between the motor output shaft and the wheels. This ratio depends on the vehicle's powertrain design, including the configuration of components such as the gearbox, drive shaft, and differential.

[0170] The third wheel speed information is wheel speed data after smoothing, which is more stable and reliable and can be used in the decision-making process of the vehicle dynamic control system.

[0171] The conversion relationship between the third wheel speed information and the motor speed information can be established through the wheel rolling radius and the first motor transmission ratio. Therefore, after obtaining the wheel rolling radius, the first motor transmission ratio and the third wheel speed information, the motor speed information can be determined according to the conversion relationship.

[0172] In the embodiment of the present invention, the motor speed = a*third wheel speed information*first motor transmission ratio / wheel rolling radius, where a is a constant. The first motor transmission ratios and a of different wheels may be the same or different, and the specific values ​​may be set according to the actual vehicle scenario.

[0173] For example: front motor target speed = smoothed front wheel third wheel speed information VF ÷ 3.6 ÷ wheel rolling radius × 9.55 × front axle first motor transmission ratio.

[0174] Left rear motor target speed = smoothed left rear wheel third wheel speed information VRL ÷ 3.6 ÷ wheel rolling radius × 9.55 × left rear first motor gear ratio.

[0175] Right rear motor target speed = smoothed right rear wheel third wheel speed information VRL ÷ 3.6 ÷ wheel rolling radius × 9.55 × right rear first motor transmission ratio.

[0176] In one embodiment of the present invention, determining the motor torque information based on the first torque information includes the following sub-steps:

[0177] Sub-step S31, performing limit processing on the first torque information according to a preset wheel speed limit to obtain second torque information;

[0178] When the first torque information is greater than the maximum value of the preset torque limit, the second torque information after the first torque information is limited is the maximum torque. When the first torque information is less than the minimum value of the preset torque limit, the second torque information after the first torque information is limited is the minimum torque.

[0179] The upper limit of the preset torque limit can be set to 2500 Nm, and the lower limit of the torque can be set to -2500 Nm.

[0180] Sub-step S32, determining the torque slope information of the vehicle;

[0181] Torque slope information can be used to smooth the torque. Torque slope information can specifically include torque loading slope and torque unloading slope. In the vehicle control system, loading and unloading slopes are used to smoothly adjust the vehicle torque to ensure the stability and safety of the vehicle when turning or performing other operations. These slopes are usually used to control the rate of change of vehicle torque to avoid vehicle instability or difficulty in handling due to sudden changes in speed.

[0182] Specifically, determining the torque slope information of the vehicle includes: obtaining second selection information of the torque slope of the vehicle; and determining the torque slope information corresponding to the selection information.

[0183] For example: when the user turns on the torque loading selection switch (the default selection switch attribute value is 1), the torque loading slope = the preset torque loading slope calibration value (such as 30).

[0184] When the user's torque loading selection switch is turned off (the selection switch attribute value is 0), the loading slope needs to be determined based on the second torque information after limiting. In one example, the torque loading slope = target torque after limiting / torque loading time (such as the torque loading time can be set to 500ms).

[0185] When the user turns on the torque unloading selection switch (the default selection switch attribute value is 1), the torque unloading slope = the preset torque unloading slope calibration value (such as -30).

[0186] When the user's torque unloading selection switch is turned off (the selection switch attribute value is 0), the loading slope needs to be determined based on the second torque information after limiting. In one example, the torque unloading slope = target torque after limiting / torque unloading time (such as the torque unloading time can be set to 500ms).

[0187] Sub-step S33, determining the third torque information of the vehicle after smoothing based on the torque slope information and the second torque information;

[0188] Sub-step S34: determining the motor torque information corresponding to the third torque information.

[0189] Specifically, determining the motor torque information corresponding to the third torque information includes: obtaining a second motor transmission ratio of the vehicle, the second motor conversion ratio being used to convert the wheel end torque into the motor torque; and determining the motor torque information based on the second motor transmission ratio and the third torque information.

[0190] The second motor gear ratio refers to the speed ratio between the motor output shaft and the wheels. This ratio depends on the vehicle's powertrain design, including the configuration of components such as the gearbox, drive shaft, and differential.

[0191] The conversion relationship between the third torque information and the motor torque information can be established through the second motor transmission ratio. Therefore, after obtaining the second motor transmission ratio and the third torque information, the motor torque information can be determined according to the conversion relationship.

[0192] In the embodiment of the present invention, the motor torque = b*the third torque information*the second motor transmission ratio, where a is a constant. The second motor transmission ratios and b of different wheels may be the same or different, and the specific values ​​may be set according to the actual vehicle scenario.

[0193] For example: front motor target torque = smoothed third torque information of the front axle motor wheel end ÷ transmission ratio of the front axle second motor.

[0194] Left rear motor target torque=smoothed left rear motor wheel end third torque information÷left rear second motor transmission ratio.

[0195] Right rear motor target torque=smoothed right rear motor wheel end third torque information÷right rear second motor transmission ratio.

[0196] In the embodiment of the present invention, during the vehicle steering control process, the two second wheels are driven so that the vehicle rotates with the first wheel as a fixed point, thereby reducing the turning diameter.

[0197] Reference Figure 3 , shows a flow chart of another vehicle control method provided by an embodiment of the present invention, which may specifically include the following steps:

[0198] Step S301, when the target function is activated, the first wheel at the first end of the vehicle is controlled to be in a braking state, and the two second wheels at the second end of the vehicle are controlled to rotate outward by a target angle;

[0199] Step S302, driving another first wheel at the first end of the vehicle, and driving two second wheels, so that the vehicle rotates with the first wheel as a fixed point.

[0200] In one embodiment of the present invention, the step of driving another first wheel at the first end of the vehicle and driving two second wheels comprises:

[0201] Drive a first target wheel among the two second wheels to move in a first direction, and drive a second target wheel among the two second wheels to move in a second direction, and drive another first wheel at a first end of the vehicle to move in the first direction, wherein the first direction is different from the second direction, and the first target wheel is on the same side of the vehicle as the first wheel.

[0202] In another embodiment of the present invention, the step of driving another first wheel at the first end of the vehicle and driving two second wheels comprises:

[0203] Sub-step 41, determining driving parameters of another first wheel and each second wheel;

[0204] Among them, the driving parameters include the target wheel speed, and the target wheel speeds of another first wheel and each second wheel are determined according to the vehicle's operating mode and a preset corresponding relationship, wherein the operating mode includes ice and snow mode, off-road mode, and road mode.

[0205] Sub-step 42: controlling the motors corresponding to the other first wheel and the second wheels according to the driving parameters of the other first wheel and the second wheels.

[0206] In one embodiment of the present invention, the step of controlling the motors corresponding to the other first wheel and the second wheels according to the driving parameters of the other first wheel and the second wheels comprises:

[0207] The driving parameters of the other first wheel and each second wheel are corrected according to the yaw angular velocity, and the motors corresponding to the other first wheel and each second wheel are controlled according to the corrected driving parameters.

[0208] In another embodiment of the present invention, the step of controlling the motors corresponding to the other first wheel and the second wheels according to the driving parameters of the other first wheel and the second wheels comprises:

[0209] According to the torque loading slope and / or wheel speed loading slope of the other first wheel and each second wheel, the motors corresponding to the other first wheel and each second wheel are controlled so that the target wheel speed is between a preset wheel speed upper limit value and a preset wheel speed lower limit value, and / or the target torque is between a preset torque upper limit value and a preset torque lower limit value.

[0210] In the embodiment of the present invention, during the vehicle steering control process, by driving another first wheel at the first end of the vehicle and driving two second wheels, the vehicle is rotated with the first wheel as a fixed point, thereby reducing the turning diameter.

[0211] Reference Figure 4a , is a schematic diagram of a turn in an embodiment of the present invention, with the front left wheel as a fixed wheel, and the front right wheel, rear left wheel, and rear right wheel can turn around the front left wheel. By controlling the speed and torque of each wheel of the vehicle, the turning diameter is reduced, and the tire wear problem in certain scenarios is also solved.

[0212] Reference Figure 4b, is a system architecture diagram in an embodiment of the present invention, the system may include Passenger Airbag Deactivation (passenger airbag deactivation), motor controller MCU, vehicle controller VCU, vehicle motion controller, steering control system EPS, intelligent integrated brake control system IPB, parking brake system EPB and other electronic control systems, active suspension system Disus and rear wheel steering system RWS, etc. Based on the above structure, the compass U-turn function in this case can be realized.

[0213] VCU: Receives the function switch signal sent by PAD and is the control center of the compass turning function.

[0214] PAD: Feedback to the VCU driver on the compass turn function entry / exit request and function activation / interruption request, as well as the driver's target direction and target distance; VCU feeds back to the PAD the reason why the function could not be entered, the function operating status, the reason for function exit, obstacle information, as well as the actual driving scene, actual direction, actual turning angle, and current fulcrum wheel; responds to the VCU's alarm sound request to remind the driver to pay attention to obstacles.

[0215] RWS: Responds to the target steering wheel angle sent by Didyna.

[0216] EPS: Responds to Didyna's target steering wheel angle and maintains neutral position; detects user hand force and feeds back to the VCU.

[0217] FMCU / RLMCU / RRMCU: sends actual torque signal to VCU and receives target torque signal sent by VCU.

[0218] EPB: Receives Didyna parking request and feeds back EPB actual status signal.

[0219] ADAS: The compass turn function detects obstacle information when entering and sends it to the VCU.

[0220] SCU: responds to the gear switching request of the compass turn function; feeds back the SCU status to the VCU.

[0221] Left domain: The double flash lights turn on when the compass turn function is activated; the status of the four doors and two covers is sent to the VCU.

[0222] Disus: Responds to Didyna height, stiffness and altitude requests.

[0223] IPB: Responds to Didyna single-wheel hydraulic braking request and shields ABS, EBD, and VDC functions.

[0224] Function triggering can be displayed in real time through the PAD during entry, exit and execution. PAD will feedback functional requirements such as entry, exit and the driver's target turning direction and target turning angle to the vehicle controller VCU; the vehicle controller VCU will feedback the PAD function entry status, fault prompts, actual turning fulcrum, direction and angle and other information, and present them to the driver. When the compass turn function is working normally, the corresponding obstacle position, distance and other related information must be displayed on the PAD and the instrument. When an obstacle that affects the operation of the compass turn function is detected, an alarm message should be issued in time to remind the driver to avoid it.

[0225] When the compass steering function is working normally, the ultrasonic radar and perception system in the ADAS control system work together to realize the perception and detection of 360-degree omnidirectional obstacles around the vehicle. In order to monitor the deviation in real time, the high-precision vehicle position, attitude signal and corresponding obstacle position related information need to be sent to the Can bus. When the vehicle performs the compass U-turn function, in an emergency, the system triggers the parking brake system EPB for emergency braking and parking, and the compass U-turn function is exited.

[0226] The vehicle shift control module SCU gear position must be in D gear to perform the compass turn function, and the vehicle can be rotated clockwise or counterclockwise by controlling the positive and negative torque of the wheels.

[0227] When the left domain receives the activation status of the compass turn function, the turn signal switches to double flash state.

[0228] The MCU is used to receive and execute the VCU's torque requirements for the four wheels and direction, thus realizing the vehicle's compass U-turn function.

[0229] The vehicle controller VCU should be able to monitor and send the compass turn function status bit to determine the execution or detection of VCU faults and failure modes. When the VCU receives the PAD switch and the target angle signal, the VCU executes the following logic: When the vehicle locks the left front wheel or the right front wheel, the locked wheel is used as the fulcrum to rotate clockwise or counterclockwise, and the VCU distributes torque to the front axle, the left rear wheel, and the right rear wheel. When the function is activated, the TCS needs to be turned off and the accelerator pedal needs to be shielded. By outputting positive and negative torque to the three unlocked wheels, the vehicle can turn clockwise or counterclockwise or turn around.

[0230] When Didyna receives the PAD switch and target angle signal, it executes the following logic for other involved systems: the steering control system EPS feeds back the steering angle and torque of the vehicle during actual driving; Disus responds to Didyna's height, damping, and stiffness requests, and feeds back the corresponding status; the intelligent integrated braking system IPB responds to Didyna's left / right front single-wheel braking request, and feeds back the actual single-wheel braking pressure status signal; the parking brake system EPB responds to Didyna's parking brake request, and feeds back the actual EPB status bit signal; the rear-wheel steering system RWS responds to Didyna's rear wheel angle request, and feeds back the actual steering angle and status bit signal, etc.

[0231] Reference Figure 4c This is a schematic diagram of a vehicle turning control process in an embodiment of the present invention:

[0232] The user manually turns on the compass turn function on the PAD interface and selects the target direction and angle of rotation; sends the compass turn function start command to the VCU, the VCU starts the condition judgment, the compass turn function starts, the VCU calculates the target speed and torque, and sends the calculated target speed and torque to the MCU. The turning radius and turning angle are calculated, and the turning radius and turning angle are fed back to the PAD to generate and display the vehicle trajectory.

[0233] Didyna receives the compass turn start command, determines that the brake pedal is released, and then performs angle correction on the EPS, IPB single-wheel hydraulic braking, and rear left and right angle control. It will also generate a Didyna fault command and return the status bit to the VCU through the Didyna fault command; based on the start condition judgment in the VCU, it generates a compass turn function activation command in Didyna to perform rear wheel angle turning and single-wheel braking.

[0234] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0235] An embodiment of the present invention further provides a control device, which includes a vehicle controller and a motor control unit; the vehicle controller and the motor control unit are configured to execute the steps of the vehicle control method as described above.

[0236] An embodiment of the present invention further provides a driving system, comprising: the control device as described above;

[0237] A first motor is used to output torque to the left front wheel and the right front wheel;

[0238] The second motor is used to output torque to the left rear wheel;

[0239] The third motor is used to output torque to the right rear wheel.

[0240] An embodiment of the present invention further provides a vehicle, comprising: a vehicle controller and a motor control unit; the vehicle controller and the motor control unit are configured to execute the steps of the vehicle control method as described above.

[0241] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle control method described above are implemented.

[0242] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0243] Those skilled in the art will appreciate that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0244] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0245] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0246] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0247] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0248] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0249] The above is a detailed introduction to a vehicle control method and device, an electronic device, and a storage medium. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for a person skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A vehicle control method, characterized in that: The method comprises: When the target function is activated, the first wheel at the first end of the vehicle is controlled to be in a braking state, and the two second wheels at the second end of the vehicle are controlled to rotate outwardly by a target angle; The vehicle is driven so that the vehicle rotates with the first wheel as a fixed point.

2. The control method according to claim 1, characterized in that: The target angle is suitable for being set to any value between zero degrees and a steering angle threshold.

3. The control method according to claim 1, characterized in that: The step of controlling the two second wheels at the second end of the vehicle to rotate outwardly by a target angle comprises: The two second wheels at the second end of the vehicle are controlled to rotate outward to an angle corresponding to a steering angle threshold.

4. The control method according to claim 1, characterized in that: The step of driving the vehicle comprises: The two second wheels are driven so that the vehicle rotates with the first wheel as a fixed point.

5. The control method according to claim 4, characterized in that: The step of driving the two second wheels comprises: One of the two second wheels is driven to move in a first direction, and the other of the two second wheels is driven to move in a second direction, wherein the first direction and the second direction are different.

6. The control method according to claim 4, characterized in that: The step of driving the two second wheels comprises: determining a driving parameter of each second wheel; The motors corresponding to the second wheels are controlled according to the driving parameters of the second wheels.

7. The control method according to claim 6, characterized in that: The driving parameters include a target wheel speed, and the target wheel speed of each second wheel is determined according to an operation mode of the vehicle and a preset corresponding relationship, wherein the operation mode includes an ice and snow mode, an off-road mode, and a highway mode.

8. The control method according to claim 6, characterized in that: The step of controlling the motors corresponding to the second wheels according to the driving parameters of the second wheels comprises: The driving parameters of each second wheel are corrected according to the yaw angular velocity, and the motors corresponding to each second wheel are controlled according to the corrected driving parameters.

9. The control method according to claim 6, characterized in that: The step of controlling the motors corresponding to the second wheels according to the driving parameters of the second wheels comprises: According to the torque loading slope and / or wheel speed loading slope of each second wheel, the motor corresponding to each second wheel is controlled so that the target wheel speed is between a preset wheel speed upper limit value and a preset wheel speed lower limit value, and / or the target torque is between a preset torque upper limit value and a preset torque lower limit value.

10. The control method according to claim 1, characterized in that: The step of driving the vehicle comprises: The other first wheel at the first end of the vehicle is driven, and the two second wheels are driven so that the vehicle rotates with the first wheel as a fixed point.

11. The control method according to claim 10, characterized in that: The steps of driving the other first wheel at the first end of the vehicle and driving the two second wheels include: Driving a first target wheel of the two second wheels to move in a first direction, and driving a second target wheel of the two second wheels to move in a second direction, and driving another first wheel at a first end of the vehicle to move in the first direction, wherein the first direction is different from the second direction, and the first target wheel is on the same side of the vehicle as the first wheel.

12. The control method according to claim 10, characterized in that: The steps of driving the other first wheel at the first end of the vehicle and driving the two second wheels include: determining driving parameters of the other first wheel and each of the second wheels; According to the driving parameters of the other first wheel and each of the second wheels, the motors corresponding to the other first wheel and each of the second wheels are controlled.

13. The control method according to claim 12, characterized in that: The step of controlling the motors corresponding to the other first wheel and the second wheels according to the driving parameters of the other first wheel and the second wheels comprises: The driving parameters of the other first wheel and each second wheel are corrected according to the yaw angular velocity, and the motors corresponding to the other first wheel and each second wheel are controlled according to the corrected driving parameters.

14. The control method according to claim 12, characterized in that: The driving parameters include a target wheel speed, and the target wheel speeds of another first wheel and each second wheel are determined according to an operating mode of the vehicle and a preset corresponding relationship, wherein the operating mode includes an ice and snow mode, an off-road mode, and a road mode.

15. The control method according to claim 12, characterized in that: The step of controlling the motors corresponding to the other first wheel and the second wheels according to the driving parameters of the other first wheel and the second wheels comprises: According to the torque loading slope and / or wheel speed loading slope of the other first wheel and each second wheel, the motors corresponding to the other first wheel and each second wheel are controlled so that the target wheel speed is between a preset wheel speed upper limit value and a preset wheel speed lower limit value, and / or the target torque is between a preset torque upper limit value and a preset torque lower limit value.

16. The control method according to claim 1, characterized in that: Before the step of activating the target function, the method further includes: When it is determined that the vehicle meets a preset activation condition according to the vehicle environment information and the vehicle driving related information, the target function is activated; When it is determined that the vehicle does not meet a preset activation condition according to the vehicle environment information and the vehicle driving related information, the target function is not activated.

17. The control method according to claim 16, characterized in that: The vehicle driving information includes vehicle indicator light information, motor information, steering wheel information, vehicle speed signal status, brake depth identification position information, gear status information, four doors and two covers status, and battery status parameters; the vehicle environment information includes slope information; The preset activation conditions include: the vehicle indicator light information, motor information, steering wheel information, vehicle speed signal status, braking depth information, gear status information, four doors and two lids status are preset states, and the battery status parameter is greater than the preset battery parameter.

18. The control method according to claim 17, characterized in that: The slope information is less than a preset threshold value, and the duration is at least longer than a first preset duration.

19. The control method according to claim 17, characterized in that: The vehicle speed is less than the preset vehicle speed, and the duration exceeds the second preset time length.

20. The control method according to claim 1, characterized in that: Before the step of activating the target function, the method further includes: Obtaining rotation parameter information input by a user, wherein the rotation parameter information includes rotation direction and rotation angle information; The step of driving the vehicle so that the vehicle rotates with the first wheel as a fixed point includes: The vehicle is driven so that the vehicle rotates along the rotation direction with the first wheel as a fixed point and rotates by an angle corresponding to the rotation angle information.

21. The control method according to claim 1, characterized in that: Also includes: determining a target turning angle of the vehicle during the rotation; determining a target turning radius of the vehicle during rotation; Based on the target turning angle and the target turning radius, a turning trajectory of the vehicle is generated, and the turning trajectory is displayed.

22. The control method according to claim 21, characterized in that: Determining a target turning angle of the vehicle during a turning process includes: Obtaining the rotation angle information input by the user, and determining the initial turning angle according to the rotation angle information; A target turning angle for next turning control of the vehicle is predicted based on the initial turning angle and yaw rate information.

23. The control method according to claim 22, characterized in that: The step of predicting the target turning angle of the next turning control of the vehicle based on the initial turning angle and the yaw rate information comprises: Determine the target angle difference according to the yaw rate information; The target turning angle is determined by taking the difference between the initial turning angle and the target angle.

24. The control method according to claim 23, characterized in that: The step of determining the target angle difference according to the yaw angular velocity information comprises: Obtaining a first yaw rate filter value of a previous turning control of the vehicle and a second yaw rate filter value of a current turning control; determining a yaw rate filtered mean of the first yaw rate filtered value and the second yaw rate filtered value; A target angle difference is determined based on a product of the yaw rate filtered mean value and a preset turning control period.

25. The control method according to claim 1, characterized in that: Also includes: The current driving trajectory is corrected according to the yaw angular velocity, and the corrected driving trajectory is output and displayed to assist the driver in driving.

26. A control device, characterized in that: include: A vehicle controller and a motor control unit; the vehicle controller and the motor control unit are configured to execute the steps of the vehicle control method as described in any one of claims 1-25.

27. A drive system, characterized in that: include: The control device as claimed in claim 18; A first motor is used to output torque to the left front wheel and the right front wheel; The second motor is used to output torque to the left rear wheel; The third motor is used to output torque to the right rear wheel.

28. A vehicle, characterized in that: include: A vehicle controller and a motor control unit; the vehicle controller and the motor control unit are configured to execute the steps of the vehicle control method as described in any one of claims 1-25.

29. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 25 are implemented.

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