Control method and device, electronic device, vehicle and storage medium

Abstract

The invention discloses a vehicle control method, a vehicle control device, an electronic device, a vehicle and a computer readable storage medium. The control method comprises the steps that whether a vehicle meets a preset braking condition or not is determined; and under the condition that the vehicle meets the preset braking condition, a left rear wheel of the vehicle is controlled to turn right, and / or a right rear wheel of the vehicle is controlled to turn left, so that vehicle braking is achieved. The braking performance of the vehicle can be improved, and the driving safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and more specifically, to a vehicle control method, a vehicle control device, an electronic device, a vehicle, and a computer-readable storage medium. Background Art

[0002] In the related art, when a vehicle is driving on sand, mud or snow, due to the low adhesion of the road surface, the braking distance of the vehicle is long and the braking stability is poor, which affects driving safety. Summary of the invention

[0003] Embodiments of the present application provide a vehicle control method, a vehicle control device, an electronic device, a vehicle, and a computer-readable storage medium.

[0004] The vehicle control method of the implementation mode of the present application includes: determining whether the vehicle meets the preset braking conditions; when the vehicle meets the preset braking conditions, controlling the left rear wheel of the vehicle to turn right, and / or controlling the right rear wheel of the vehicle to turn left, so as to achieve vehicle braking.

[0005] In some embodiments, the preset braking condition includes a preset driving mode, and determining whether the vehicle satisfies the preset braking condition includes: obtaining the driving mode of the vehicle; and when the driving mode of the vehicle is a sand mode, a mud mode, or a snow mode, determining that the vehicle satisfies the preset driving mode.

[0006] In certain embodiments, the preset braking condition includes a preset steering wheel steering angle, and determining whether the vehicle satisfies the preset braking condition further includes: obtaining the steering wheel steering angle of the vehicle and a preset angle threshold; when the steering wheel steering angle is less than or equal to the preset angle threshold, determining that the vehicle satisfies the preset steering angle; and when the steering wheel steering angle is greater than the preset angle threshold, determining that the vehicle does not meet the preset steering angle.

[0007] In some embodiments, the preset angle threshold is 15°.

[0008] In some embodiments, the preset braking condition includes a preset braking depth, and determining whether the vehicle meets the preset braking condition further includes: obtaining the braking depth of the vehicle and a preset depth threshold; if the braking depth of the vehicle is greater than or equal to the preset depth threshold, determining that the vehicle meets the preset braking depth; and if the braking depth of the vehicle is less than the preset depth threshold, determining that the vehicle does not meet the preset braking depth.

[0009] In certain embodiments, the preset depth threshold is 10% of the total depth of the brake pedal of the vehicle.

[0010] In some embodiments, controlling the left rear wheel of the vehicle to turn right, and / or controlling the right rear wheel of the vehicle to turn left, includes: when the vehicle's driving mode is a mud mode or a sand mode, controlling the left rear wheel of the vehicle to turn right, and / or controlling the right rear wheel of the vehicle to turn left according to a preset wheel steering angle, and the preset wheel steering angle ranges from 0.2° to 5°.

[0011] In some embodiments, controlling the left rear wheel of the vehicle to turn right, and / or controlling the right rear wheel of the vehicle to turn left, includes: when the vehicle's driving mode is a snow mode, controlling the left rear wheel of the vehicle to turn right, and / or controlling the right rear wheel of the vehicle to turn left according to a preset wheel steering angle, and the preset wheel steering angle ranges from 0.2° to 0.6°.

[0012] In certain embodiments, the control method further includes: when the vehicle does not meet a preset braking condition, maintaining the wheel steering angles of the left rear wheel and the right rear wheel of the vehicle unchanged.

[0013] The present application also provides a wheel steering control device, the control device comprising a determination module and a control module, the determination module is used to determine whether the vehicle meets a preset braking condition. The control module is used to control the left rear wheel of the vehicle to turn right, and / or control the right rear wheel of the vehicle to turn left, so as to achieve vehicle braking, when the vehicle meets the preset braking condition.

[0014] The present application also provides an electronic device, which includes a processor, the processor is connected to a memory, and a computer program is stored in the memory; the processor is used to read and execute the computer program stored in the memory, so that the control method in any one of the above-mentioned embodiments is executed.

[0015] The present application also provides a vehicle, comprising the control device in any one of the above embodiments or the electronic device in any one of the above embodiments.

[0016] The present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the control method in any one of the above-mentioned embodiments is implemented.

[0017] In the vehicle control method, vehicle control device, electronic device, vehicle and computer-readable storage medium provided by the present application, it is determined whether the vehicle needs to adopt a special braking method by determining whether the vehicle meets the preset braking conditions. When the vehicle is traveling on a road with a low adhesion coefficient, if the driver controls the vehicle to brake and the vehicle adopts a normal braking method, it is easy to cause a long braking distance and poor braking stability. Therefore, the present application is a special braking method for the vehicle. If the vehicle meets the preset braking conditions, it indicates that the vehicle is traveling on a road with a low adhesion coefficient and the vehicle needs to brake. At this time, the left rear wheel of the vehicle will turn right, and / or the right rear wheel of the vehicle will turn left. After the wheel turns, as the vehicle continues to move forward, the wheel will be subject to greater forward resistance, thereby improving the braking performance of the vehicle and improving driving safety.

[0018] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0020] Figure 1 is a flow chart of a vehicle control method according to some embodiments of the present application;

[0021] Figure 2 is a schematic diagram of the structure of a vehicle control device in some embodiments of the present application;

[0022] Figure 3 is a schematic diagram of a vehicle with a left rear wheel turning right and a right rear wheel turning left in some embodiments of the present application;

[0023] Figure 4 is a schematic diagram of a right rear wheel and a sand accumulation area of ​​a vehicle according to some embodiments of the present application;

[0024] Figure 5 is a schematic diagram of a right rear wheel and a sand accumulation area of ​​a vehicle according to other embodiments of the present application;

[0025] Figure 6 is a flow chart of determining whether a vehicle satisfies a preset braking condition in a vehicle control method in some embodiments of the present application;

[0026] Figure 7 is a flow chart of determining whether a vehicle satisfies a preset braking condition in a vehicle control method in some embodiments of the present application;

[0027] Figure 8is a flow chart of determining whether a vehicle satisfies a preset braking condition in a vehicle control method in some embodiments of the present application;

[0028] Fig. 9 is a flowchart of a vehicle control method according to other embodiments of the present application;

[0029] Fig.10 is a schematic diagram of the status of the left rear wheel and the right rear wheel of a vehicle in some embodiments of the present application;

[0030] Fig.11 is a schematic diagram of the status of the left rear wheel and the right rear wheel of a vehicle in some embodiments of the present application;

[0031] Fig.12 is a schematic diagram of the status of the left rear wheel and the right rear wheel of a vehicle in some embodiments of the present application;

[0032] Fig.13 is a schematic diagram of the structure of a controller of some embodiments of the present application;

[0033] Fig.14 is a schematic diagram of the structure of a controller of other embodiments of the present application;

[0034] Fig.15 It is a schematic diagram of the connection status of a computer-readable storage medium and a processor in certain embodiments of the present application.

[0035] Description of main component symbols:

[0036] Vehicle 100;

[0037] A control device 10 for a vehicle;

[0038] Determination module 11; Control module 12;

[0039] Processor 20;

[0040] Computer readable storage medium 200; computer program 202;

[0041] Controller 30;

[0042] Left rear steering gear 31; right rear steering gear 32; left rear wheel 33; right rear wheel 34; vehicle machine 36; steering wheel 37; brake pedal 38;

[0043] Sand accumulation area 40;

[0044] Wheel 50. DETAILED DESCRIPTION

[0045] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0046] The wheels of a vehicle are usually provided with tire patterns of different forms. When the vehicle brakes, the braking system will lock the wheels. The tire patterns can further increase the friction between the wheels and the ground during the friction with the ground. However, when the vehicle is driving on sand or mud, the road adhesion coefficient is low, and the tire patterns will be filled with sand particles, which cannot further increase the friction between the wheels and the ground. This ultimately leads to a long braking distance and poor braking stability when the vehicle brakes on sand or mud, thereby reducing the braking performance of the vehicle and affecting driving safety. How to avoid the long braking distance and poor braking stability of the vehicle when the vehicle brakes on sand or mud has become a difficult problem that technicians in this field urgently need to solve. In addition, during the braking process of the vehicle, the tire will passively rotate around the kingpin at an angle, so that the tire pattern cannot fully rub against the ground. If the vehicle is still driving on a snowy or icy road with a low adhesion coefficient, this will further reduce the braking effect of the vehicle. In order to solve these problems, the present application provides a vehicle control method (such as Figure 1 As shown), the vehicle's control device (such as Figure 2 ), an electronic device, a vehicle 100, and a computer-readable storage medium 200 (as shown Fig.15 shown).

[0047] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 , a vehicle control method according to an embodiment of the present application, the control method comprising:

[0048] 03: Determine whether the vehicle meets the preset braking conditions;

[0049] 05: When the vehicle meets the preset braking conditions, the left rear wheel of the vehicle is controlled to turn right, and / or the right rear wheel of the vehicle is controlled to turn left to achieve vehicle braking.

[0050] The above-mentioned vehicle control method can be applied to the vehicle control device 10. The vehicle control device 10 of the embodiment of the present application includes a determination module 11 and a control module 12. The determination module 11 is used to determine whether the vehicle meets the preset braking condition. The control module 12 is used to control the left rear wheel of the vehicle to turn right, and / or control the right rear wheel of the vehicle to turn left, so as to achieve vehicle braking when the vehicle meets the preset braking condition.

[0051] The vehicle control device 10 is one of the core control components installed inside the vehicle, responsible for managing and coordinating the operation of various parts of the vehicle. The vehicle control device 10 collects, processes and analyzes data from various sensors, such as data from multiple sensors built into the vehicle, such as cameras, vehicle speed sensors, inertial sensors, brake pedal sensors, and wheel speed sensors, to control the working state of various components of the vehicle, such as the engine, gearbox, braking system, and steering system, to ensure that the vehicle can operate safely and efficiently. The vehicle control device 10 controls the overall performance of the vehicle by adjusting the parameters of various components inside the vehicle. In the present application, the vehicle control device 10 is used to determine whether the vehicle meets the preset braking conditions, wherein the preset braking conditions include a preset driving mode, a preset steering angle, and a preset braking depth. When the vehicle meets the preset braking conditions, the vehicle control device 10 will control the wheels of the vehicle to brake in a special braking manner to avoid the vehicle from having a long braking distance on a road with a low adhesion coefficient, thereby improving driving safety.

[0052] More specifically, the control device 10 of the vehicle includes a determination module 11 and a control module 12. The determination module 11 is used to execute method 03 and the control module 12 is used to execute method 05. The determination module 11 is a module in the control device 10 of the vehicle for determining whether the vehicle meets various conditions preset in advance by relevant personnel. For example, in the present application, the determination module 11 is used to determine whether the vehicle meets the preset braking conditions, and the preset braking conditions include a preset driving mode, a preset steering angle, and a preset braking depth. Among them, the preset driving mode is a mode set in advance by the operator or driver and stored in the vehicle. Different driving modes correspond to different control methods, which include but are not limited to vehicle speed, vehicle gear position, and turning on and off vehicle lights. The preset steering angle is the steering angle of the vehicle set in advance by the operator or driver and stored in the vehicle. The preset braking depth is the brake pedal depth set in advance by the operator or driver and stored in the vehicle. The preset braking depth can be used to determine whether the vehicle needs to be braked. The control module 12 is a core module in the vehicle control device 10 for processing various information and data and controlling the operation mode of the vehicle (for example, controlling the left rear wheel of the vehicle to turn right, and / or controlling the right rear wheel of the vehicle to turn left in this application). When the vehicle meets the preset braking conditions, the control module 12 is used to control the vehicle to brake, and control the left rear wheel of the vehicle to turn right, and / or control the right rear wheel of the vehicle to turn left.

[0053] Specifically, before explaining method 03 and method 05, the adhesion coefficient needs to be explained first. During the braking process of the vehicle, the braking force of the wheel is related to the adhesion coefficient of the ground. More specifically, when the vehicle enters the braking state, the wheel enters the locked state under the action of the braking mechanism inside the vehicle, that is, the braking mechanism of the vehicle will try to control the wheel to stop rotating. Among them, the braking mechanism of the vehicle can be a braking mechanism such as a mechanical braking mechanism, a hydraulic braking mechanism, a pneumatic braking mechanism, an electric control braking mechanism, and a magnetic braking mechanism. Under the action of the formulating mechanism, although the vehicle still has the same inertia as the vehicle's forward direction, the wheel will enter a semi-slip and semi-rolling state or a fully locked state. When the wheel is in a semi-slip and semi-rolling state, the ground adhesion coefficient can reach the maximum, that is, the braking force can reach a large value, and the lateral stability is also good at this time. When the wheel is completely locked and there is no rolling, the ground adhesion decreases, and the lateral stability is zero. Side slip and tail swing are very likely to occur, thereby increasing the probability of driving safety accidents. In addition, the ground adhesion coefficient is also related to environmental factors. The adhesion coefficients of sandy and muddy roads are all low. The lower the ground adhesion coefficient, the worse the vehicle's braking effect and the longer the braking distance.

[0054] For further information, see Figure 3 , Figure 4 and Figure 5, when the vehicle meets the preset braking conditions, Figure 3 The vehicle state shown is the state where the left rear wheel of the vehicle turns right and the right rear wheel turns left, that is, the state of the left rear wheel and the right rear wheel of the vehicle described in method 05. Specifically, when the vehicle meets the preset braking conditions, only the left rear wheel can be controlled to turn right, or only the right rear wheel can be controlled to turn left. Figure 3 The state of the wheel 50 in FIG. 1 is a situation where the left rear wheel of the vehicle is controlled to turn right and the right rear wheel is controlled to turn left at the same time. Figure 4 FIG. 4 is a top view of the right rear wheel after the right rear wheel turns right. For example, when a vehicle is driving on sand and braking, after the wheel enters a locked state, the vehicle will continue to move forward in the original direction due to inertia, and a sand accumulation area 40 will be generated on the right side of the right rear wheel. Figure 5 The perspective can more intuitively reflect the shape and size of the sand accumulation area 40, combined with Figure 4 and Figure 5 , Figure 4 The arrows in FIG. 4 indicate that the sand accumulation area 40 will give the wheel 50 additional forward resistance, thereby increasing the braking effect of the vehicle.

[0055] It is understandable that in the vehicle control method and the vehicle control device 10 provided by the present application, by determining whether the vehicle meets the preset braking conditions, it is determined whether the vehicle needs to adopt a special braking method. When the vehicle is traveling on a road with a low adhesion coefficient, for example, when the vehicle is traveling on sand or mud, the tire pattern will be filled with sand particles. At this time, if the driver controls the vehicle to brake, if the vehicle adopts a normal braking method, it is easy to cause a long braking distance and poor braking stability. Therefore, the present application is a special braking method for the vehicle. If the vehicle meets the preset braking conditions, it indicates that the vehicle is traveling on a road with a low adhesion coefficient and the vehicle needs to brake. At this time, the left rear wheel of the vehicle will turn right, and / or the right rear wheel of the vehicle will turn left. After the wheel 50 turns, as the vehicle continues to move forward, the sand or silt on the ground will form sand or mud accumulation on the side of the wheel 50, causing the wheel 50 to be subjected to greater forward resistance, thereby improving the braking performance of the vehicle and improving driving safety.

[0056] In certain embodiments, see Figure 1 , Figure 2 and Figure 6 , the preset braking condition includes a preset driving mode, 03: determining whether the vehicle meets the preset braking condition, including:

[0057] 031: Get the driving mode of the vehicle;

[0058] 032: When the driving mode of the vehicle is the sand mode, the mud mode or the snow mode, it is determined that the vehicle satisfies the preset driving mode.

[0059] The above-mentioned vehicle control method can be applied to the vehicle control device 10, and the determination module 11 is used to: obtain the driving mode of the vehicle; and when the driving mode of the vehicle is sand mode, mud mode or snow mode, determine that the vehicle meets the preset driving mode.

[0060] Specifically, the driving mode of a vehicle refers to various control methods that adjust its various performances (such as power output, suspension adjustment, traction control, braking system, etc.) through an electronic control system to adapt to a specific driving environment according to different road conditions, driving requirements and environmental conditions. For example, the driving mode may include but is not limited to: a control method that optimizes fuel consumption and power output to improve fuel efficiency, a control method that provides stronger power response and harder suspension settings, a control method that optimizes traction and power output, and a control method that adjusts traction control, suspension system and power distribution to improve stability in muddy road conditions. The vehicle may be equipped with a button or knob that the driver can use to select different driving modes. The controller inside the vehicle reads the mode selected by the driver and adjusts the vehicle performance.

[0061] Furthermore, for example, compared with dry roads, snowy roads have a lower adhesion coefficient. On snowy roads, the friction between the wheels and the ground is small, which means that it is difficult for the tires to effectively grip the road surface, resulting in a long braking distance and poor braking stability for the vehicle. For this reason, in the present application, the driving mode of the vehicle also includes a snow mode, which is not only used in snowy road environments, but also in any slippery ground environment, such as snowy or icy roads.

[0062] More specifically, in the present application, in order to improve the braking effect of the vehicle on sand, mud or snow with a low adhesion coefficient and affect driving safety, when the vehicle's driving mode is sand mode, mud mode or snow mode, the determination module 11 determines that the vehicle meets the preset driving mode.

[0063] In certain embodiments, see Figure 1 , Figure 2 and Figure 7 ,The preset braking condition includes a preset steering wheel steering angle, 03: Determining whether the vehicle meets the preset braking condition, further comprising:

[0064] 033: Get the vehicle's steering wheel steering angle and the preset angle threshold;

[0065] 034: When the steering wheel steering angle is less than or equal to a preset angle threshold, determining that the vehicle meets a preset steering angle; and

[0066] 035: When the steering wheel steering angle is greater than a preset angle threshold, it is determined that the vehicle does not meet the preset steering angle.

[0067] The above-mentioned vehicle control method can be applied to the vehicle control device 10, and the determination module 11 is used to: obtain the vehicle's steering wheel steering angle and a preset angle threshold; when the steering wheel steering angle is less than or equal to the preset angle threshold, determine that the vehicle meets the preset steering angle; and when the steering wheel steering angle is greater than the preset angle threshold, determine that the vehicle does not meet the preset steering angle.

[0068] Specifically, the preset angle threshold can be determined by the operator when the vehicle leaves the factory, or it can be modified and determined by the user according to his own needs. When the vehicle does not make a large-angle turn, the left rear wheel and the right rear wheel can be turned independently to avoid affecting the steering direction of the vehicle when the vehicle makes a large-angle turn, causing more serious safety accidents. When the steering angle of the vehicle is less than the preset angle threshold, the determination module 11 determines that the vehicle meets the preset steering angle. When the steering angle of the vehicle is greater than the preset angle threshold, the determination module 11 determines that the vehicle does not meet the preset steering angle. When the steering angle of the vehicle is equal to the preset angle threshold, the determination module 11 can determine that the vehicle meets the preset steering angle, or it can determine that the vehicle does not meet the preset steering angle.

[0069] In some embodiments, please combine Figure 1 , Figure 2 and Figure 7 , the preset angle threshold is 15°.

[0070] That is to say, if the steering wheel steering angle is less than 15°, it indicates that the vehicle has not made a large-angle turn, and the determination module 11 determines that the vehicle meets the preset steering angle. If the steering wheel steering angle is greater than 15°, it indicates that the vehicle has made a large-angle turn. In order to avoid the independent steering of the left rear wheel and the right rear wheel affecting the steering direction of the vehicle, the determination module 11 determines that the vehicle does not meet the preset steering angle. If the steering wheel steering angle is equal to 15°, it may indicate that the vehicle has not made a large-angle turn, or it may indicate that the vehicle has made a large-angle turn. The determination module 11 may determine that the vehicle meets the preset steering angle, or it may determine that the vehicle does not meet the preset steering angle.

[0071] In certain embodiments, see Figure 1 , Figure 2 and Figure 8 , the preset braking condition includes a preset braking depth, 03: determining whether the vehicle meets the preset braking condition, further comprising:

[0072] 036: Obtain the braking depth of the vehicle and the preset depth threshold;

[0073] 037: When the braking depth of the vehicle is greater than or equal to a preset depth threshold, determining that the vehicle meets the preset braking depth; and

[0074] 038: When the braking depth of the vehicle is less than a preset depth threshold, it is determined that the vehicle does not meet the preset braking depth.

[0075] The above-mentioned vehicle control method can be applied to the vehicle control device 10, and the determination module 11 is used to: obtain the braking depth of the vehicle and a preset depth threshold; when the braking depth of the vehicle is greater than or equal to the preset depth threshold, determine that the vehicle meets the preset braking depth; and when the braking depth of the vehicle is less than the preset depth threshold, determine that the vehicle does not meet the preset braking depth.

[0076] Specifically, the preset depth threshold can be determined by the operator when the vehicle leaves the factory, or it can be modified and determined by the user according to his own needs. When the vehicle needs to brake, the left rear wheel and the right rear wheel can be turned independently to avoid affecting the vehicle's forward direction when the vehicle does not need to brake, causing more serious safety accidents. When the braking depth of the vehicle is greater than the preset depth threshold, the determination module 11 determines that the vehicle meets the preset braking depth. When the braking depth of the vehicle is less than the preset depth threshold, the determination module 11 determines that the vehicle does not meet the preset braking depth. When the braking depth of the vehicle is equal to the preset depth threshold, the determination module 11 can determine that the vehicle meets the preset braking depth, or it can determine that the vehicle does not meet the preset braking depth.

[0077] In certain embodiments, see Figure 1 , Figure 2 and Figure 8 , the preset depth threshold is 10% of the total depth of the vehicle's brake pedal.

[0078] Specifically, the value of the braking depth is usually expressed as a percentage. Taking a braking depth of 50% as an example, a braking depth of 50% means that the depth to which the brake pedal is stepped on reaches 50% of the total depth of the brake pedal. In the present application, if the braking depth of the vehicle is less than 10%, it indicates that the driver has no braking demand, and the determination module 11 determines that the vehicle does not meet the preset braking depth. If the braking depth of the vehicle is greater than 10%, it indicates that the driver has a braking demand, and the determination module 11 determines that the vehicle meets the preset braking depth. If the braking depth of the vehicle is equal to 10%, it may indicate that the driver has no braking demand, or it may indicate that the driver has a braking demand, and the determination module 11 may determine that the vehicle does not meet the preset braking depth, or it may determine that the vehicle meets the preset braking depth.

[0079] See also Figure 1 , Figure 2 , Figure 3 and Fig. 9 In some embodiments, 05: controlling the left rear wheel of the vehicle to turn right, and / or controlling the right rear wheel of the vehicle to turn left, comprises:

[0080] 051: When the vehicle's driving mode is mud mode or sand mode, the left rear wheel of the vehicle is controlled to turn right, and / or the right rear wheel of the vehicle is controlled to turn left according to a preset wheel steering angle, and the preset wheel steering angle ranges from 0.2° to 5°.

[0081] The control method of the above-mentioned vehicle can be applied to the control device 10 of the vehicle, and the control module 12 is used for: when the driving mode of the vehicle is mud mode or sand mode, according to a preset wheel steering angle, controlling the left rear wheel of the vehicle to turn right, and / or controlling the right rear wheel of the vehicle to turn left, and the preset wheel steering angle ranges from 0.2° to 5°.

[0082] Please combine Figure 3 , the wheel steering angle is Figure 3 The wheel steering angle is the angle between the rolling direction of the wheel on the road and the direction of the vehicle's travel. Figure 3 The angle between the dotted line X and the dotted line Y in FIG. It is understood that if the wheel steering angle is too large, the forward resistance caused by the sand accumulation area 50 to the wheel is too large, which easily causes the structure around the wheel to be damaged due to excessive force. If the wheel steering angle is too small, an effective sand accumulation area 50 cannot be formed on one side of the wheel, and the braking performance of the vehicle cannot be improved. Therefore, the steering angle of the left rear wheel of the vehicle turning right can range from 0.2° to 5°, and the steering angle of the right rear wheel of the vehicle turning left can range from 0.2° to 5°.

[0083] See also Figure 1 , Figure 2 , Fig.10 as well as Fig.11 In some embodiments, 05: controlling the left rear wheel of the vehicle to turn right, and / or controlling the right rear wheel of the vehicle to turn left, comprises:

[0084] 053: When the vehicle's driving mode is the snow mode, the left rear wheel of the vehicle is controlled to turn right, and / or the right rear wheel of the vehicle is controlled to turn left according to a preset wheel steering angle, and the preset wheel steering angle ranges from 0.2° to 0.6°.

[0085] The control method of the above-mentioned vehicle can be applied to the control device 10 of the vehicle, and the control module 12 is used to: when the driving mode of the vehicle is the snow mode, control the left rear wheel of the vehicle to turn right and / or control the right rear wheel of the vehicle to turn left according to a preset wheel steering angle, and the preset wheel steering angle has a value range of 0.2°-0.6°.

[0086] Specifically, please combine Fig.10 If the vehicle brakes, the tire will passively rotate around the kingpin by an angle (i.e. Fig.10 The angle β in the tire is not sufficient to rub against the ground, which reduces the braking effect of the vehicle. If the vehicle brakes on a road with a low adhesion coefficient (such as a snowy or icy road), the braking effect of the vehicle will become worse. Therefore, in this application, please combine Fig.11 , when the vehicle is in snow mode, if the vehicle brakes and meets the preset braking conditions and the preset steering conditions, the left rear wheel will turn right by an angle β in advance, and the right rear wheel will turn left by an angle β in advance, thereby providing advance steering angle compensation for the left and right rear wheels. After the vehicle brakes, the tires will passively rotate around the kingpin by an angle (i.e. Fig.11 At this time, the direction of the braking force F is consistent with the forward direction, so that the tire pattern can fully rub against the ground, improving the braking effect of the vehicle.

[0087] See also Figure 1 , Figure 2 , Fig. 9 and Fig.12 In some embodiments, the control method further comprises:

[0088] 06: When the vehicle does not meet the preset braking conditions, the wheel steering angles of the left rear wheel and the right rear wheel of the vehicle are kept unchanged.

[0089] The above-mentioned vehicle control method can be applied to the vehicle control device 10, and the control module 12 is used to: when the vehicle does not meet the preset braking conditions, keep the wheel steering angles of the left rear wheel and the right rear wheel of the vehicle unchanged.

[0090] It is understandable that Fig.12 For example, Fig.12 The direction of travel of the vehicle is the direction indicated by the X axis. If the vehicle does not meet the preset braking conditions, the wheels 50 of the vehicle should be in Fig.12 In the state shown, the angle between the left rear wheel of the vehicle and the right rear wheel of the vehicle and the direction of travel of the vehicle remains unchanged. For example, if the vehicle does not meet the preset braking conditions, the vehicle may not be traveling on a road with a low adhesion coefficient, so the driver has not turned on the sand mode, mud mode or snow mode. Alternatively, the vehicle may be making a large angle turn, and in order to avoid affecting the steering direction of the vehicle, the rear wheels of the vehicle cannot be turned independently. Alternatively, the vehicle may not need to brake, and in order to avoid affecting the normal driving speed and driving direction of the vehicle, the rear wheels of the vehicle cannot be turned independently.

[0091] In summary, the present application provides a vehicle control method and a vehicle control device 10, which determines whether the vehicle needs to adopt a special braking method by determining whether the vehicle meets the preset braking conditions. When the vehicle is traveling on a road with a low adhesion coefficient, such as when the vehicle is traveling on sand or mud, the tire pattern will be filled with mud and sand particles. At this time, if the driver controls the vehicle to brake, if the vehicle adopts a normal braking method, it is easy to cause a long braking distance and poor braking stability. Therefore, the present application is a special braking method for the vehicle. If the vehicle meets the preset braking conditions, it indicates that the vehicle is traveling on a road with a low adhesion coefficient and the vehicle needs to brake. At this time, the left rear wheel of the vehicle will turn right, and / or the right rear wheel of the vehicle will turn left. After the wheel turns, as the vehicle continues to move forward, the sand or silt on the ground will form sand or mud accumulation on the side of the wheel, causing the wheel 50 to be subjected to greater forward resistance, thereby improving the braking performance of the vehicle and improving driving safety.

[0092] In certain embodiments, see Fig.13 The present application also provides a controller 30, which is connected to a left rear steering gear 31 and a right rear steering gear 32. The controller 30 is used to determine whether the vehicle meets the preset braking conditions; when the vehicle meets the preset braking conditions, the controller 30 is also used to control the left rear wheel of the vehicle to turn right through the left rear steering gear 31, and / or control the right rear wheel of the vehicle to turn left through the right rear steering gear 32 to achieve vehicle braking.

[0093] It is understood that the vehicle controller 30 is a critical computer unit in the vehicle, and the controller 30 is used to manage, monitor and adjust the operation of various electronic mechanisms of the vehicle. With the continuous development of vehicle technology, the functions of the controller 30 are also increasing. The controller 30 is actually the "brain" of the vehicle, responsible for real-time data processing and making control decisions to ensure the performance and safety of the vehicle.

[0094] In certain embodiments, see Fig.14 The preset braking condition includes a preset driving mode, and the controller 30 is further used to: obtain the driving mode of the vehicle; and when the driving mode of the vehicle is a sand mode, a mud mode or a snow mode, determine that the vehicle satisfies the preset driving mode.

[0095] In certain embodiments, see Fig.14 , the controller 30 can obtain the driving mode of the vehicle from the vehicle computer 36 .

[0096] In certain embodiments, see Fig.14The controller 30 is also used to: obtain the steering wheel steering angle and a preset angle threshold; when the steering wheel steering angle is less than or equal to the preset angle threshold, determine that the vehicle meets the preset steering angle; and when the steering wheel steering angle is greater than the preset angle threshold, determine that the vehicle does not meet the preset steering angle.

[0097] In certain embodiments, see Fig.14 , the preset angle threshold is 15°.

[0098] In certain embodiments, see Fig.14 , the controller 30 can obtain the steering angle of the vehicle from the steering wheel 37 of the vehicle.

[0099] In certain embodiments, see Fig.14 The controller 30 is also used to: obtain the braking depth of the vehicle and a preset depth threshold; determine that the vehicle meets the preset braking depth when the braking depth of the vehicle is greater than or equal to the preset depth threshold; and determine that the vehicle does not meet the preset braking depth when the braking depth of the vehicle is less than the preset depth threshold.

[0100] In certain embodiments, see Fig.14 , the preset depth threshold is 10% of the total depth of the vehicle's brake pedal.

[0101] In certain embodiments, see Fig.14 , the controller 30 can obtain the braking depth of the vehicle from the brake pedal 38 of the vehicle.

[0102] In certain embodiments, see Fig.14 The controller 30 is also used to control the left rear wheel of the vehicle to turn right and / or control the right rear wheel of the vehicle to turn left according to a preset wheel steering angle when the vehicle driving mode is a mud mode or a sand mode. The preset wheel steering angle has a value range of 0.2°-5°.

[0103] In certain embodiments, see Fig.14 The controller 30 is also used to control the left rear wheel of the vehicle to turn right and / or control the right rear wheel of the vehicle to turn left according to a preset wheel steering angle when the vehicle driving mode is a snow mode, and the preset wheel steering angle has a value range of 0.2°-0.6°.

[0104] In certain embodiments, see Fig.14 When the vehicle does not meet the preset braking conditions, the controller 30 is also used to keep the wheel steering angles of the left rear wheel 33 and the right rear wheel 34 of the vehicle unchanged through the left rear steering gear 31 and the right rear steering gear 32.

[0105] In the controller 30 of the present application, by determining whether the vehicle meets the preset braking conditions, it is determined whether the vehicle needs to adopt a special braking method. When the vehicle is driving on a road with a low adhesion coefficient, for example, when the vehicle is driving on sand or mud, the tire pattern will be filled with sand particles. At this time, if the driver controls the vehicle to brake, if the vehicle adopts a normal braking method, it is easy to cause a long braking distance and poor braking stability. Therefore, the present application is a special braking method for the vehicle. If the vehicle meets the preset braking conditions, it means that the vehicle is driving on a road with a low adhesion coefficient and the vehicle needs to brake. At this time, the left rear wheel 33 of the vehicle will turn right, and / or, the right rear wheel 34 of the vehicle will turn left. After the wheel 50 turns, as the vehicle continues to move forward, the sand or silt on the ground will form sand or mud accumulation on the side of the wheel 50, causing the wheel 50 to be subjected to greater forward resistance, thereby improving the braking performance of the vehicle and improving driving safety.

[0106] In some embodiments, the present application further provides an electronic device, the electronic device comprising a processor, the processor being connected to a memory, and the memory storing a computer program. The processor is used to read and execute the computer program stored in the memory, so that the control method in any of the above embodiments is executed.

[0107] In certain embodiments, the present application also provides a vehicle, including the vehicle control device 10 in any of the above embodiments or the electronic device in any of the above embodiments.

[0108] See also Fig.15 In some embodiments, the present application further provides a computer-readable storage medium 200 on which a computer program 202 is stored, and when the program is executed by a processor, the control method in any of the above embodiments is implemented.

[0109] For example, when the computer program 202 is executed by the processor 20, the following control method is implemented:

[0110] 03: Determine whether the vehicle meets the preset braking conditions;

[0111] 05: When the vehicle meets the preset braking conditions, the left rear wheel of the vehicle is controlled to turn right, and / or the right rear wheel of the vehicle is controlled to turn left to achieve vehicle braking.

[0112] For another example, when the computer program 202 is executed by the processor 20, the following control method is implemented:

[0113] 031: Get the driving mode of the vehicle;

[0114] 032: When the driving mode of the vehicle is the sand mode, the mud mode or the snow mode, it is determined that the vehicle meets the preset driving mode.

[0115] For another example, when the computer program 202 is executed by the processor 20, the control methods in 033, 034, 035, 036, 037, 038, 051, 053 and 06 can also be implemented.

[0116] In the computer-readable storage medium 200 of the present application, by determining whether the vehicle meets the preset braking conditions, it is determined whether the vehicle needs to adopt a special braking method. When the vehicle is traveling on a road with a low adhesion coefficient, for example, when the vehicle is traveling on sand or mud, the tire pattern will be filled with sand particles. At this time, if the driver controls the vehicle to brake, if the vehicle adopts a normal braking method, it is easy to have a long braking distance and poor braking stability. Therefore, the present application is a special braking method for the vehicle. If the vehicle meets the preset braking conditions, it indicates that the vehicle is traveling on a road with a low adhesion coefficient and the vehicle needs to brake. At this time, the left rear wheel of the vehicle will turn right, and / or the right rear wheel of the vehicle will turn left. After the wheel 50 turns, as the vehicle continues to move forward, the sand or silt on the ground will form sand or mud accumulation on the side of the wheel 50, causing the wheel 50 to be subjected to greater forward resistance, thereby improving the braking performance of the vehicle and improving driving safety.

[0117] In the description of this specification, the descriptions with reference to the terms "certain embodiments", "in an example", "exemplarily", etc., mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0118] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0119] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle control method, characterized in that: The control method comprises: Determining whether the vehicle meets preset braking conditions; When the vehicle meets the preset braking conditions, the left rear wheel of the vehicle is controlled to turn right, and / or the right rear wheel of the vehicle is controlled to turn left, so as to achieve vehicle braking.

2. The control method according to claim 1, characterized in that: The preset braking condition includes a preset driving mode, and determining whether the vehicle satisfies the preset braking condition includes: obtaining a driving mode of the vehicle; and When the driving mode of the vehicle is a sand mode, a mud mode or a snow mode, it is determined that the vehicle satisfies a preset driving mode.

3. The control method according to claim 1, characterized in that: The preset braking condition includes a preset steering wheel steering angle, and determining whether the vehicle meets the preset braking condition includes: Obtaining a steering wheel steering angle of the vehicle and a preset angle threshold; When the steering wheel steering angle is less than or equal to the preset angle threshold, determining that the vehicle meets the preset steering angle; and When the steering wheel steering angle is greater than the preset angle threshold, it is determined that the vehicle does not meet the preset steering angle.

4. The control method according to claim 3, characterized in that: The preset angle threshold is 15°.

5. The control method according to claim 1, characterized in that: The preset braking condition includes a preset braking depth, and determining whether the vehicle meets the preset braking condition includes: Acquiring a braking depth of the vehicle and a preset depth threshold; In a case where the braking depth of the vehicle is greater than or equal to the preset depth threshold, determining that the vehicle meets the preset braking depth; and When the braking depth of the vehicle is less than the preset depth threshold, it is determined that the vehicle does not meet the preset braking depth.

6. The control method according to claim 5, characterized in that: The preset depth threshold is 10% of the total depth of the brake pedal of the vehicle.

7. The control method according to claim 2, characterized in that: The controlling the left rear wheel of the vehicle to turn right, and / or the controlling the right rear wheel of the vehicle to turn left, comprises: When the vehicle's driving mode is mud mode or sand mode, the left rear wheel of the vehicle is controlled to turn right and / or the right rear wheel of the vehicle is controlled to turn left according to a preset wheel steering angle, and the preset wheel steering angle ranges from 0.2° to 5°.

8. The control method according to claim 2, characterized in that: The controlling the left rear wheel of the vehicle to turn right, and / or the controlling the right rear wheel of the vehicle to turn left, comprises: When the vehicle's driving mode is the snow mode, the left rear wheel of the vehicle is controlled to turn right, and / or the right rear wheel of the vehicle is controlled to turn left according to a preset wheel steering angle, and the preset wheel steering angle ranges from 0.2° to 0.6°.

9. The control method according to claim 1, characterized in that: The control method further comprises: When the vehicle does not meet the preset braking condition, the wheel steering angles of the left rear wheel and the right rear wheel of the vehicle are kept unchanged.

10. A wheel steering control device, characterized in that: The control device comprises: A determination module, used to determine whether the vehicle meets a preset braking condition; The control module is used to control the left rear wheel of the vehicle to turn right, and / or control the right rear wheel of the vehicle to turn left, so as to achieve vehicle braking when the vehicle meets a preset braking condition.

11. An electronic device, characterized in that: It includes a processor, which is connected to a memory, and a computer program is stored in the memory; the processor is used to read and execute the computer program stored in the memory, so that the control method according to any one of claims 1 to 9 is executed.

12. A vehicle, characterized in that: Includes the control device according to claim 10 or the electronic device according to claim 11.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the control method according to any one of claims 1 to 9 is implemented.

Images