Vehicle control method, system, controller, medium and program product

Abstract

The invention provides a vehicle control method and system, a controller, a medium and a program product. The method comprises the following steps: acquiring vehicle driving data of a vehicle; target operation needing to be executed by the vehicle is determined through a vehicle dynamic controller on the basis of the vehicle driving data; wherein the target operation comprises at least one of steering operation and vehicle braking operation; controlling a target actuator to execute the target operation on the vehicle through the vehicle dynamic controller; wherein the target actuator comprises at least one of a steering actuator and a braking actuator. By adopting the method provided by the embodiment of the invention, the integration level can be improved, the space and cost of the controller are saved, and the control efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of automobile technology, and in particular to a vehicle control method, system, controller, medium and program product. Background Art

[0002] In the related technologies, with the continuous advancement of automobile technology, the rear-wheel steering system technology is becoming more and more mature. The rear-wheel steering system and the braking system have a certain synergistic relationship during the vehicle driving process, but at this stage, the rear-wheel steering system and the braking system are usually controlled separately by separate controllers, which will lead to low system integration and high cost. Summary of the invention

[0003] The present disclosure provides a vehicle control method, system, controller, medium and program product. The technical solution of the present disclosure is as follows:

[0004] In a first aspect, the present disclosure provides a vehicle control method, comprising:

[0005] Obtaining vehicle driving data of the vehicle;

[0006] Determining a target operation to be performed by the vehicle based on the vehicle driving data by a vehicle dynamics controller; wherein the target operation includes at least one of a steering operation and a vehicle braking operation;

[0007] The target actuator is controlled by the vehicle dynamics controller to perform the target operation on the vehicle; wherein the target actuator includes at least one of a steering actuator and a braking actuator.

[0008] The vehicle driving data includes the vehicle speed, the driver's operation information, and the vehicle driving state information;

[0009] The determining, by a vehicle dynamics controller based on the vehicle driving data, a target operation to be performed by the vehicle includes:

[0010] Determining whether the vehicle is in a preset operating condition according to the vehicle speed, the driver's operation information, and the vehicle's driving state information;

[0011] When the vehicle is in the preset operating condition, a target operation to be performed by the vehicle is determined.

[0012] In a possible implementation manner, when the target operation includes a steering operation, controlling the target actuator to perform the target operation on the vehicle through the vehicle dynamics controller includes:

[0013] Determining a vehicle steering control target by the vehicle dynamics controller based on the vehicle speed, the driver's operation information, and the vehicle's driving state information;

[0014] The vehicle dynamics controller controls the steering actuator to perform a rear wheel steering operation of the vehicle based on the vehicle steering control target.

[0015] In a possible implementation manner, when the target operation includes a vehicle braking operation, controlling the target actuator to perform the target operation on the vehicle through the vehicle dynamics controller includes:

[0016] determining a vehicle braking control target by the vehicle dynamics controller based on the vehicle speed, the driver's operation information, and the vehicle's driving state information;

[0017] The vehicle braking operation is performed by controlling the brake actuator based on the vehicle braking control target through the vehicle dynamics controller.

[0018] In a possible implementation manner, when the target operation includes a steering operation and a vehicle braking operation, the vehicle dynamics controller controls the target actuator to perform the target operation on the vehicle.

[0019] Determining a vehicle integrated control target by the vehicle dynamics controller based on the vehicle speed, the driver's operation information, and the vehicle's driving state information;

[0020] The vehicle dynamics controller controls the steering actuator to perform a rear wheel steering operation of the vehicle, and controls the brake actuator to perform a vehicle braking operation based on the vehicle integrated control target.

[0021] In a possible implementation manner, before obtaining the vehicle driving data of the vehicle, the method further includes:

[0022] A vehicle dynamics controller, a steering actuator, and a braking actuator are configured; wherein the steering actuator is used to control the rear wheels of the vehicle to perform steering operations, the braking actuator is used to control the vehicle to perform braking operations, and the vehicle dynamics controller is used to control the rear wheel steering actuator and the braking actuator; the vehicle dynamics controller includes a braking strategy and a rear wheel steering strategy.

[0023] In a second aspect, the present disclosure provides a vehicle control system, comprising:

[0024] A data acquisition module, used to acquire vehicle driving data of the vehicle;

[0025] A vehicle dynamics controller, used to determine a target operation to be performed by the vehicle based on the vehicle driving data; wherein the target operation includes at least one of a steering operation and a vehicle braking operation; and used to control a target actuator to perform the target operation on the vehicle; wherein the target actuator includes at least one of a steering actuator and a braking actuator.

[0026] In a third aspect, the present disclosure provides a controller, comprising:

[0027] processor;

[0028] a memory for storing instructions executable by the processor;

[0029] The processor is configured to execute the instructions to implement the method described in the first aspect.

[0030] In a fourth aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method described in the first aspect.

[0031] In a fifth aspect, the present disclosure provides a computer program product, comprising a computer program / instructions, characterized in that when the computer program / instructions are executed by a processor, the method described in the first aspect is implemented.

[0032] The technical solution disclosed in this disclosure brings at least the following beneficial effects:

[0033] In an embodiment of the present disclosure, the vehicle driving data of the vehicle is obtained; the target operation to be performed by the vehicle is determined by the vehicle dynamic controller based on the vehicle driving data; wherein the target operation includes at least one of a steering operation and a vehicle braking operation; the target actuator is controlled by the vehicle dynamic controller to perform the target operation on the vehicle; wherein the target actuator includes at least one of a steering actuator and a braking actuator. In this way, the control strategy of the rear-wheel steering system and the control strategy of the braking system can be configured on a vehicle dynamic controller to realize the domain control fusion of steering and braking. That is, the control of steering and braking can be integrated into the same controller, so that the controller can realize both vehicle steering and vehicle braking, thereby effectively improving the integration level, saving the space and cost of the controller, and improving the control efficiency.

[0034] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0036] Figure 1 A schematic flow chart of a vehicle control method provided by an embodiment of the present disclosure;

[0037] Figure 2 is a structural schematic diagram of a vehicle control system provided by an embodiment of the present disclosure;

[0038] Figure 3 is a structural schematic diagram of a vehicle control system provided by an embodiment of the present disclosure;

[0039] Figure 4 is a flow chart of a vehicle control method provided by an embodiment of the present disclosure;

[0040] Figure 5 It is a structural diagram of a controller provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0041] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings.

[0042] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0043] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this disclosure are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0044] The acquisition, storage, use, and processing of data in the technical solution disclosed in this disclosure are in compliance with the relevant provisions of national laws and regulations.

[0045] It should be noted that in the embodiments of the present disclosure, there may be existing solutions in the industry such as certain software, components, models, etc., which should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present disclosure, but it does not mean that the applicant has or will necessarily use the solution.

[0046] In the related art, with the continuous advancement of automobile technology, the rear-wheel steering system technology has become more and more mature, and its demand has increased dramatically. As a part of the chassis, it should move towards high integration. At present, the rear-wheel steering system is usually composed of two parts: an actuator and a controller. The controller is usually set at the steering motor, on which various control strategies are integrated, and it has a high degree of independence. In other words, the rear-wheel steering system and braking system of the vehicle are usually controlled separately by different controllers. This separate control method leads to low system integration and high cost. In other words, the rear-wheel steering system and braking system in the related art have at least the following technical problems:

[0047] 1) The rear-wheel steering system and the braking system are controlled by different controllers, resulting in a lack of effective coordinated control between the two and the inability to fully utilize the system's performance.

[0048] 2) The separate control method increases the complexity and cost of the system, and the system integration is low.

[0049] 3) The control strategies of the rear-wheel steering system and the braking system are separated, and it is impossible to achieve effective integration of the two.

[0050] It can be seen that since the rear-wheel steering system and the braking system have a certain synergistic relationship during vehicle driving and have some common inputs, if the two can be integrated to a certain extent, the system integration can be improved and the cost can be reduced.

[0051] Based on this, the embodiments of the present disclosure provide a vehicle control that can integrate rear-wheel steering and braking system domain control to achieve integration of rear-wheel steering and braking control, thereby improving system reliability and control accuracy.

[0052] The technical solutions provided by various embodiments of the present disclosure are described in detail below in conjunction with the accompanying drawings.

[0053] Figure 1 The flowchart of a vehicle control method provided by the embodiment of the present disclosure is as follows. The method can be applied to a vehicle control system. Figure 2 As shown, Figure 2 is a schematic diagram of a vehicle control system provided by an embodiment of the present disclosure, see Figure 2 , the vehicle control system may include:

[0054] A data acquisition module, used to acquire vehicle driving data of the vehicle;

[0055] A vehicle dynamics controller is used to determine a target operation to be performed by the vehicle based on vehicle driving data; wherein the target operation includes at least one of a steering operation and a vehicle braking operation; and is used to control a target actuator to perform the target operation on the vehicle; wherein the target actuator includes at least one of a steering actuator and a braking actuator.

[0056] In one possible implementation, see Figure 3 The vehicle control system may include a steering actuator (i.e., a rear wheel steering actuator) and a brake actuator. The rear wheel steering actuator may be used to realize the steering of the rear wheels of the vehicle, and the brake actuator may be used to realize the braking of the vehicle. The vehicle dynamic controller is used to control the rear wheel steering actuator and the brake actuator. The control strategy of the rear wheel steering system may be moved up to the vehicle dynamic controller, which includes the control strategy of the braking and rear steering functions. Exemplarily, the braking functions may include ABS (Anti-Lock Braking System), EBD (Electric Brake Force Distribution), HDC (Hill Descent Control), HHC (Hill Hold Control), TCS (Traction Control System), DTC (Drag Torque Control), etc.; the rear-turn functions include LSFS (Low Speed ​​Follow Steering), MSES (Medium Speed ​​Enhance Stabilization), HSES (High Speed ​​Enhance Stabilization), ZPLM (Zero Point Locking Mode), RES (Rack End Secure), CWM (Crab Walking Mode), etc. The vehicle dynamic controller can be connected to a power chip, a power supply, and a sensor. The vehicle dynamic controller is connected to a power chip to provide the required voltage rail for the system microcontroller, and can power external peripheral loads and sensors; the vehicle dynamic controller can be connected to a power supply to obtain electrical energy to meet the power supply requirements of various chips and modules on the controller; the vehicle dynamic controller can be connected to a variety of sensors to obtain vehicle operating status information, thereby achieving precise control. The brake actuator can include a motor and a mechanical structure to achieve vehicle braking; the rear wheel steering actuator can also include a motor and a mechanical structure to achieve vehicle steering.

[0057] Based on the vehicle control system, the vehicle control method provided by the embodiment of the present disclosure may include the following steps:

[0058] S101, obtaining vehicle driving data of a vehicle.

[0059] In the embodiments of the present disclosure, when controlling the vehicle, the vehicle driving data of the vehicle can be obtained first. For example, the real-time driving data of the vehicle can be collected through various sensors configured on the vehicle, for example, the vehicle speed, the driver's operation information, and the vehicle driving state information can be obtained.

[0060] S102, determining a target operation to be performed by the vehicle based on the vehicle driving data by means of a vehicle dynamics controller.

[0061] The target operation includes at least one of a steering operation and a vehicle braking operation.

[0062] In an embodiment of the present disclosure, after the vehicle driving data is acquired, the vehicle dynamic controller can determine the operation that the vehicle needs to perform, that is, the target operation, based on the vehicle driving data. Exemplarily, the vehicle dynamic controller can analyze the vehicle driving data to determine the target operation that the vehicle needs to perform, for example, determining that the vehicle needs to perform a rear-wheel steering operation or a braking operation, or both a rear-wheel steering operation and a braking operation. As an example, the vehicle dynamic controller can be a braking controller, a rear-wheel steering controller, a suspension controller, a front-wheel steering controller, a body controller, etc. As long as the controller has sufficient margin and performance to give the rear-wheel steering system control or the braking control strategy an upward shift, it can be used as a carrier for the rear-wheel steering system control strategy or the braking system control strategy to move up.

[0063] S103, controlling the target actuator to execute the target operation on the vehicle through the vehicle dynamics controller.

[0064] The target actuator includes at least one of a steering actuator and a braking actuator.

[0065] In an embodiment of the present disclosure, after determining the target operation to be performed by the vehicle, the vehicle dynamics controller may control the actuator (i.e., the target actuator) to perform the corresponding target operation. For example, the vehicle dynamics controller may control the steering actuator to perform the rear wheel steering operation of the vehicle; or control the brake actuator to perform the braking operation of the vehicle; or simultaneously control the steering actuator to perform the rear wheel steering operation of the vehicle and control the brake actuator to perform the braking operation of the vehicle.

[0066] In an embodiment of the present disclosure, the vehicle driving data of the vehicle is obtained; the target operation to be performed by the vehicle is determined by the vehicle dynamic controller based on the vehicle driving data; wherein the target operation includes at least one of a steering operation and a vehicle braking operation; the target actuator is controlled by the vehicle dynamic controller to perform the target operation on the vehicle; wherein the target actuator includes at least one of a steering actuator and a braking actuator. In this way, the control strategy of the rear-wheel steering system and the control strategy of the braking system can be configured on a vehicle dynamic controller to realize the domain control fusion of steering and braking. That is, the control of steering and braking can be integrated into the same controller, so that the controller can realize both vehicle steering and vehicle braking, thereby effectively improving the integration level, saving the space and cost of the controller, and improving the control efficiency.

[0067] In some possible implementations, the vehicle driving data includes the vehicle speed, the driver's operation information, and the vehicle driving state information;

[0068] The vehicle dynamics controller determines the target operations that the vehicle needs to perform based on the vehicle driving data, including:

[0069] Determine whether the vehicle is in a preset working condition based on the vehicle speed, the driver's operation information, and the vehicle's driving status information;

[0070] When the vehicle is in a preset operating condition, determine the target operation that the vehicle needs to perform.

[0071] In the embodiment of the present disclosure, obtaining the vehicle driving data of the vehicle may be obtaining the vehicle speed, the driver's operation information, and the vehicle driving state information. For example, the vehicle speed may be obtained through a wheel speed sensor, the driver's operation information may be obtained through the accelerator pedal opening, the brake pedal depth, the steering wheel angle, etc., and the vehicle driving state information may be obtained through the vehicle acceleration, yaw angular velocity, lateral acceleration, etc. Correspondingly, when the vehicle dynamic controller determines the target operation to be performed by the vehicle based on the vehicle driving data, it may determine whether the vehicle is in a preset working condition according to the vehicle speed, the driver's operation information, and the vehicle driving state information. The preset working condition may be, for example, safe driving, obstacle avoidance, etc. For example, it may be determined whether the vehicle is in a normal driving, acceleration, deceleration, or turning state by analyzing the vehicle speed, acceleration, etc. data, and whether the safe driving condition is met in combination with the relative distance and speed between the vehicle and the vehicle in front. When an obstacle is detected in front, it may be determined whether the vehicle meets the obstacle avoidance condition according to the speed and distance of the obstacle. When the vehicle is in a preset working condition, the vehicle dynamic controller may determine the target operation according to the specific scenario. For example, when the distance between the vehicle and the vehicle in front is too close, the vehicle dynamics controller can adjust the vehicle speed to maintain a safe distance. At this time, the target operation may include braking operation; when the vehicle meets the obstacle avoidance conditions, the vehicle dynamics controller will generate an obstacle avoidance trajectory to instruct the vehicle to change from the current lane to other lanes. At this time, the target operation may include steering operation, for example, it may also include braking operation; during the obstacle avoidance process, the vehicle dynamics controller will dynamically adjust the obstacle avoidance trajectory according to real-time sensor data to cope with new obstacles. At this time, the target operation may include steering operation, for example, it may also include braking operation.

[0072] In a further possible implementation, when the target operation includes a steering operation, controlling the target actuator to perform the target operation on the vehicle through the vehicle dynamics controller includes:

[0073] Determining a vehicle steering control target based on the vehicle speed, the driver's operation information, and the vehicle's driving state information by a vehicle dynamics controller;

[0074] The vehicle dynamics controller controls the steering actuator to perform rear wheel steering operation of the vehicle based on the vehicle steering control target.

[0075] In an embodiment of the present disclosure, when the target operation includes a steering operation, the vehicle dynamics controller can determine the vehicle steering control target based on the vehicle speed, the driver's operation information, and the vehicle's driving state information. Exemplarily, the target steering angle can be calculated based on the vehicle's motion state and driving intention. The target steering angle is the steering angle that the vehicle dynamics controller expects the vehicle to achieve, which is used to achieve stable driving or obstacle avoidance of the vehicle. For vehicles equipped with a rear-wheel steering system, the vehicle dynamics controller can calculate the steering target angle of the rear wheels based on the vehicle's motion state and the target steering angle as the vehicle steering control target. Then, the vehicle dynamics controller can control the steering actuator to perform the rear-wheel steering operation of the vehicle based on the vehicle steering control target to achieve vehicle steering. For example, the vehicle dynamics controller can generate a corresponding steering control signal based on the calculated rear-wheel steering target angle and send it to the steering actuator. After receiving the steering control signal, the steering actuator performs the vehicle steering operation.

[0076] In a further possible implementation, when the target operation includes a vehicle braking operation, controlling the target actuator to perform the target operation on the vehicle through the vehicle dynamics controller includes:

[0077] Determining a vehicle braking control target based on the vehicle speed, the driver's operation information, and the vehicle's driving state information by a vehicle dynamics controller;

[0078] The vehicle dynamics controller controls the brake actuator to perform a vehicle braking operation based on the vehicle braking control target.

[0079] In an embodiment of the present disclosure, when the target operation includes a braking operation, the vehicle dynamics controller may determine the vehicle braking control target based on the vehicle speed, the driver's operation information, and the vehicle's driving state information. Exemplarily, the target deceleration may be calculated based on the vehicle's motion state and driving intention. The target deceleration is the deceleration that the vehicle dynamics controller expects the vehicle to achieve, which is used to achieve stable deceleration or emergency braking of the vehicle; then, the vehicle dynamics controller may calculate the braking force required for each wheel based on the target deceleration. For example, when driving at high speed, the braking force distribution requires more front wheel braking force to improve braking stability; the braking force distribution may be adjusted based on the vehicle's yaw rate to offset the vehicle's oversteering or understeering; the braking force distribution may be adjusted based on the vehicle's lateral acceleration to maintain the vehicle's lateral stability. The calculated braking force of each wheel may be determined as the vehicle braking control target. Thereafter, the vehicle dynamics controller may generate a braking control signal based on the vehicle braking control target, that is, generate a corresponding braking control signal based on the calculated braking force distribution, and send the control signal to the brake actuator. After receiving the brake control signal, the brake actuator controls the vehicle braking based on the brake control signal to implement the vehicle braking operation.

[0080] In a further possible implementation, when the target operation includes a steering operation and a vehicle braking operation, the target actuator is controlled by the vehicle dynamics controller to perform the target operation on the vehicle.

[0081] Determine the vehicle comprehensive control target based on the vehicle speed, the driver's operation information and the vehicle's driving state information through the vehicle dynamic controller;

[0082] The vehicle dynamics controller controls the steering actuator to perform a rear wheel steering operation of the vehicle, and controls the brake actuator to perform a vehicle braking operation based on the vehicle integrated control target.

[0083] In an embodiment of the present disclosure, the vehicle dynamics controller can also determine the vehicle comprehensive control target based on the vehicle speed, the driver's operation information, and the vehicle's driving state information. For example, the target steering angle and the target braking force can be calculated based on the vehicle's motion state and driving intention. Then, based on the vehicle's motion state and the target steering angle, the steering target angle of the rear wheels is calculated, and, based on the target braking force, the braking force required for each wheel is calculated. The steering target angle and the braking force required for each wheel are determined as the vehicle comprehensive control target. Then, based on the vehicle comprehensive control target, the vehicle dynamics controller can generate corresponding steering control signals and braking control signals, which are sent to the steering actuator and the braking actuator respectively. The steering actuator controls the vehicle to control the steering of the vehicle based on the steering control signal, and the braking actuator controls the braking of the vehicle based on the braking control signal.

[0084] In a possible implementation manner, before obtaining the vehicle driving data of the vehicle, the method further includes:

[0085] A vehicle dynamic controller, a steering actuator, and a brake actuator are configured; wherein the steering actuator is used to control the rear wheels of the vehicle to perform steering operations, the brake actuator is used to control the vehicle to perform braking operations, and the vehicle dynamic controller is used to control the rear wheel steering actuator and the brake actuator; the vehicle dynamic controller includes a braking strategy and a rear wheel steering strategy.

[0086] In the embodiments of the present disclosure, the vehicle dynamic controller, the steering actuator, and the brake actuator can be configured in advance. The steering actuator is configured to control the rear wheels of the vehicle to perform steering operations, the brake actuator is configured to control the vehicle to perform braking operations, and the vehicle dynamic controller is configured to control the rear wheel steering actuator and the brake actuator. Moreover, the vehicle dynamic controller needs to be configured to include a braking strategy and a rear wheel steering strategy. For example, the control algorithm and control strategy of the rear wheel steering system can be integrated into the vehicle dynamic controller. Specifically, the control algorithm program code of the rear wheel steering system can be burned into the flash memory of the vehicle dynamic controller, and the control strategy parameters can be stored in the RAM (Random Access Memory) of the vehicle dynamic controller, so that the vehicle dynamic controller has the ability to control the rear wheel steering; and some signal input interfaces of the rear wheel steering system are integrated into the vehicle dynamic controller, such as vehicle speed sensor signals, steering angle sensor signals, lateral acceleration sensor signals, etc., so that the vehicle dynamic controller can obtain the input signals required for rear wheel steering.

[0087] To make the vehicle control method provided by the embodiment of the present disclosure clearer, the following is combined with Figure 4 For explanation. Figure 4 As shown, taking the vehicle dynamic controller as a brake actuator as an example, the vehicle control method provided by the embodiment of the present disclosure may include the following steps:

[0088] Step 1: configure a rear-wheel steering actuator, a brake actuator and a brake controller, wherein the rear-wheel steering actuator is used to realize the steering of the rear wheels of the vehicle, the brake actuator is used to realize the braking of the vehicle, and the brake controller is used to control the rear-wheel steering actuator and the brake actuator.

[0089] Step 2: Move the control strategy of the rear-wheel steering system to the brake controller, which includes the control strategy of the braking and rear-wheel steering functions. The specific steps include:

[0090] Step 201: Integrate the control algorithm and control strategy of the rear wheel steering system into the brake controller. Specifically, burn the control algorithm program code of the rear wheel steering system into the flash memory of the brake controller, and store the control strategy parameters in the RAM of the brake controller, so that the brake controller has the ability to control the rear wheel steering.

[0091] Step 202: Integrate some signal input interfaces of the rear wheel steering system into the brake controller, such as vehicle speed sensor signals, steering angle sensor signals, lateral acceleration sensor signals, etc., so that the brake controller can obtain input signals required for rear wheel steering.

[0092] Step 3: Obtain information such as the vehicle speed, the driver's operation, and the vehicle's driving status, and determine whether the brake controller needs to perform rear wheel steering and braking control under specific working conditions. If only rear wheel steering control is required, execute step 4; if only braking control is required, execute step 5; if both rear wheel steering and braking are required, execute step 6.

[0093] Step 4: Controlling the rear wheel steering actuator through the brake controller to realize the steering control function, which specifically includes the following sub-steps:

[0094] Step 401: Process the acquired information such as vehicle speed, driver operation and driving status to determine the control target;

[0095] Step 402: The brake controller controls the rear wheel steering actuator to implement the steering function according to the control target.

[0096] Step 5: Controlling the brake actuator through the brake controller to realize the braking function, which specifically includes the following sub-steps:

[0097] Step 501: Process the acquired information such as vehicle speed, driver operation and driving status to determine the control target;

[0098] Step 502: The brake controller controls the rear wheel steering actuator to implement a braking function according to a control target.

[0099] Step 6: Control the rear wheel steering and brake actuator through the brake controller to achieve the functions of both.

[0100] Step 601: Process the acquired information such as vehicle speed, driver operation and driving status to determine the control target;

[0101] Step 602: The brake controller controls the rear wheel steering actuator and the brake controller simultaneously according to the control target to realize their respective functions.

[0102] In this way, the control strategy of the rear-wheel steering system can be integrated into the brake controller to achieve the fusion of rear-wheel steering and braking control, improve the reliability and control accuracy of the system, improve the system integration, simplify the system structure and reduce costs.

[0103] The specific implementation and technical effects of each step of this embodiment are similar to those of the above method embodiments, and will not be repeated here.

[0104] According to an embodiment of the present disclosure, the present disclosure also discloses a controller, a computer-readable storage medium, and a computer program product.

[0105] Figure 5 A schematic block diagram of an example controller 500 that can be used to implement an embodiment of the present disclosure is shown. The controller 500 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0106] like Figure 5 As shown, the controller 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 502 or a computer program loaded from a storage unit 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the device 500 can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0107] A number of components in the controller 500 are connected to the I / O interface 505, including: an input unit 506, such as a keyboard, a mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a disk, an optical disk, etc.; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 509 allows the controller 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0108] The computing unit 501 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 501 performs the various methods and processes described above, such as a vehicle control method. For example, in some embodiments, the vehicle control method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on the controller 500 via ROM 502 and / or communication unit 509. When the computer program is loaded into RAM 503 and executed by the computing unit 501, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the vehicle control method in any other appropriate manner (e.g., by means of firmware).

[0109] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0110] The program code of the computer program product for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0111] In the context of the present disclosure, a computer-readable storage medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may be a machine-readable signal medium or a machine-readable storage medium. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. A more specific example of a computer-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0112] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0113] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), the Internet, and a blockchain network.

[0114] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services ("Virtual Private Server", or "VPS" for short). The server may also be a server of a distributed system, or a server combined with a blockchain.

[0115] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0116] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A vehicle control method, characterized in that: include: Obtaining vehicle driving data of the vehicle; Determining a target operation to be performed by the vehicle based on the vehicle driving data by a vehicle dynamics controller; wherein the target operation includes at least one of a steering operation and a vehicle braking operation; The target actuator is controlled by the vehicle dynamics controller to perform the target operation on the vehicle; wherein the target actuator includes at least one of a steering actuator and a braking actuator.

2. The vehicle control method according to claim 1, characterized in that: The vehicle driving data includes the vehicle speed, the driver's operation information, and the vehicle driving state information; The determining, by a vehicle dynamics controller based on the vehicle driving data, a target operation to be performed by the vehicle includes: Determining whether the vehicle is in a preset operating condition according to the vehicle speed, the driver's operation information, and the vehicle's driving state information; When the vehicle is in the preset operating condition, a target operation to be performed by the vehicle is determined.

3. The vehicle control method according to claim 2, characterized in that: In a case where the target operation includes a steering operation, controlling the target actuator to perform the target operation on the vehicle through the vehicle dynamics controller includes: Determining a vehicle steering control target by the vehicle dynamics controller based on the vehicle speed, the driver's operation information, and the vehicle's driving state information; The vehicle dynamics controller controls the steering actuator to perform a rear wheel steering operation of the vehicle based on the vehicle steering control target.

4. The vehicle control method according to claim 2, characterized in that: In a case where the target operation includes a vehicle braking operation, controlling a target actuator to perform the target operation on the vehicle through the vehicle dynamics controller includes: determining a vehicle braking control target by the vehicle dynamics controller based on the vehicle speed, the driver's operation information, and the vehicle's driving state information; The vehicle braking operation is performed by controlling the brake actuator based on the vehicle braking control target through the vehicle dynamics controller.

5. The vehicle control method according to claim 2, characterized in that: In a case where the target operation includes a steering operation and a vehicle braking operation, the target actuator is controlled by the vehicle dynamics controller to perform the target operation on the vehicle. Determining a vehicle integrated control target by the vehicle dynamics controller based on the vehicle speed, the driver's operation information, and the vehicle's driving state information; The vehicle dynamics controller controls the steering actuator to perform a rear wheel steering operation of the vehicle, and controls the brake actuator to perform a vehicle braking operation based on the vehicle integrated control target.

6. The vehicle control method according to any one of claims 1 to 5, characterized in that: Before obtaining the vehicle driving data of the vehicle, the method further includes: A vehicle dynamics controller, a steering actuator, and a braking actuator are configured; wherein the steering actuator is used to control the rear wheels of the vehicle to perform steering operations, the braking actuator is used to control the vehicle to perform braking operations, and the vehicle dynamics controller is used to control the rear wheel steering actuator and the braking actuator; the vehicle dynamics controller includes a braking strategy and a rear wheel steering strategy.

7. A vehicle control system, characterized in that: include: A data acquisition module, used to acquire vehicle driving data of the vehicle; A vehicle dynamics controller, used to determine a target operation to be performed by the vehicle based on the vehicle driving data; wherein the target operation includes at least one of a steering operation and a vehicle braking operation; and used to control a target actuator to perform the target operation on the vehicle; wherein the target actuator includes at least one of a steering actuator and a braking actuator.

8. A controller, characterized in that: include: processor; a memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions to implement the vehicle control method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the vehicle control method according to any one of claims 1 to 6 is implemented.

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