Vehicle control method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle control method and device, electronic equipment and a storage medium. The method comprises the steps that the sliding speed and the steering wheel rotating angle of a vehicle are determined; when it is detected that the sliding speed is larger than the preset speed, the target yaw velocity of the vehicle is calculated according to the sliding speed and the steering wheel rotation angle; target yawing moment is calculated according to the target yawing angular velocity, the target yawing moment acts on the mass center of the vehicle, and first distribution torque corresponding to each motor is determined according to the target yawing moment; after each motor operates according to the first distribution torque corresponding to the motor, the actual yaw moment acting on the mass center of the vehicle is obtained; and re-determining the first distribution torque corresponding to each motor according to the actual yaw moment and the target yaw moment until the finally obtained actual yaw moment is equal to the target yaw moment. According to the application, the yaw response of the vehicle during turning in the sliding process can be improved, so that the driving experience of a user is improved.

Description

Technical Field

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

[0002] The three-motor system usually refers to a design scheme that uses three electric motors in electric or hybrid vehicles. It can be flexibly configured according to different models and needs, such as two front and one rear, two rear and one front, etc. Coasting energy recovery is a key technology in electric and hybrid vehicles. It uses the kinetic energy generated by the vehicle when decelerating or going downhill, and converts this part of the kinetic energy into electrical energy through the electric motor running as a generator and storing it in the battery, thereby improving energy utilization efficiency.

[0003] In the related art, when the vehicle is in a gliding state and has steering input, the three-motor system will not actively distribute the gliding energy recovery between the front and rear axles or between the left and right wheels according to the state of the vehicle. This causes the vehicle's yaw response to be greatly affected when the vehicle is in a gliding state and has steering input, resulting in a poor driving experience for the user. Summary of the invention

[0004] In view of this, the present application provides a vehicle control method, device, electronic device and storage medium, which can improve the yaw response of the vehicle when cornering during gliding, thereby improving the user's driving experience.

[0005] According to a first aspect of the present application, a vehicle control method is provided, which is applied to a vehicle, wherein the vehicle includes three motors, each of which is transmission-connected to different wheels of the vehicle; the method includes: when the vehicle is in a gliding state and is simultaneously in a turning condition, determining the gliding speed and steering wheel angle of the vehicle; when it is detected that the gliding speed is greater than a preset speed, calculating the target yaw angular velocity of the vehicle according to the gliding speed and the steering wheel angle; calculating the target yaw moment according to the target yaw angular velocity, wherein the target yaw moment acts on the center of mass of the vehicle; determining a first distributed torque corresponding to each motor according to the target yaw moment; after each motor operates according to its corresponding first distributed torque, obtaining an actual yaw moment acting on the center of mass of the vehicle; and re-determining the first distributed torque corresponding to each motor according to the actual yaw moment and the target yaw moment, until the actual yaw moment finally obtained is equal to the target yaw moment.

[0006] Compared with the related art, the embodiment of the present application has at least the following advantages: by calculating the target yaw rate of the vehicle based on the gliding speed and the steering wheel angle when the gliding speed of the vehicle is detected to be greater than the preset speed, it is possible to know at what yaw rate the vehicle can be in a stable state. Then, the target yaw moment acting on the center of mass of the vehicle is calculated by the target yaw rate, so as to determine the first distributed torque corresponding to each motor according to the target yaw moment, so that each motor can give the vehicle an additional yaw moment after running according to its corresponding first distributed torque, so that the actual yaw moment acting on the center of mass of the vehicle changes. Since the yaw response of the vehicle depends on the yaw acceleration generated when the vehicle turns, and after the actual yaw moment changes, the magnitude of the yaw acceleration of the vehicle will also change accordingly, thereby achieving an improvement in the yaw response of the vehicle when turning, and improving the driving experience of the user. In addition, the first distributed torque corresponding to each motor is redetermined according to the actual yaw moment and the target yaw moment until the actual yaw moment finally obtained is equal to the target yaw moment. That is, a closed-loop control method is adopted to ensure that the actual yaw moment acting on the center of mass of the vehicle is equal to the target yaw moment, thereby ensuring the improvement of the yaw response of the vehicle when cornering and improving the reliability of vehicle control.

[0007] In some embodiments, the three motors include a first motor, a second motor and a third motor, and the first motor and the second motor are drivingly connected to two wheels located on the same axis of the vehicle; determining the first distributed torque corresponding to each motor according to the target yaw moment includes: determining a first distribution ratio and a second distribution ratio according to the target yaw moment, wherein the first distribution ratio is the ratio of the total distributed torque of the first motor and the second motor to the distributed torque of the third motor, and the second distribution ratio is the ratio between the distributed torque of the first motor and the distributed torque of the second motor; according to the first distribution ratio and the second distribution ratio, the first distributed torque of the first motor, the second motor and the third motor are respectively determined.

[0008] In some embodiments, before calculating the target yaw rate of the vehicle according to the sliding speed and the steering wheel angle, it also includes: determining the vehicle mass of the vehicle, a first distance from the center of mass of the vehicle to the front axle of the vehicle, a second distance from the center of mass of the vehicle to the rear axle of the vehicle, a first lateral stiffness of the front axle of the vehicle, a second lateral stiffness of the rear axle of the vehicle, the wheelbase of the vehicle, and a road adhesion coefficient; calculating the target yaw rate of the vehicle according to the sliding speed and the steering wheel angle includes: calculating the target yaw rate according to the sliding speed, the steering wheel angle, the vehicle mass, the first distance, the second distance, the first lateral stiffness, the second lateral stiffness, the wheelbase, and the road adhesion coefficient.

[0009] In some embodiments, calculating the target yaw moment according to the target yaw rate includes: determining an actual yaw rate of the vehicle; calculating a difference between the target yaw rate and the actual yaw rate; and calculating the target yaw moment according to the difference.

[0010] In some embodiments, the method further includes: when it is detected that the gliding speed is less than or equal to the preset speed, determining a second distributed torque corresponding to each of the motors according to the gliding speed and the steering wheel angle; and controlling each of the motors to operate according to the second distributed torque corresponding to itself.

[0011] In some embodiments, the three motors include a fourth motor, a fifth motor and a sixth motor, and the fourth motor and the fifth motor are drivingly connected to two wheels located on the same axis of the vehicle; determining the second distributed torque corresponding to each motor according to the coasting speed and the steering wheel angle includes: obtaining a third distribution ratio and a fourth distribution ratio according to the coasting speed and the steering wheel angle, the third distribution ratio being the ratio between the total distributed torque of the fourth motor and the fifth motor and the distributed torque of the sixth motor, and the fourth distribution ratio being the ratio between the distributed torque of the fourth motor and the distributed torque of the fifth motor; and determining the second distributed torque of the fourth motor, the fifth motor and the sixth motor respectively according to the third distribution ratio and the fourth distribution ratio.

[0012] In some embodiments, obtaining the third distribution ratio and the fourth distribution ratio according to the gliding speed and the steering wheel angle includes: determining the third distribution ratio corresponding to the gliding speed and the steering wheel angle according to a preset first distribution ratio relationship table; determining the fourth distribution ratio corresponding to the gliding speed and the steering wheel angle according to a preset second distribution ratio relationship table.

[0013] According to a second aspect of the present application, a vehicle control device is provided, which is applied to a vehicle, wherein the vehicle includes three motors, each of which is drivingly connected to different wheels of the vehicle; the vehicle control device includes: a parameter determination module, which is used to determine the sliding speed and steering wheel angle of the vehicle when the vehicle is in a sliding state and in a turning condition at the same time; a first calculation module, which is used to calculate the target yaw rate of the vehicle according to the sliding speed and the steering wheel angle when it is detected that the sliding speed is greater than the preset speed; a second calculation module, which is used to calculate the target yaw moment according to the target yaw rate, wherein the target yaw moment acts on the center of mass of the vehicle; a torque determination module, which is used to determine the first distributed torque corresponding to each of the motors according to the target yaw moment; a yaw moment acquisition module, which is used to acquire the actual yaw moment acting on the center of mass of the vehicle after each of the motors operates according to the first distributed torque corresponding to itself; and a closed-loop control module, which is used to re-determine the first distributed torque corresponding to each of the motors according to the actual yaw moment and the target yaw moment, until the actual yaw moment finally acquired is equal to the target yaw moment.

[0014] According to a third aspect of the present application, an electronic device is provided, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the electronic device executes the above-mentioned vehicle control method.

[0015] According to a fourth aspect of the present application, a storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the above-mentioned vehicle control method.

[0016] It can be understood that the device of the second aspect provided above, the electronic device provided in the third aspect and the storage medium of the fourth aspect all correspond to the vehicle control method of the first aspect mentioned above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the force conditions of a seven-degree-of-freedom vehicle model when there is steering input provided in an embodiment of the present application.

[0018] Figure 2 A flow chart of a vehicle control method provided in an embodiment of the present application.

[0019] Figure 3 A schematic diagram of the structure of a PID controller provided in an embodiment of the present application.

[0020] Figure 4A flowchart of another vehicle control method provided in an embodiment of the present application.

[0021] Figure 5 A schematic diagram of a method for determining the third allocation ratio and the fourth allocation ratio provided in an embodiment of the present application.

[0022] Figure 6 A schematic diagram of functional modules of a vehicle control device provided in an embodiment of the present application.

[0023] Figure 7 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the implementation methods of the present application and the features in the implementation methods can be combined with each other without conflict.

[0025] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described implementations are only part of the implementations of the present application, rather than all the implementations.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0027] It should be further noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0028] In this application, "at least one" means one or more, and "more" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0029] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0030] At present, the coasting energy recovery of the three-motor system determines the coasting recovery power or negative torque of each of the three motors according to the accelerator pedal opening, the current motor recovery capacity and the current battery power. It is controlled based on the recovery torque when the vehicle is at low speed and based on the recovery power when the vehicle is at high speed. When the vehicle has steering input, it will not actively distribute the coasting energy recovery between the front and rear axles or between the left and right wheels according to the vehicle state. Instead, each motor distributes the coasting energy recovery equally. As a result, when the vehicle is in a coasting state and the driver has steering input, the vehicle's yaw response will be greatly affected, resulting in a poor driving experience for the user.

[0031] In view of this, the present application provides a vehicle control method, which actively distributes the gliding energy recovery among the three motors according to the vehicle speed, steering wheel angle and yaw angular velocity, and gives the vehicle additional yaw torque when the vehicle is turning, so as to improve the yaw response of the vehicle when gliding through corners.

[0032] Please refer to Figure 1 , Figure 1 The figure is a schematic diagram of the force situation of the seven-degree-of-freedom vehicle model when the vehicle has a steering input. When the vehicle has a steering input, the tire contact point is simultaneously subjected to longitudinal force and lateral force. The yaw response of the vehicle depends on the yaw angular acceleration generated by the vehicle's steering input. The magnitude of the yaw angular acceleration The larger the value, the faster the vehicle's yaw response, and vice versa.

[0033] Yaw angular acceleration The size can be calculated by the following formula: ; in, is the yaw angular velocity, is the moment of inertia of the vehicle around the Z axis, is the sideslip angle of the center of mass, is the front wheel turning angle, is the distance from the center of mass to the front axle, is the distance from the center of mass to the rear axle, is the front axle track, is the rear axle track, is the longitudinal force of the left front wheel, is the longitudinal force of the right front wheel, is the longitudinal force of the left rear wheel, is the longitudinal force of the right rear wheel, is the lateral force of the left front wheel, is the lateral force of the right front wheel, is the lateral force on the left rear wheel, is the lateral force on the right rear wheel.

[0034] It can be seen from the above formula that, taking the example of two of the three motors being respectively connected to the right rear wheel and the left rear wheel, by changing the magnitude of the longitudinal force of the front and rear axles of the vehicle, as well as the magnitude of the longitudinal force of the right rear wheel and the left rear wheel, the magnitude of the yaw angular velocity can be changed, thereby improving the yaw response of the vehicle.

[0035] Please refer to Figure 2 , Figure 2 This is a flowchart of the steps in an embodiment of the vehicle control method of the present application. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted. The control method can be applied to the controller of the vehicle, but is not limited thereto, and the embodiments of the present application are not limited thereto.

[0036] The specific process of this embodiment is as follows Figure 1 As shown, the following steps are included: Step 101, when the vehicle is in a gliding state and in a turning condition at the same time, determining the gliding speed and steering wheel angle of the vehicle.

[0037] In some embodiments, the vehicle includes a speed sensor and a steering wheel angle sensor, both of which are connected to a controller. The speed sensor sends the sensed gliding speed to the controller, and the steering wheel angle sensor sends the sensed steering wheel rotation angle to the controller, thereby allowing the controller to know the vehicle's gliding speed and steering wheel angle.

[0038] In some embodiments, the vehicle further includes an accelerator pedal sensor and a brake pedal sensor, both of which are connected to the controller. After the driver operates the accelerator pedal, the accelerator pedal moves, and the accelerator pedal sensor sends an accelerator pedal signal to the controller; after the driver operates the brake pedal, the brake pedal moves, and the brake pedal sensor sends a brake pedal signal to the controller. Therefore, when the detector does not receive the accelerator pedal signal and the brake pedal signal, it indicates that the vehicle is currently in a coasting state.

[0039] Step 102: When it is detected that the sliding speed is greater than a preset speed, a target yaw rate of the vehicle is calculated according to the sliding speed and the steering wheel angle.

[0040] In some embodiments, the preset speed is not specifically limited and can be set according to actual needs. For example, the preset speed can be 45KM / h, 50KM / h, 55KM / h, etc.

[0041] In some embodiments, before calculating the target yaw rate of the vehicle according to the sliding speed and the steering wheel angle, it also includes: determining the vehicle mass of the vehicle, a first distance from the center of mass of the vehicle to the front axle of the vehicle, a second distance from the center of mass of the vehicle to the rear axle of the vehicle, a first lateral stiffness of the front axle of the vehicle, a second lateral stiffness of the rear axle of the vehicle, the wheelbase of the vehicle, and a road adhesion coefficient; calculating the target yaw rate of the vehicle according to the sliding speed and the steering wheel angle includes: calculating the target yaw rate according to the sliding speed, the steering wheel angle, the vehicle mass, the first distance, the second distance, the first lateral stiffness, the second lateral stiffness, the wheelbase, and the road adhesion coefficient.

[0042] Specifically, the vehicle's wheel angle is determined according to the steering wheel angle, and then the target yaw rate is calculated according to the following formula: ; ; in, is the target yaw rate, is the sliding speed, is the wheel angle, a is the first distance, b is the second distance, is the first lateral stiffness, is the second lateral stiffness, L is the wheelbase, is the road adhesion coefficient.

[0043] Step 103 : calculating a target yaw moment according to the target yaw angular velocity, wherein the target yaw moment acts on the center of mass of the vehicle.

[0044] In some embodiments, calculating the target yaw moment according to the target yaw rate includes: determining the actual yaw rate of the vehicle; calculating the difference between the target yaw rate and the actual yaw rate; and calculating the target yaw moment according to the difference.

[0045] Specifically, the vehicle also includes an inertial sensor, which is connected to the controller. The actual yaw angular velocity is obtained through the inertial sensor. After calculating the difference between the target yaw angular velocity and the actual yaw angular velocity, the difference is differentiated and multiplied by the moment of inertia to obtain the target yaw moment.

[0046] Step 104 : determining a first distributed torque corresponding to each motor according to the target yaw moment.

[0047] In some embodiments, the three motors include a first motor, a second motor and a third motor, and the first motor and the second motor are transmission-connected to two wheels located on the same axis of the vehicle; the first distribution torque corresponding to each motor is determined according to the target yaw moment, including: determining a first distribution ratio and a second distribution ratio according to the target yaw moment, wherein the first distribution ratio is the ratio between the total distribution torque of the first motor and the second motor and the distribution torque of the third motor, and the second distribution ratio is the ratio between the distribution torque of the first motor and the distribution torque of the second motor; according to the first distribution ratio and the second distribution ratio, the first distribution torques of the first motor, the second motor and the third motor are respectively determined.

[0048] It can be understood that the vehicle includes a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, and the first motor and the second motor can be respectively connected to the left front wheel and the right front wheel, and the third motor is connected to the left rear wheel and the right rear wheel; the first motor and the second motor can also be respectively connected to the left rear wheel and the right rear wheel, and the third motor is connected to the left front wheel and the right front wheel.

[0049] Specifically, determining the first distribution ratio and the second distribution ratio according to the target yaw moment includes: determining a current yaw angular velocity of the vehicle, calculating a current yaw moment of the vehicle based on the current yaw angular velocity of the vehicle, calculating a first difference between the target yaw moment and the current yaw moment, and determining the first distribution ratio and the second distribution ratio according to the first difference.

[0050] It can be understood that the first difference can be regarded as the first yaw moment additionally applied to the vehicle when the vehicle turns. After obtaining the first yaw moment, the controller calculates the first distribution ratio and the second distribution ratio based on the first yaw moment, and then determines the first distribution torques of the first motor, the second motor and the third motor according to the first distribution ratio and the second distribution ratio, respectively, so that in the subsequent process, after the first motor, the second motor and the third motor respectively operate according to their own first distribution torques, the additional yaw moment generated is equal to the first yaw moment, so that the actual yaw moment acting on the center of mass of the vehicle is equal to the target yaw moment, thereby improving the yaw response of the vehicle when turning.

[0051] Step 105 , after each motor operates according to its corresponding first distributed torque, an actual yaw moment acting on the center of mass of the vehicle is obtained.

[0052] In some embodiments, after each motor operates according to its corresponding first distributed torque, the current yaw angular velocity of the vehicle is obtained through the inertial sensor, and the yaw angular velocity is derived and multiplied by the moment of inertia to obtain the actual yaw moment acting on the center of mass of the vehicle.

[0053] Step 106 : re-determine the first distributed torque corresponding to each motor according to the actual yaw moment and the target yaw moment, until the actual yaw moment finally obtained is equal to the target yaw moment.

[0054] For ease of understanding, the following Figure 3 How to make the final actual yaw moment equal to the target yaw moment in this application is specifically described: Please refer to Figure 3 , which is a schematic diagram of the structure of the PID controller provided in an embodiment of the present application. The target yaw moment and the current actual yaw moment of the vehicle are input into the feedforward controller to obtain the first distributed torque of the first motor, the second motor and the third motor. After each motor operates according to its corresponding first distributed torque, a new actual yaw moment is obtained again, and the new actual yaw moment and the target yaw moment are input into the feedback controller until the actual yaw moment obtained at last is equal to the target yaw moment.

[0055] Compared with the related art, the embodiment of the present application has at least the following advantages: by calculating the target yaw rate of the vehicle based on the gliding speed and the steering wheel angle when the gliding speed of the vehicle is detected to be greater than the preset speed, it is possible to know at what yaw rate the vehicle can be in a stable state. Then, the target yaw moment acting on the center of mass of the vehicle is calculated by the target yaw rate, so as to determine the first distributed torque corresponding to each motor according to the target yaw moment, so that each motor can give the vehicle an additional yaw moment after running according to its corresponding first distributed torque, so that the actual yaw moment acting on the center of mass of the vehicle changes. Since the yaw response of the vehicle depends on the yaw acceleration generated when the vehicle turns, and after the actual yaw moment changes, the magnitude of the yaw acceleration of the vehicle will also change accordingly, thereby achieving an improvement in the yaw response of the vehicle when turning, and improving the driving experience of the user. In addition, the first distributed torque corresponding to each motor is redetermined according to the actual yaw moment and the target yaw moment until the actual yaw moment finally obtained is equal to the target yaw moment. That is, a closed-loop control method is adopted to ensure that the actual yaw moment acting on the center of mass of the vehicle is equal to the target yaw moment, thereby ensuring the improvement of the yaw response of the vehicle when cornering and improving the reliability of vehicle control.

[0056] Please refer to 4, Figure 4 This is a flowchart of the steps in an embodiment of the vehicle control method of the present application. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted. The control method can be applied to the controller of the vehicle, but is not limited thereto, and the embodiments of the present application are not limited thereto.

[0057] This embodiment is a further improvement of the above embodiment, and the main improvement is that: in this embodiment, when it is detected that the coasting speed is less than or equal to the preset speed, the torque of each motor is distributed according to the open-loop control method. In this way, during the low-speed coasting of the vehicle, it is possible to ensure that the yaw response of the vehicle can also be improved when the vehicle is turning, further improving the user's driving experience.

[0058] The specific process of this embodiment is as follows Figure 4 As shown, the following steps are included: Step 201, when the vehicle is in a gliding state and in a turning condition at the same time, determining the gliding speed and steering wheel angle of the vehicle.

[0059] Step 202 , detecting whether the sliding speed is greater than a preset speed. If it is detected that the sliding speed is greater than the preset speed, executing step 203 ; otherwise, executing step 208 .

[0060] Step 203: Calculate the target yaw rate of the vehicle according to the sliding speed and the steering wheel angle.

[0061] Step 204 : Calculate a target yaw moment according to the target yaw angular velocity, wherein the target yaw moment acts on the center of mass of the vehicle.

[0062] Step 205 : determining a first distributed torque corresponding to each motor according to the target yaw moment.

[0063] Step 206 , after each motor operates according to its corresponding first distributed torque, an actual yaw moment acting on the center of mass of the vehicle is obtained.

[0064] Step 207 : re-determine the first distributed torque corresponding to each motor according to the actual yaw moment and the target yaw moment, until the actual yaw moment finally obtained is equal to the target yaw moment.

[0065] Step 208 : determining a second distributed torque corresponding to each motor according to the coasting speed and the steering wheel angle.

[0066] Specifically, the three motors include a fourth motor, a fifth motor and a sixth motor, and the fourth motor and the fifth motor are drivingly connected to two wheels located on the same axis of the vehicle; the second distributed torque corresponding to each motor is determined according to the coasting speed and the steering wheel angle, including: obtaining a third distribution ratio and a fourth distribution ratio according to the coasting speed and the steering wheel angle, the third distribution ratio being the ratio between the total distributed torque of the fourth motor and the fifth motor and the distributed torque of the sixth motor, and the fourth distribution ratio being the ratio between the distributed torque of the fourth motor and the distributed torque of the fifth motor; and determining the second distributed torques of the fourth motor, the fifth motor and the sixth motor respectively according to the third distribution ratio and the fourth distribution ratio.

[0067] In some embodiments, obtaining a third distribution ratio and a fourth distribution ratio according to the gliding speed and the steering wheel angle includes: determining the third distribution ratio corresponding to the gliding speed and the steering wheel angle according to a preset first distribution ratio relationship table; determining the fourth distribution ratio corresponding to the gliding speed and the steering wheel angle according to a preset second distribution ratio relationship table.

[0068] Please refer to Figure 5 , is a schematic diagram of a method for determining the third allocation ratio and the fourth allocation ratio provided in an embodiment of the present application. After obtaining the sliding speed and the steering wheel angle, the third allocation ratio and the fourth allocation ratio can be obtained by searching the first allocation ratio relationship table and the second allocation ratio relationship table.

[0069] Step 209 , controlling each motor to operate according to its corresponding second distributed torque.

[0070] Compared with the related art, the embodiment of the present application has at least the following advantages: by calculating the target yaw rate of the vehicle based on the gliding speed and the steering wheel angle when the gliding speed of the vehicle is detected to be greater than the preset speed, it is possible to know at what yaw rate the vehicle can be in a stable state. Then, the target yaw moment acting on the center of mass of the vehicle is calculated by the target yaw rate, so as to determine the first distributed torque corresponding to each motor according to the target yaw moment, so that each motor can give the vehicle an additional yaw moment after running according to its corresponding first distributed torque, so that the actual yaw moment acting on the center of mass of the vehicle changes. Since the yaw response of the vehicle depends on the yaw acceleration generated when the vehicle turns, and after the actual yaw moment changes, the magnitude of the yaw acceleration of the vehicle will also change accordingly, thereby achieving an improvement in the yaw response of the vehicle when turning, and improving the driving experience of the user. In addition, the first distributed torque corresponding to each motor is redetermined according to the actual yaw moment and the target yaw moment until the actual yaw moment finally obtained is equal to the target yaw moment. That is, a closed-loop control method is adopted to ensure that the actual yaw moment acting on the center of mass of the vehicle is equal to the target yaw moment, thereby ensuring the improvement of the yaw response of the vehicle when cornering and improving the reliability of vehicle control.

[0071] Based on the same idea as the vehicle control method in the above embodiment, the present application also provides a vehicle control device, which can be used to execute the above vehicle control method. For ease of explanation, the structural diagram of the vehicle control device embodiment only shows the parts related to the embodiment of the present application. It can be understood by those skilled in the art that the illustrated structure does not constitute a limitation on the device, and may include more or fewer components than shown in the diagram, or combine certain components, or arrange the components differently.

[0072] Please refer to Figure 6The vehicle control device 60 includes a parameter determination module 601 , a first calculation module 602 , a second calculation module 603 , a torque determination module 604 , a yaw moment acquisition module 605 and a closed-loop control module 606 .

[0073] The parameter determination module 601 is used to determine the gliding speed and the steering wheel angle of the vehicle when the vehicle is in a gliding state and in a turning condition at the same time; the first calculation module 602 is used to calculate the target yaw rate of the vehicle according to the gliding speed and the steering wheel angle when it is detected that the gliding speed is greater than the preset speed; the second calculation module 603 is used to calculate the target yaw moment according to the target yaw rate, wherein the target yaw moment acts on the center of mass of the vehicle; the torque determination module 604 is used to determine the first distributed torque corresponding to each of the motors according to the target yaw moment; the yaw moment acquisition module 605 is used to acquire the actual yaw moment acting on the center of mass of the vehicle after each of the motors operates according to the first distributed torque corresponding to itself; the closed-loop control module 606 is used to re-determine the first distributed torque corresponding to each of the motors according to the actual yaw moment and the target yaw moment, until the actual yaw moment finally acquired is equal to the target yaw moment.

[0074] Please refer to Figure 7 , Figure 7 This is a schematic diagram of an embodiment of an electronic device of the present application.

[0075] The electronic device 1000 includes a memory 20, a processor 30, and a computer program 40 stored in the memory 20 and executable on the processor 30. When the processor 30 executes the computer program 40, the steps in the above vehicle control method embodiment are implemented, for example Figure 2 Steps 101 to 106 are shown.

[0076] Exemplarily, the computer program 40 may also be divided into one or more modules / units, one or more modules / units are stored in the memory 20, and executed by the processor 30. One or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 40 in the electronic device 1000.

[0077] Those skilled in the art will understand that the schematic diagram is merely an example of the electronic device 1000 and does not constitute a limitation of the electronic device 1000. The electronic device 1000 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device 1000 may also include input and output devices, network access devices, buses, etc.

[0078] The processor 30 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, a single-chip microcomputer, or the processor 30 may also be any conventional processor, etc.

[0079] The memory 20 can be used to store the computer program 40 and / or the module / unit. The processor 30 realizes various functions of the electronic device 1000 by running or executing the computer program and / or the module / unit stored in the memory 20 and calling the data stored in the memory 20. The memory 20 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data (such as audio data) created according to the use of the electronic device 1000, etc. In addition, the memory 20 can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0080] If the module / unit integrated in the electronic device 1000 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of patent practice. For example, according to patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0081] In the several embodiments provided in this application, it should be understood that the disclosed electronic device and method can be implemented in other ways. For example, the electronic device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation.

[0082] In addition, each functional unit in each embodiment of the present application may be integrated into the same processing unit, or each unit may exist physically separately, or two or more units may be integrated into the same unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0083] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or basic features of the present application. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or electronic devices stated in the electronic device claim can also be implemented by the same unit or electronic device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A vehicle control method, characterized in that: Applied to a vehicle, the vehicle comprises three motors, each of the motors is drivingly connected to a different wheel of the vehicle; The method comprises: When the vehicle is in a gliding state and in a turning condition at the same time, determining a gliding speed and a steering wheel angle of the vehicle; When it is detected that the sliding speed is greater than the preset speed, calculating a target yaw rate of the vehicle according to the sliding speed and the steering wheel angle; Calculating a target yaw moment according to the target yaw angular velocity, wherein the target yaw moment acts on the center of mass of the vehicle; Determining a first distributed torque corresponding to each of the motors according to the target yaw moment; After each of the motors operates according to the first distributed torque corresponding to itself, obtaining an actual yaw moment acting on the center of mass of the vehicle; The first distributed torque corresponding to each of the motors is re-determined according to the actual yaw moment and the target yaw moment, until the actual yaw moment finally obtained is equal to the target yaw moment.

2. The vehicle control method according to claim 1, characterized in that: The three motors include a first motor, a second motor and a third motor, and the first motor and the second motor are drivingly connected to two wheels located on the same axle of the vehicle; The determining, according to the target yaw moment, a first distributed torque corresponding to each of the motors includes: Determining a first distribution ratio and a second distribution ratio according to the target yaw moment, wherein the first distribution ratio is a ratio between a total distribution torque of the first motor and the second motor and a distribution torque of the third motor, and the second distribution ratio is a ratio between a distribution torque of the first motor and a distribution torque of the second motor; The first distributed torques of the first motor, the second motor, and the third motor are determined respectively according to the first distributed ratio and the second distributed ratio.

3. The vehicle control method according to claim 1, characterized in that: Before calculating the target yaw rate of the vehicle according to the sliding speed and the steering wheel angle, the method further includes: Determining a vehicle mass of the vehicle, a first distance from the center of mass of the vehicle to a front axle of the vehicle, a second distance from the center of mass of the vehicle to a rear axle of the vehicle, a first lateral stiffness of the front axle of the vehicle, a second lateral stiffness of the rear axle of the vehicle, a wheelbase of the vehicle, and a road adhesion coefficient; The calculating the target yaw rate of the vehicle according to the sliding speed and the steering wheel angle comprises: The target yaw rate is calculated according to the sliding speed, the steering wheel angle, the vehicle mass, the first distance, the second distance, the first lateral stiffness, the second lateral stiffness, the wheelbase, and the road adhesion coefficient.

4. The vehicle control method according to claim 3, characterized in that: The calculating the target yaw moment according to the target yaw angular velocity comprises: determining an actual yaw rate of the vehicle; calculating a difference between the target yaw rate and the actual yaw rate; The target yaw moment is calculated according to the difference.

5. The vehicle control method according to claim 1, characterized in that: The method further comprises: When it is detected that the coasting speed is less than or equal to the preset speed, determining a second distributed torque corresponding to each of the motors according to the coasting speed and the steering wheel angle; Each of the motors is controlled to operate according to the second distributed torque corresponding to itself.

6. The vehicle control method according to claim 5, characterized in that: The three motors include a fourth motor, a fifth motor and a sixth motor, and the fourth motor and the fifth motor are drivingly connected to two wheels located on the same axle of the vehicle; The determining the second distributed torque corresponding to each of the motors according to the coasting speed and the steering wheel angle includes: acquiring a third distribution ratio and a fourth distribution ratio according to the coasting speed and the steering wheel angle, the third distribution ratio being a ratio between a total distribution torque of the fourth motor and the fifth motor and a distribution torque of the sixth motor, and the fourth distribution ratio being a ratio between a distribution torque of the fourth motor and a distribution torque of the fifth motor; The second distributed torques of the fourth motor, the fifth motor, and the sixth motor are respectively determined according to the third distribution ratio and the fourth distribution ratio.

7. The vehicle control method according to claim 6, characterized in that: The obtaining the third distribution ratio and the fourth distribution ratio according to the sliding speed and the steering wheel angle includes: Determining the third allocation ratio corresponding to the sliding speed and the steering wheel angle according to a preset first allocation ratio relationship table; The fourth distribution ratio corresponding to the coasting speed and the steering wheel angle is determined according to a preset second distribution ratio relationship table.

8. A vehicle control device, characterized in that: Applied to a vehicle, the vehicle comprises three motors, each of which is drivingly connected to a different wheel of the vehicle; the vehicle control device comprises: a parameter determination module, configured to determine a sliding speed and a steering wheel angle of the vehicle when the vehicle is in a sliding state and in a turning condition at the same time; a first calculation module, configured to calculate a target yaw rate of the vehicle according to the gliding speed and the steering wheel angle when detecting that the gliding speed is greater than the preset speed; a second calculation module, configured to calculate a target yaw moment according to the target yaw angular velocity, wherein the target yaw moment acts on the center of mass of the vehicle; a torque determination module, configured to determine a first distributed torque corresponding to each of the motors according to the target yaw moment; a yaw moment acquisition module, configured to acquire an actual yaw moment acting on the center of mass of the vehicle after each of the motors operates according to the first distributed torque corresponding to itself; A closed-loop control module is used to redetermine the first distributed torque corresponding to each of the motors according to the actual yaw moment and the target yaw moment, until the actual yaw moment finally obtained is equal to the target yaw moment.

9. An electronic device, comprising a processor and a memory, characterized in that: The memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the electronic device executes the vehicle control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the vehicle control method according to any one of claims 1 to 7.

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