Vehicle control method and device, electronic equipment and storage medium

Abstract

The application provides a vehicle control method and device, electronic equipment and storage medium, comprising: determining the coasting speed and steering wheel angle of a vehicle; in the case of detecting that the coasting speed is greater than a preset speed, calculating the target yaw angular velocity of the vehicle according to the coasting 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 the first distribution torque corresponding to each motor according to the target yaw moment; after each motor operates according to the first distribution torque corresponding to itself, obtaining the actual yaw moment acting on the center of mass of the vehicle; and redetermining the first distribution torque corresponding to each motor according to the actual yaw moment and the target yaw moment until the last obtained actual yaw moment is equal to the target yaw moment. The application can improve the yaw response of the vehicle when it is turning during the coasting process, thereby improving the driving experience of the user.

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] A three-motor system typically refers to a design using three electric motors in an electric or hybrid vehicle. Flexible configurations, such as two front and one rear, or two rear and one front, can be tailored to suit different vehicle models and needs. Coasting energy recovery is a key technology in electric and hybrid vehicles. It utilizes kinetic energy generated during vehicle deceleration or downhill driving, converting it into electricity through the electric motors acting as generators and storing it in the battery, thereby improving energy 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 vehicle's state. 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 coasting, 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, the vehicle including three motors, each of which is transmission-connected to different wheels of the vehicle; the method comprising: determining the coasting speed and steering wheel angle of the vehicle when the vehicle is in a coasting state and simultaneously in a turning condition; calculating the target yaw rate of the vehicle based on the coasting speed and the steering wheel angle when it is detected that the coasting speed is greater than a preset speed; calculating the target yaw moment based on the target yaw rate, wherein the target yaw moment acts on the center of mass of the vehicle; determining a first distributed torque corresponding to each motor based on the target yaw moment; obtaining an actual yaw moment acting on the center of mass of the vehicle after each motor operates based on its own corresponding first distributed torque; and re-determining the first distributed torque corresponding to each motor based on 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 to related technologies, the embodiments of the present application have at least the following advantages: by calculating the target yaw rate of the vehicle based on the coasting speed and steering wheel angle when the vehicle's coasting speed is detected to be greater than a preset speed, the target yaw rate at which the vehicle is stable is determined. The target yaw rate is then used to calculate the target yaw moment acting on the vehicle's center of mass. This allows the first distributed torque corresponding to each motor to be determined based on the target yaw moment. This allows each motor to provide additional yaw moment to the vehicle after operating according to its corresponding first distributed torque, thereby changing the actual yaw moment acting on the vehicle's center of mass. Because the vehicle's yaw response depends on the yaw acceleration generated during cornering, changes in the actual yaw moment will also change the magnitude of the vehicle's yaw acceleration. This improves the vehicle's yaw response during cornering, enhancing the user's driving experience. In addition, by redetermining the first distributed torque corresponding to each motor based on 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, using a closed-loop control method to ensure that the actual yaw moment acting on the vehicle's center of mass is equal to the target yaw moment, thereby ensuring the improvement of the vehicle's yaw response 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 transmission-connected to two wheels located on the same axis of the vehicle; determining the first distribution torque corresponding to each motor based on the target yaw moment includes: determining a first distribution ratio and a second distribution ratio based on 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 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 based on the sliding speed and the steering wheel angle, the method further 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, a wheelbase of the vehicle, and a road adhesion coefficient; calculating the target yaw rate of the vehicle based on the sliding speed and the steering wheel angle includes: calculating the target yaw rate based on 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 based on 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 based on the difference.

[0010] In some embodiments, the method further includes: when it is detected that the coasting speed is less than or equal to the preset speed, determining the second distributed torque corresponding to each of the motors based on the coasting 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 transmission-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 based on the sliding speed and the steering wheel angle includes: determining the third distribution ratio corresponding to the sliding speed and the steering wheel angle according to a preset first distribution ratio relationship table; determining the fourth distribution ratio corresponding to the sliding 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 for use in a vehicle, the vehicle including three motors, each of the motors being transmission-connected to a different wheel of the vehicle. The vehicle control device includes: a parameter determination module for determining a coasting speed and a steering wheel angle of the vehicle when the vehicle is coasting and simultaneously in a turning condition; a first calculation module for calculating a target yaw rate of the vehicle based on the coasting speed and the steering wheel angle when the coasting speed is detected to be greater than a preset speed; a second calculation module for calculating a target yaw moment based on the target yaw rate, wherein the target yaw moment acts on the center of mass of the vehicle; a torque determination module for determining a first distributed torque corresponding to each motor based on the target yaw moment; a yaw moment acquisition module for acquiring an actual yaw moment acting on the center of mass of the vehicle after each motor operates according to its corresponding first distributed torque; and a closed-loop control module for re-determining the first distributed torque corresponding to each motor based on the actual yaw moment and the target yaw moment, until the actual yaw moment finally acquired equals 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. 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 provided 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 provided in an embodiment of the present application when there is steering input.

[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 4Another flowchart of a vehicle control method provided for an embodiment of the present application.

[0021] Figure 5 A third distribution ratio and a fourth distribution ratio determination manner provided for an embodiment of the present application.

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

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

[0024] In order to more clearly understand the above objectives, features and advantages of the present application, the present application will be described in detail below with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0025] In the following description, a lot of specific details are set forth in order to facilitate a thorough understanding of the present application. The described embodiments are merely some of the embodiments of the present application, but not all the embodiments.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description of the present application herein is for the purpose of describing the particular embodiments only and is not intended to be limiting of the present application.

[0027] It should be further noted that, herein, the terms “comprising”, “containing” or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement “comprising a” does not exclude the presence of another identical element in the process, method, article or device including the element.

[0028] In the present application, “at least one” means one or more, and “multiple” means two or more than two. “And / or” describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The terms “first”, “second”, “third”, “fourth” and the like (if any) in the specification and claims of the present application and the drawings are used to distinguish similar objects, and are not used to describe a specific order or sequence.

[0029] In the embodiments of the present application, the word "exemplary" or "for example" is used to mean serving as an example, instance, or illustration. Any embodiment or design described in the embodiments of the present application as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the word "exemplary" or "for example" is used to present concepts in a concrete manner.

[0030] At present, the coasting energy recovery of the three-motor system is determined according to the accelerator pedal opening degree, the current motor recovery capability and the current battery power, and the power or negative torque of the coasting recovery of the three motors is determined, the control is performed based on the recovery torque when the vehicle is at low speed, the control is performed based on the recovery power when the vehicle is at high speed, and when the vehicle has a steering input, the coasting energy recovery distribution between the front and rear axles or the coasting energy recovery distribution between the left and right wheels is not actively performed according to the state of the vehicle, but the coasting energy recovery is equally distributed to each motor, which causes that when the vehicle is in the coasting state and the driver has a steering input, the yaw response of the vehicle is greatly affected, thereby causing poor user driving experience.

[0031] In view of this, the present application provides a vehicle control method, which actively performs the coasting energy recovery distribution among the three motors according to the vehicle speed, the steering wheel angle and the yaw angular velocity, so as to give the vehicle additional yaw moment when the vehicle is turning, thereby improving the yaw response of the vehicle when the vehicle is coasting.

[0032] Please refer to Figure 1 , Figure 1 The figure shows the force condition 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 subjected to the longitudinal force and the lateral force at the same time, and the yaw response of the vehicle depends on the yaw angular acceleration generated by the vehicle when the vehicle has a steering input The greater the yaw angular acceleration , the faster the yaw response of the vehicle, and vice versa.

[0033] The magnitude of the yaw angular acceleration

[0034] ;

[0035] wherein, is the yaw angular velocity, is the rotational inertia of the whole vehicle around the Z axis, is the mass center side slip angle, is the front wheel steering angle, is the distance from the mass center to the front axle, is the distance from the mass center 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 on the left front wheel, is the lateral force on the right front wheel, is the lateral force on the left rear wheel, is the lateral force on the right rear wheel.

[0036] As can be seen from the above formula, taking the example of two of the three motors being connected to the right rear wheel and the left rear wheel respectively, by changing the magnitude of the longitudinal force on the vehicle's front and rear axles, as well as the magnitude of the longitudinal force on the right rear wheel and the left rear wheel, the magnitude of the yaw angular velocity can be changed, thereby improving the vehicle's yaw response.

[0037] Please refer to Figure 2 , Figure 2 This is a flowchart of the steps of one embodiment of the vehicle control method of the present application. Depending on different needs, the order of the steps in this flowchart may be changed, and some steps may be omitted. This control method can be applied to a vehicle controller, but is not limited thereto, and this embodiment of the present application is not limited thereto.

[0038] The specific process of this embodiment is as follows Figure 1 As shown, the following steps are included:

[0039] Step 101: When a vehicle is in a coasting state and is simultaneously in a turning condition, determine the coasting speed and steering wheel angle of the vehicle.

[0040] 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 coasting 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 coasting speed and steering wheel angle.

[0041] In some embodiments, the vehicle further includes an accelerator pedal sensor and a brake pedal sensor, both of which are connected to the controller. When the driver operates the accelerator pedal, the accelerator pedal moves, and the accelerator pedal sensor transmits an accelerator pedal signal to the controller. When the driver operates the brake pedal, the brake pedal moves, and the brake pedal sensor transmits a brake pedal signal to the controller. Therefore, if the detector does not receive either the accelerator pedal signal or the brake pedal signal, it indicates that the vehicle is coasting.

[0042] Step 102 : When it is detected that the coasting speed is greater than a preset speed, a target yaw rate of the vehicle is calculated according to the coasting speed and the steering wheel angle.

[0043] 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 45 km / h, 50 km / h, 55 km / h, etc.

[0044] In some embodiments, before calculating the target yaw rate of the vehicle based on 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, a wheelbase of the vehicle, and a road adhesion coefficient; calculating the target yaw rate of the vehicle based on the sliding speed and the steering wheel angle includes: calculating the target yaw rate based on 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.

[0045] Specifically, the vehicle's wheel angle is determined based on the steering wheel angle, and the target yaw rate is calculated using the following formula:

[0046] ; ;

[0047] 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.

[0048] Step 103 : 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.

[0049] In some embodiments, calculating the target yaw moment based on 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 based on the difference.

[0050] Specifically, the vehicle also includes an inertial sensor, which is connected to the controller. The actual yaw rate is obtained through the inertial sensor. After calculating the difference between the target yaw rate and the actual yaw rate, the difference is differentiated and multiplied by the moment of inertia to obtain the target yaw moment.

[0051] Step 104 : Determine a first distributed torque corresponding to each motor according to the target yaw moment.

[0052] 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.

[0053] 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 connected to the left front wheel and the right front wheel respectively, 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 connected to the left rear wheel and the right rear wheel respectively, and the third motor is connected to the left front wheel and the right front wheel.

[0054] Specifically, determining the first distribution ratio and the second distribution ratio according to the target yaw moment includes: determining the current yaw angular velocity of the vehicle, calculating the 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.

[0055] 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 torque 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 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.

[0056] 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.

[0057] 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 then differentiated and multiplied by the moment of inertia to obtain the actual yaw moment acting on the center of mass of the vehicle.

[0058] Step 106, redetermine the first distribution torque corresponding to each motor according to the actual yaw moment and the target yaw moment until the last acquired actual yaw moment is equal to the target yaw moment.

[0059] For ease of understanding, the following will be combined with Figure 3 The last acquired actual yaw moment is equal to the target yaw moment in the present application is specifically explained as follows:

[0060] Please refer to Figure 3 The structure schematic diagram of the PID controller provided by the embodiment of the present application is shown in the figure. The target yaw moment and the current actual yaw moment of the vehicle are input into the feedforward controller to obtain the first distribution torque of the first motor, the second motor and the third motor. After each motor operates according to the first distribution torque corresponding to itself, the new actual yaw moment is acquired again. The new actual yaw moment and the target yaw moment are input into the feedback controller until the last acquired actual yaw moment is equal to the target yaw moment.

[0061] Compared with the related art, the embodiment of the present application has at least the following advantages: by detecting that the sliding speed of the vehicle is greater than the preset speed, the target yaw angular velocity of the vehicle is calculated based on the sliding speed and the steering wheel angle, so that it can be known that the vehicle can be in a stable state at which yaw angular velocity. Then the target yaw moment acting on the center of mass of the vehicle is calculated according to the target yaw angular velocity, so as to determine the first distribution torque corresponding to each motor according to the target yaw moment, so that each motor can give the vehicle an additional yaw moment after operating according to the first distribution torque corresponding to itself, 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 angular acceleration generated when the vehicle turns, and the size of the yaw angular acceleration of the vehicle changes after the actual yaw moment changes, the improvement of the yaw response of the vehicle when turning is realized, and the driving experience of the user is improved. In addition, by redetermining the first distribution torque corresponding to each motor according to the actual yaw moment and the target yaw moment until the last acquired actual yaw moment is equal to the target yaw moment, that is, the closed-loop control mode 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, so as to ensure the improvement effect of the yaw response of the vehicle when turning, and improve the reliability of the vehicle control.

[0062] Please refer to 4, Figure 4 The step flow chart of an embodiment of the vehicle control method of the present application is shown in the figure. The order of the steps in the flow chart can be changed according to different needs, 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 embodiment of the present application does not limit it.

[0063] This embodiment further improves upon the previous one, primarily by allocating torque to each motor using open-loop control when the coasting speed is detected to be less than or equal to a preset speed. This approach ensures improved yaw response even when cornering while the vehicle is coasting at low speeds, further enhancing the user's driving experience.

[0064] The specific process of this embodiment is as follows Figure 4 As shown, the following steps are included:

[0065] Step 201 : When the vehicle is in a coasting state and is simultaneously in a turning condition, determine the coasting speed and steering wheel angle of the vehicle.

[0066] 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 .

[0067] Step 203: Calculate the target yaw rate of the vehicle according to the coasting speed and the steering wheel angle.

[0068] 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.

[0069] Step 205 : Determine a first distributed torque corresponding to each motor according to the target yaw moment.

[0070] 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.

[0071] 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.

[0072] Step 208 : Determine the second distributed torque corresponding to each motor according to the coasting speed and the steering wheel angle.

[0073] Specifically, the three motors include a fourth motor, a fifth motor and a sixth motor, and the fourth motor and the fifth motor are transmission-connected to two wheels located on the same axis of the vehicle; the second distribution 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 distribution torque of the fourth motor and the fifth motor and the distribution torque of the sixth motor, and the fourth distribution ratio being the ratio between the distribution torque of the fourth motor and the distribution torque of the fifth motor; and determining the second distribution torques of the fourth motor, the fifth motor and the sixth motor respectively according to the third distribution ratio and the fourth distribution ratio.

[0074] In some embodiments, obtaining a third distribution ratio and a fourth distribution ratio based on the coasting speed and the steering wheel angle includes: determining the third distribution ratio corresponding to the coasting speed and the steering wheel angle based on a preset first distribution ratio relationship table; and determining the fourth distribution ratio corresponding to the coasting speed and the steering wheel angle based on a preset second distribution ratio relationship table.

[0075] Please refer to Figure 5 , which is a schematic diagram of a method for determining the third and fourth allocation ratios according to an embodiment of the present application. After obtaining the coasting speed and steering wheel angle, the third and fourth allocation ratios can be obtained by searching the first and second allocation ratio relationship tables.

[0076] Step 209 : Control each motor to operate according to its corresponding second distributed torque.

[0077] Compared to related technologies, the embodiments of the present application have at least the following advantages: by calculating the target yaw rate of the vehicle based on the coasting speed and steering wheel angle when the vehicle's coasting speed is detected to be greater than a preset speed, the target yaw rate at which the vehicle is stable is determined. The target yaw rate is then used to calculate the target yaw moment acting on the vehicle's center of mass. This allows the first distributed torque corresponding to each motor to be determined based on the target yaw moment. This allows each motor to provide additional yaw moment to the vehicle after operating according to its corresponding first distributed torque, thereby changing the actual yaw moment acting on the vehicle's center of mass. Because the vehicle's yaw response depends on the yaw acceleration generated during cornering, changes in the actual yaw moment will also change the magnitude of the vehicle's yaw acceleration. This improves the vehicle's yaw response during cornering, enhancing the user's driving experience. In addition, by redetermining the first distributed torque corresponding to each motor based on 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, using a closed-loop control method to ensure that the actual yaw moment acting on the vehicle's center of mass is equal to the target yaw moment, thereby ensuring the improvement of the vehicle's yaw response when cornering and improving the reliability of vehicle control.

[0078] Based on the same concept as the vehicle control method in the above-mentioned embodiment, the present application also provides a vehicle control device that can be used to execute the above-mentioned vehicle control method. For ease of explanation, the structural diagram of the vehicle control device embodiment only shows the parts relevant to the embodiment of the present application. Those skilled in the art will understand that the illustrated structure does not constitute a limitation of the device, and the device may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0079] 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 .

[0080] The parameter determination module 601 is used to determine the coasting speed and steering wheel angle of the vehicle when the vehicle is in a coasting state and is simultaneously in a turning condition; the first calculation module 602 is used to calculate the target yaw rate of the vehicle based on the coasting speed and the steering wheel angle when it is detected that the coasting speed is greater than the preset speed; the second calculation module 603 is used to calculate the target yaw moment based on 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 based on 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 motor operates according to its corresponding first distributed torque; and the closed-loop control module 606 is used to re-determine the first distributed torque corresponding to each of the motors based on the actual yaw moment and the target yaw moment, until the actual yaw moment finally acquired is equal to the target yaw moment.

[0081] Please refer to Figure 7 , Figure 7 This is a schematic diagram of an embodiment of an electronic device of the present application.

[0082] 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-mentioned vehicle control method embodiment are implemented, such as Figure 2 Steps 101 to 106 are shown.

[0083] For example, the computer program 40 may also be divided into one or more modules / units, which are stored in the memory 20 and executed by the processor 30. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 40 in the electronic device 1000.

[0084] 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.

[0085] The processor 30 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), 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 be any conventional processor, etc.

[0086] Memory 20 can be used to store computer programs 40 and / or modules / units. Processor 30 implements various functions of electronic device 1000 by running or executing the computer programs and / or modules / units stored in memory 20 and accessing data stored in memory 20. Memory 20 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function (such as sound playback or image playback); the data storage area may store data generated during the use of electronic device 1000 (such as audio data). Memory 20 may also include high-speed random access memory (RAM) and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device.

[0087] If the modules / units integrated into electronic device 1000 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the present application can implement all or part of the process steps in the above-mentioned method embodiments by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. Computer-readable media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, removable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunications signals, and software distribution media. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased based on the requirements of patent practice. For example, according to patent practice, computer-readable media does not include electrical carrier signals and telecommunications signals.

[0088] In the several embodiments provided in this application, it should be understood that the disclosed electronic devices and methods can be implemented in other ways. For example, the electronic device embodiments described above are merely illustrative. For example, the division of units is merely a logical function division, and actual implementation may employ other division methods.

[0089] In addition, the functional units in the various embodiments 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 units may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0090] It is obvious to those skilled in the art that the present application is not limited to the details of the above-mentioned exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or basic characteristics 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. The 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. Words such as first and second are used to indicate names and do not indicate any particular order.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not limiting. Although the present application has been described in detail with reference to the above embodiments, ordinary technicians in this field should understand that the technical solution of the present application can 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 being transmission-connected to a different wheel of the vehicle; The method comprises: When the vehicle is in a coasting state and is simultaneously in a turning condition, determining a coasting speed and a steering wheel angle of the vehicle; When it is detected that the coasting speed is greater than the preset speed, calculating a target yaw rate of the vehicle according to the coasting 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 its corresponding first distributed torque, 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 the first distributed torque corresponding to each of the motors 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 a ratio between the total distributed torque of the first motor and the second motor and the distributed torque of the third motor, and the second distribution ratio is a ratio between the distributed torque of the first motor and the distributed torque of the second motor; The first distributed torques of the first motor, the second motor, and the third motor are respectively determined according to the first distribution ratio and the second distribution 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; Calculating the target yaw rate of the vehicle according to the coasting speed and the steering wheel angle includes: The target yaw rate is calculated according to the coasting 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: Calculating the target yaw moment according to the target yaw angular velocity includes: 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 its corresponding second distributed torque.

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: 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 a 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 a ratio between the distributed torque of the fourth motor and the distributed 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 of the third distribution ratio and the fourth distribution ratio according to the coasting speed and the steering wheel angle includes: determining the third distribution ratio corresponding to the coasting speed and the steering wheel angle according to a preset first distribution 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 includes three motors, each of which is transmission-connected to a different wheel of the vehicle; the vehicle control device includes: a parameter determination module, configured to determine a coasting speed and a steering wheel angle of the vehicle when the vehicle is in a coasting state and is simultaneously in a turning condition; 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 motor operates according to its corresponding first distributed torque; A closed-loop control module is configured 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 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, which, when executed on an electronic device, enable the electronic device to execute the vehicle control method according to any one of claims 1 to 7 .

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