Vehicle control method and device, electronic device, vehicle, storage medium and computer program product

Abstract

The invention discloses a control method of a vehicle, a control device of the vehicle, an electronic device, the vehicle, a computer readable storage medium and a computer program product. The control method comprises the steps that under the condition that a vehicle meets a preset control condition, the wheel turning angle is determined according to first driving information; and controlling wheels of the vehicle to rotate according to the wheel rotation angle. The method can ensure that the vehicle does not deviate from the expected driving route during emergency braking.

Description

Technical Field

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

[0002] Affected by factors such as the degree of brake disc wear, tire wear, and tire pressure, when the vehicle makes an emergency brake, the braking force exerted by the ground on the wheels on both sides is different, which will cause the vehicle to generate additional yaw moment, causing the vehicle to deviate from the expected driving route and increase the risk of a safety accident. Summary of the invention

[0003] Embodiments of the present application provide a vehicle control method, a vehicle control device, an electronic device, a vehicle, a computer-readable storage medium, and a computer program product to at least solve the problem of the vehicle deviating from the expected driving route during emergency braking.

[0004] The vehicle control method of the implementation mode of the present application includes: when the vehicle meets the preset control conditions, determining the wheel angle according to the first driving information; and controlling the rotation of the wheel of the vehicle according to the wheel angle.

[0005] In some embodiments, the preset control condition includes that the vehicle is in a braking state, and determining the wheel angle according to first driving information when the vehicle satisfies the preset control condition includes: determining the wheel angle according to the first driving information when the vehicle is in the braking state.

[0006] In some embodiments, the preset control condition includes the vehicle being in a braking state, the second driving information includes a brake pedal depth and an acceleration of the vehicle, and the control method further includes: determining that the vehicle is in the braking state when the brake pedal depth is greater than or equal to a preset brake pedal depth threshold, and / or when the acceleration of the vehicle is less than or equal to a preset acceleration threshold.

[0007] In some embodiments, the preset control conditions also include the vehicle being in a braking state and the vehicle being in a moving state, and determining the wheel angle according to the first driving information when the vehicle satisfies the preset control conditions, including: when the vehicle is in a braking state and the vehicle is in a moving state, determining the wheel angle according to the first driving information.

[0008] In some embodiments, the preset control conditions also include the vehicle being in a braking state and the vehicle being in a moving state, the second driving information includes the speed of the vehicle, and the control method further includes: when the vehicle is in a braking state, and when the speed of the vehicle is greater than or equal to a preset vehicle speed threshold, determining that the vehicle is in a moving state.

[0009] In some embodiments, the preset control conditions also include the vehicle being in a braking state, the vehicle being in a moving state, and the vehicle having a braking deviation. When the vehicle satisfies the preset control conditions, determining the wheel angle according to the first driving information includes: when the vehicle is in a braking state, the vehicle is in a moving state, and the vehicle has a braking deviation, determining the wheel angle according to the first driving information.

[0010] In certain embodiments, the wheel angle is determined based on the first driving information when the vehicle is in a braking state, the vehicle is in a moving state, and the vehicle deviates due to braking, including: when the vehicle is in a braking state, the vehicle is in a moving state, and the vehicle deviates due to braking, activating a deviation control module of the vehicle and determining the wheel angle based on the first driving information.

[0011] In certain embodiments, the preset control conditions also include the vehicle being in a braking state, the vehicle being in a moving state, and the vehicle experiencing braking deviation, the second driving information also includes an actual yaw velocity and a nominal yaw velocity, and the control method further includes: when the vehicle is in a braking state and the vehicle is in a moving state, determining a yaw velocity difference according to the actual yaw velocity and the nominal yaw velocity, the yaw velocity difference being the absolute value of the difference between the actual yaw velocity and the nominal yaw velocity; and determining that the vehicle has experienced braking deviation when the yaw velocity difference is greater than or equal to a preset yaw velocity threshold and the time during which the yaw velocity difference is greater than or equal to the preset yaw velocity threshold is greater than a preset duration.

[0012] In some embodiments, the driving information also includes an actual yaw rate and a nominal yaw rate, and determining the wheel angle based on the first driving information includes: determining a yaw rate difference and a rate of change of the yaw rate difference between the actual yaw rate and the nominal yaw rate based on the actual yaw rate and the nominal yaw rate; and inputting the yaw rate difference and the rate of change of the yaw rate difference into a preset fuzzy control algorithm to determine the wheel angle.

[0013] In some embodiments, determining the wheel angle based on the first driving information includes: obtaining a preset wheel angle threshold; and determining the wheel angle based on the first driving information, the wheel angle being less than or equal to the preset wheel angle threshold.

[0014] In some embodiments, controlling the wheel rotation of the vehicle according to the wheel angle includes: obtaining a preset wheel rotation rate; controlling the wheel rotation of the vehicle according to the wheel angle and the preset wheel rotation rate, the wheel rotation rate of the vehicle being less than or equal to the preset wheel rotation rate.

[0015] In some embodiments, the preset control condition includes the vehicle running away under braking, the second driving information includes brake pedal depth, vehicle speed, actual yaw rate and nominal yaw rate, and the control method further includes: in the event of the vehicle running away under braking, acquiring the driving information in real time; when the brake pedal depth decreases to less than a preset brake pedal depth threshold, or when the vehicle speed decreases to less than a preset vehicle speed threshold, or when the yaw rate difference is less than a preset yaw rate threshold for a period of time greater than a preset duration, turning off the vehicle's running away control module and activating the vehicle's wheel angle recovery module, the yaw rate difference being the absolute value of the difference between the actual yaw rate and the nominal yaw rate.

[0016] In certain embodiments, the control method further includes: when the wheel angle recovery module is in an activated state, obtaining a steering wheel angle and a preset wheel angle recovery rate; and controlling the wheel angle of the vehicle to recover to an angle value corresponding to the steering wheel angle according to the preset wheel angle recovery rate.

[0017] The present application provides a vehicle control device, which includes a processing module and a control module; the processing module is used to determine a wheel angle according to first driving information when the vehicle meets preset control conditions; the control module is used to control the rotation of the vehicle's wheels according to the wheel angle.

[0018] The present application provides an electronic device, which includes a memory and a processor, wherein the memory is configured to store a computer program, and when the processor executes the computer program, the control method in any one of the above embodiments is implemented.

[0019] The present application provides a vehicle, comprising the control device in any one of the above-mentioned embodiments, or comprising the electronic device in any one of the above-mentioned embodiments.

[0020] The present application provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the control method in any of the above-mentioned embodiments is implemented.

[0021] The present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the control method in any one of the above embodiments is implemented.

[0022] In the vehicle control method, vehicle control device, electronic device, vehicle, computer-readable storage medium and computer program product provided by the present application, if the vehicle meets the preset control conditions, it indicates that the vehicle is braking, and the two sides of the vehicle have generated a yaw moment due to the unequal ground braking force, that is, the vehicle has braked and deviated. At this time, the present application determines the wheel angle according to the first driving information, and then controls the wheel rotation according to the wheel angle, thereby offsetting the yaw moment generated by the unequal ground braking force on both sides of the vehicle to prevent the vehicle from braking and deviating. The present application can control the wheel rotation according to the first driving information in the event of a braking deviation of the vehicle, offsetting the yaw moment generated by the unequal ground braking force on both sides of the vehicle, to ensure that the vehicle does not deviate from the expected driving route.

[0023] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0025] Figure 1 is a flow chart of a vehicle control method according to some embodiments of the present application;

[0026] Figure 2 is a schematic diagram of the structure of a vehicle control device in some embodiments of the present application;

[0027] Figure 3 is a flow chart of a vehicle control method according to some embodiments of the present application;

[0028] Figure 4 is a flow chart of a vehicle control method according to some embodiments of the present application;

[0029] Figure 5 is a flow chart of a vehicle control method according to some embodiments of the present application;

[0030] Figure 6 is a system architecture diagram of a vehicle control method in some embodiments of the present application;

[0031] Figure 7 is a schematic diagram of a process of determining a wheel angle according to first driving information in a vehicle control method in some embodiments of the present application;

[0032] Figure 8 is a schematic diagram of a process of determining a wheel angle according to first driving information in a vehicle control method in some embodiments of the present application;

[0033] Fig. 9 It is a schematic diagram of a flow chart of controlling the rotation of the wheels of a vehicle according to the wheel angle in a vehicle control method in some embodiments of the present application;

[0034] Fig.10 is a flow chart of a vehicle control method according to some embodiments of the present application;

[0035] Fig.11 is a schematic structural diagram of a vehicle according to some embodiments of the present application;

[0036] Fig.12 It is a schematic diagram of the connection status of a computer-readable storage medium and a processor in some embodiments of the present application.

[0037] Description of main component symbols:

[0038] Vehicle 100;

[0039] A control device 10 for a vehicle;

[0040] Processing module 11; Control module 12;

[0041] Processor 20;

[0042] Computer readable storage medium 200; computer program 202;

[0043] Electronic device 30. DETAILED DESCRIPTION

[0044] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0045] Affected by factors such as the degree of wear of the brake disc, the degree of wear of the tire, and the tire pressure, the braking force generated by the ground on the left and right wheels of the vehicle is usually not equal when the vehicle is in emergency braking. For example, the uneven wear of the brake disc surface on both sides of the vehicle and the different degrees of wear of the tires on both sides of the vehicle will lead to differences in the friction between the left and right wheels of the vehicle. The different tire pressures on both sides of the vehicle will also affect the contact area and friction between the tires and the ground. These factors will eventually lead to different braking forces on the wheels on both sides of the vehicle. When the braking forces of the left and right wheels are not equal, an additional yaw moment will be generated on the vehicle. This yaw moment will cause the vehicle to yaw, causing the vehicle to deviate from its original driving trajectory. The vehicle may experience unstable phenomena such as skidding, tail swinging or side sliding. As the yaw moment increases, the vehicle's handling stability decreases. If the vehicle is driving at high speed or in emergency braking, it is difficult for the driver to correct the vehicle's forward direction in time. This yaw moment will greatly increase the risk of a safety accident. How to reduce the extra yaw moment of the vehicle caused by factors such as brake disc wear, tire wear, and different tire pressures, thereby increasing the risk of vehicle accidents, has become a difficult problem that those skilled in the art need to solve urgently. To solve this problem, the present application provides a vehicle control method (such as Figure 1 As shown), the vehicle's control device (such as Figure 2 As shown), the electronic device 30 (as Fig.11 As shown), vehicle 100 (as Fig.11 ) and computer readable storage medium 200 (as shown Fig.12 shown).

[0046] See also Figure 1 as well as Figure 2 The vehicle control method of the embodiment of the present application includes:

[0047] 05: When the vehicle meets a preset control condition, determine the wheel steering angle according to the first driving information;

[0048] 07: Control the rotation of the vehicle's wheels according to the wheel angle.

[0049] The above-mentioned vehicle control method can be applied to a vehicle control device 10. The vehicle control device 10 of the embodiment of the present application includes a processing module 11 and a control module 12, wherein the processing module 11 is used to determine the wheel angle according to the first driving information when the vehicle meets the preset control conditions. The control module 12 is used to control the rotation of the vehicle's wheels according to the wheel angle.

[0050] Specifically, the vehicle control device 10 is one of the core control components installed inside the vehicle, responsible for managing and coordinating the operation of the wheels. The vehicle control device 10 is a device that ensures that the vehicle remains stable, controllable and can quickly respond to the driver's control instructions during driving. The vehicle control device 10 includes multiple components, which are mainly used to control the steering, braking, traction and stability of the vehicle. The wheel control device 10 includes but is not limited to a braking device, a steering device, a suspension device, a wheel traction control device, an electronic stability control device, a wheel speed sensor, and a wheel alignment control device. The vehicle control device 10 can control the driving direction of the vehicle by adjusting the wheel angle. In the present application, the vehicle control device 10 includes a processing module 11 and a control module 12. The vehicle control device 10 is used to process the first driving information of the vehicle through the processing module 11 to determine whether the vehicle meets the preset control conditions, and when the vehicle meets the preset control conditions, determine the wheel angle according to the first driving information of the vehicle. Then, through the control module 12, the wheel rotation is controlled according to the wheel angle.

[0051] More specifically, the control device 10 of the vehicle includes a processing module 11 and a control module 12, wherein the processing module 11 is used to execute method 05, and the control module 12 is used to execute method 07. The processing module 11 is the core module of the control device 10 of the vehicle. The processing module 11 can process the first driving information of the vehicle, determine the state of the vehicle, make decisions based on the state of the vehicle and the first driving information, and generate data required for the control module 12 to execute control instructions. The processing module 11 can analyze various information of the vehicle to determine how to adjust key components such as the motor, brake system, and steering system to optimize the driving performance and response of the vehicle. In the control device 10 of the vehicle, the control module 12 is responsible for controlling the wheels according to the data provided by the processing module 11. In the present application, the control module 12 is used to control the rotation of the wheels by the wheel angle.

[0052] Furthermore, the first driving information of the vehicle includes but is not limited to data such as the speed of the vehicle, the acceleration of the vehicle, the steering wheel angle, the wheel speed, and the braking force distribution. This information can be obtained in real time through various sensors (such as wheel speed sensors, acceleration sensors, gyroscopes, etc.). The preset control condition refers to a control strategy that needs to be triggered under specific circumstances, such as when the vehicle is in an abnormal state as defined in this application. For example, "the vehicle brakes and runs off" is a preset control condition, and "the vehicle brakes and runs off" means that when the vehicle is in emergency braking, the braking force of the left and right wheels is uneven, causing the vehicle to generate a yaw moment and deviate from the driving trajectory. In method 05, if the vehicle meets the preset control conditions, the processing module 11 will determine the wheel angle based on the first driving information of the vehicle to avoid the vehicle's driving trajectory from deviating. The wheel angle refers to the angle at which the control module 12 needs to control the wheel rotation in the subsequent control process. In method 07, when the vehicle meets the preset control conditions, such as when the vehicle deviates during braking, the control module 12 will control the wheel rotation according to the wheel angle to change the vehicle's driving direction, offset the impact of the yaw moment on the vehicle's driving direction, and reduce the risk of a safety accident.

[0053] It is understandable that in the vehicle control method provided by the present application, if the vehicle meets the preset control conditions, it indicates that the vehicle is braking at a relatively high speed, and the two sides of the vehicle generate a yaw moment due to the unequal ground braking force, that is, the vehicle is braking and running off. At this time, the present application determines the wheel angle according to the first driving information, and then controls the wheel rotation according to the wheel angle, thereby offsetting the yaw moment generated by the unequal ground braking force on both sides of the vehicle to prevent the vehicle from braking and running off. The present application can control the wheel rotation according to the first driving information in the event of braking and running off the vehicle, offsetting the yaw moment generated by the unequal ground braking force on both sides of the vehicle, to ensure that the vehicle does not deviate from the expected driving route, and reduce the risk of vehicle safety accidents.

[0054] In certain embodiments, see Figure 2 , Figure 3 and Figure 4 The preset control condition includes that the vehicle is in a braking state. When the vehicle satisfies the preset control condition, 05: determining the wheel angle according to the first driving information, including:

[0055] 052: When the vehicle is in a braking state, determine the wheel angle according to the first driving information.

[0056] The above-mentioned vehicle control method can be applied to the vehicle control device 10, and the processing module 11 is used to determine the wheel angle according to the first driving information when the vehicle is in a braking state.

[0057] That is, the preset control condition includes that the vehicle is in a braking state.

[0058] In certain embodiments, see Figure 2 , Figure 3 and Figure 4 The preset control condition also includes that the vehicle is in a braking state, the second driving information includes the brake pedal depth and the acceleration of the vehicle, and the control method also includes:

[0059] 051: When the brake pedal depth is greater than or equal to a preset brake pedal depth threshold, and / or when the vehicle acceleration is less than or equal to a preset acceleration threshold, it is determined that the vehicle is in a braking state.

[0060] The above-mentioned vehicle control method can be applied to the vehicle control device 10, and the processing module 11 is used to determine that the vehicle is in a braking state when the brake pedal depth is greater than or equal to a preset brake pedal depth threshold, and / or when the vehicle acceleration is less than or equal to a preset acceleration threshold.

[0061] Specifically, method 051 refers to determining whether the vehicle is in a braking operation by real-time monitoring and analyzing various driving information of the vehicle. The determination of the braking state is achieved through feedback signals from various sensors of the vehicle. The processing module 11 can determine whether the vehicle is in a braking state based on information such as vehicle speed changes, brake pedal signals, pressure sensor signals, and wheel speed sensor signals. For example, when the vehicle is in a braking state, the vehicle speed usually drops rapidly. Therefore, if the vehicle speed shows a trend of rapid reduction, the processing module 11 will determine that the vehicle is braking. If the vehicle is equipped with a heating brake pedal sensor that can sense the force or position change of the driver stepping on the brake pedal, the processing module 11 can also determine whether the vehicle is in a braking state based on the brake pedal signal. For example, when the pedal is stepped on, the system can determine that the vehicle is entering a braking state. If a hydraulic brake mechanism is provided in the vehicle, the processing module 11 can determine whether the vehicle is in a braking state based on the pressure sensor signal. When the driver steps on the brake pedal, the brake fluid pressure of the hydraulic brake mechanism will increase. The processing module 11 can determine whether the vehicle is in a braking state by monitoring the brake fluid pressure. In addition, when the vehicle is braking, the rotation speed of the wheel will decrease. Therefore, if the rotation speed of the wheel suddenly becomes slower, especially during emergency braking, the processing module 11 can also confirm whether the vehicle is in a braking state based on the change in the wheel rotation speed.

[0062] Furthermore, the brake pedal depth represents the force with which the driver presses the brake pedal. The greater the pedal depth, the greater the braking force applied by the driver, and the closer the vehicle is to the braking state. The preset brake pedal depth threshold can be set in advance by the operator before the vehicle leaves the factory, or it can be set by the user. The preset brake pedal depth threshold is used to determine whether the driver has pressed the brake pedal to a certain depth, that is, to indicate whether the vehicle has entered the braking state.

[0063] More specifically, the acceleration of a vehicle refers to the rate of change of the speed of the vehicle during driving. The acceleration of a vehicle represents the state of motion of the vehicle. The preset acceleration threshold may be set in advance by the operator before the vehicle leaves the factory, or may be set by the user. Since the acceleration is a negative value when the vehicle is decelerating, when the acceleration of the vehicle is less than or equal to the preset acceleration threshold, the vehicle is closer to a braking state. Therefore, when the brake pedal depth is greater than or equal to the preset brake pedal depth threshold, and the acceleration of the vehicle is less than or equal to the preset acceleration threshold, the processing module 11 determines that the vehicle is in a braking state. When the brake pedal depth is less than the preset brake pedal depth threshold, or when the acceleration of the vehicle is greater than the preset acceleration threshold, the processing module 11 determines that the vehicle is not in a braking state.

[0064] In certain embodiments, see Figure 2 , Figure 3 and Figure 5 The preset control conditions also include that the vehicle is in a braking state and that the vehicle is in a moving state. When the vehicle satisfies the preset control conditions, determining the wheel angle according to the first driving information includes:

[0065] 054: When the vehicle is in a braking state and in a moving state, determine the wheel angle according to the first driving information.

[0066] The above vehicle control method can be applied to the vehicle control device 10, and the processing module 11 is used to determine the wheel angle according to the first driving information when the vehicle is in a braking state and the vehicle is in a moving state.

[0067] That is to say, the preset control conditions also include the vehicle being in a braking state and the vehicle being in a moving state.

[0068] In certain embodiments, see Figure 2 , Figure 3 and Figure 5 The preset control condition also includes that the vehicle is in a braking state and that the vehicle is in a moving state, the second driving information includes the speed of the vehicle, and the control method further includes:

[0069] 053: When the vehicle is in a braking state, if the speed of the vehicle is greater than or equal to a preset vehicle speed threshold, it is determined that the vehicle is in a moving state.

[0070] The above-mentioned vehicle control method can be applied to the vehicle control device 10, and the processing module 11 is used to: when the vehicle is in a braking state and the vehicle speed is greater than or equal to a preset vehicle speed threshold, determine that the vehicle is in a moving state; and when the vehicle is in a braking state and in a moving state, determine the wheel angle according to the driving information.

[0071] It is understandable that in order to exclude the situation where the driver still steps on the brake pedal when the vehicle is stopped, the preset control condition also needs to include that the vehicle is in motion. That is, the processing module 11 also needs to determine whether the vehicle is in motion based on the driving information.

[0072] Specifically, the driving information includes the speed of the vehicle, so the processing module 11 can determine whether the vehicle is in motion according to the speed of the vehicle. The preset speed threshold can be set in advance by the operator before the vehicle leaves the factory, or it can be set by the user. If the speed of the vehicle is high, it can indicate that the vehicle is in motion. Therefore, when the speed of the vehicle is greater than or equal to the preset speed threshold, the processing module 11 determines that the vehicle is in motion. When the speed of the vehicle is greater than or equal to the preset speed threshold, the processing module 11 determines that the vehicle is not in motion.

[0073] See also Figure 2 and Figure 3 In some embodiments, the preset control conditions further include the vehicle being in a braking state, the vehicle being in a moving state, and the vehicle being braked and running off the track. When the vehicle meets the preset control conditions, determining the wheel angle according to the first driving information includes:

[0074] 0571: When the vehicle is in a braking state, the vehicle is in a moving state, and the vehicle is braking and running off the track, determine the wheel angle according to the first driving information.

[0075] The above vehicle control method can be applied to the vehicle control device 10, and the processing module 11 is used to determine the wheel angle according to the first driving information when the vehicle is in a braking state, the vehicle is in a moving state, and the vehicle brakes and runs away.

[0076] That is to say, the preset control conditions also include the vehicle being in a braking state, the vehicle being in a moving state, and the vehicle being braked and running off the track.

[0077] See also Figure 2 , Figure 3 and Figure 6In some embodiments, the preset control conditions further include the vehicle being in a braking state, the vehicle being in a moving state, and the vehicle being braked and running off the track. When the vehicle meets the preset control conditions, determining the wheel angle according to the first driving information includes:

[0078] 0572: When the vehicle is in a braking state, the vehicle is in a moving state, and the vehicle is braking and running off the track, determine the wheel angle according to the first driving information.

[0079] The above-mentioned vehicle control method can be applied to the vehicle control device 10, and the processing module 11 is used to: activate the vehicle deviation control module when the vehicle is in a braking state, the vehicle is in a moving state, and the vehicle has a braking deviation, and determine the wheel angle according to the first driving information.

[0080] Specifically, please combine Figure 7 The deviation judgment module is used to determine whether the vehicle is in a braking state, a moving state, and whether the vehicle has a braking deviation. The deviation control module is used to control the wheel angle of the vehicle (i.e., control the rotation of the vehicle's wheels) after the vehicle has a braking deviation. The wheel angle recovery module is used to control the vehicle's wheel angle to return to the state controlled by the steering wheel angle after the deviation control module is turned off. The SBW module (i.e., the wire-controlled steering control module) is used to obtain the steering wheel angle (steering wheel angle signal), the wheel rotation rate (wheel angular velocity signal), and the wheel angle (wheel angle signal). The yaw rate sensor is used to obtain the yaw rate signal, the acceleration sensor is used to obtain the vehicle's acceleration signal, the ESP function module is used to obtain the vehicle's speed signal, and the brake pedal depth sensor is used to obtain the vehicle's brake pedal depth signal.

[0081] See also Figure 2 and Figure 3 In some embodiments, the preset control condition further includes the vehicle being in a braking state, the vehicle being in a moving state, and the vehicle being braked and running off, the second driving information further includes an actual yaw angular velocity and a nominal yaw angular velocity, and the control method further includes:

[0082] 055: when the vehicle is in a braking state and in a moving state, determining a yaw rate difference according to the actual yaw rate and the nominal yaw rate, the yaw rate difference being an absolute value of a difference between the actual yaw rate and the nominal yaw rate;

[0083] 056: When the yaw velocity difference is greater than or equal to a preset yaw velocity threshold, and the time during which the yaw velocity difference is greater than or equal to the preset yaw velocity threshold is greater than a preset time period, it is determined that the vehicle has braked deviation.

[0084] The control method of the above-mentioned vehicle can be applied to the control device 10 of the vehicle, and the processing module 11 is used for: when the vehicle is in a braking state and the vehicle is in a moving state, determining the yaw velocity difference according to the actual yaw velocity and the nominal yaw velocity, and the yaw velocity difference is the absolute value of the difference between the actual yaw velocity and the nominal yaw velocity; when the yaw velocity difference is greater than or equal to a preset yaw velocity threshold, and the time when the yaw velocity difference is greater than or equal to the preset yaw velocity threshold is greater than a preset time length, determining that the vehicle has braked deviation; when the vehicle has braked deviation, determining the wheel angle according to the driving information.

[0085] It is understandable that when the vehicle is in a braking state and in a moving state, the processing module 11 also needs to determine whether the vehicle is running off the track, so as to determine whether the vehicle has a yaw moment that needs to be offset.

[0086] Specifically, the actual yaw rate is the actual yaw rate of the vehicle at present, and the actual yaw rate can be monitored in real time by on-board sensors (including but not limited to sensors such as gyroscopes). The actual yaw rate indicates the rotation rate of the vehicle around its vertical axis at the current moment. The nominal yaw rate refers to the ideal yaw rate of the vehicle under normal driving conditions. The nominal yaw rate needs to be calculated based on some dynamic parameters of the vehicle, and the nominal yaw rate can reflect the yaw rate of the vehicle under normal driving conditions.

[0087] More specifically, the yaw rate difference can reflect the gap between the actual state of the vehicle and the ideal state of the vehicle. The yaw rate reflects the speed of change of the vehicle's driving direction. If there is a deviation between the actual speed of change of the vehicle's driving direction and the theoretical speed of change of the driving direction, it indicates that the vehicle is affected by the yaw moment. Therefore, when the yaw rate difference is greater than or equal to the preset yaw rate threshold for a period of time greater than a preset duration, the processing module 11 determines that the vehicle has braked and run away. When the yaw rate difference is less than the preset yaw rate threshold, the processing module 11 determines that the vehicle has not braked and run away. When the yaw rate difference is greater than or equal to the preset yaw rate threshold for a period of time greater than a preset duration, the processing module 11 determines that the vehicle has not braked and run away. Among them, the preset yaw rate threshold and the preset duration can be set in advance by the operator before the vehicle leaves the factory, or can be set by the user. For example, the preset duration can be 0.05 seconds.

[0088] In some embodiments, please combine Figure 2 , the control method further includes:

[0089] 0551: Obtain stability factor, vehicle mass, front wheel cornering stiffness, rear wheel cornering stiffness, distance from center of mass to front axle, and distance from center of mass to rear axle;

[0090] 0552: Determine the nominal yaw rate based on the stability factor, vehicle mass, front wheel cornering stiffness, rear wheel cornering stiffness, distance from center of mass to front axle, and distance from center of mass to rear axle.

[0091] The control method of the above-mentioned vehicle can be applied to the control device 10 of the vehicle, and the processing module 11 is used to: obtain the stability factor, the vehicle mass, the front wheel cornering stiffness, the rear wheel cornering stiffness, the distance from the center of mass to the front axle, and the distance from the center of mass to the rear axle; determine the nominal yaw angular velocity according to the stability factor, the vehicle mass, the front wheel cornering stiffness, the rear wheel cornering stiffness, the distance from the center of mass to the front axle, and the distance from the center of mass to the rear axle.

[0092] Specifically, the stability factor is related to the lateral stability of the vehicle, and the stability factor indicates the vehicle's ability to respond to lateral disturbances during driving. The larger the stability factor, the stronger the lateral stability of the vehicle, and the more likely the change in yaw rate will be gentler. The mass of the vehicle directly affects the inertia of the vehicle. The larger the mass of the vehicle, the slower the vehicle responds to the force, and the change in yaw rate will be relatively small. The yaw rate is inversely proportional to the mass. When the mass of the vehicle is large, the yaw motion of the vehicle is slower. The front wheel cornering stiffness refers to the ability of the front wheels of the vehicle to generate lateral forces. The greater the front wheel stiffness, the more sensitive the yaw rate response when the vehicle turns. For example, a high cornering stiffness means that when the vehicle turns, the torque generated by the tire is large, resulting in an increase in yaw rate. The principle and definition of the rear wheel cornering stiffness are similar to those of the front wheel cornering stiffness, and will not be repeated here. The greater the distance from the center of mass to the front axle, the greater the force borne by the front axle, which in turn leads to a more obvious change in yaw rate. The distance from the center of mass to the rear axle also affects the yaw rate of the vehicle. When the distance from the center of mass to the rear axle is longer, the vehicle responds more to lateral forces on the rear wheels.

[0093] More specifically, in the present application, the nominal yaw rate can be obtained by substituting the stability factor, the vehicle mass, the front wheel cornering stiffness, the rear wheel cornering stiffness, the distance from the center of mass to the front axle, and the distance from the center of mass to the rear axle into the following formula:

[0094]

[0095] Among them, K is the stability factor, m is the vehicle mass, k1 is the front wheel cornering stiffness; k2 is the rear wheel cornering stiffness; a is the distance from the center of mass to the front axle; b is the distance from the center of mass to the rear axle; ω t is the nominal yaw rate.

[0096] See also Figure 2 and Figure 7In some embodiments, the first driving information further includes an actual yaw rate and a nominal yaw rate. 05: Determining a wheel angle according to the first driving information includes:

[0097] 0581: Determine a yaw rate difference between the actual yaw rate and the nominal yaw rate and a rate of change of the yaw rate difference according to the actual yaw rate and the nominal yaw rate;

[0098] 0582: Input the yaw rate difference and the yaw rate difference change rate into the preset fuzzy control algorithm to determine the wheel angle.

[0099] The above-mentioned vehicle control method can be applied to the vehicle control device 10, and the processing module 11 is used to: determine the yaw velocity difference and the yaw velocity difference change rate between the actual yaw velocity and the nominal yaw velocity according to the actual yaw velocity and the nominal yaw velocity; input the yaw velocity difference and the yaw velocity difference change rate into a preset fuzzy control algorithm to determine the wheel angle.

[0100] Specifically, the preset fuzzy control algorithm may be a variable domain fuzzy PID control algorithm, which is as follows:

[0101] θ z =(K p +ΔK p )*ΔW r +(K i +ΔK i )*∫ΔW r dt+(K d +ΔK d )*dΔW r / dt;

[0102] Among them, K p is the proportional link adjustment coefficient, ΔK p K is the proportional link adjustment coefficient adjustment calculated by the variable universe fuzzy control algorithm. i is the integral link adjustment coefficient, ΔK i is the integral link adjustment coefficient adjustment calculated by the variable universe fuzzy controller, K d is the differential link adjustment coefficient, ΔK d is the differential link adjustment coefficient adjustment calculated by the variable universe fuzzy controller, θ z is the wheel angle, W t is the nominal yaw rate, W r is the actual yaw angular velocity.

[0103] See also Figure 2 and Figure 8In some embodiments, 05: determining a wheel angle according to the first driving information includes:

[0104] 0591: Get the preset wheel angle threshold;

[0105] 0592: Determine a wheel turning angle according to the first driving information, and the wheel turning angle is less than or equal to a preset wheel turning angle threshold.

[0106] The above-mentioned vehicle control method can be applied to the vehicle control device 10, and the processing module 11 is used to obtain a preset wheel angle threshold; determine the wheel angle according to the first driving information, and the wheel angle is less than or equal to the preset wheel angle threshold.

[0107] Specifically, the present application will also limit the wheel angle to avoid the wheel angle determined in the above calculation process being too large, and to avoid the vehicle steering amplitude being too large causing discomfort to the occupants in the vehicle. The wheel angle threshold can be set in advance by the operator before the vehicle leaves the factory, or it can be set by the user. If the wheel angle is greater than the preset wheel angle threshold, the processing module 11 will directly determine the wheel angle threshold as the target angle. If the wheel angle is less than or equal to the preset wheel angle threshold, the processing module 11 will use the calculated wheel angle as the target angle.

[0108] See also Figure 2 Fig. 9 In some embodiments, 07: controlling the rotation of the wheels of the vehicle according to the wheel angle includes:

[0109] 071: Get the preset wheel rotation rate;

[0110] 073: Controlling the rotation of the vehicle's wheels according to the wheel angle and a preset wheel rotation rate, wherein the rotation rate of the vehicle's wheels is less than or equal to the preset wheel rotation rate.

[0111] The above-mentioned vehicle control method can be applied to the vehicle control device 10, and the control module 12 is used to obtain a preset wheel rotation rate; according to the wheel angle and the preset wheel rotation rate, the vehicle's wheel rotation is controlled, and the vehicle's wheel rotation rate is less than or equal to the preset wheel rotation rate.

[0112] It is understandable that the present application will also limit the wheel rotation rate to prevent the wheel from rotating too fast and adversely affecting the comfort of the driver and passengers. The preset wheel rotation rate can be set in advance by the operator before the vehicle leaves the factory, or it can be set by the user.

[0113] See also Figure 2 and Fig.10In some embodiments, the preset control condition includes the occurrence of braking deviation of the vehicle, the second driving information includes brake pedal depth, vehicle speed, actual yaw rate and nominal yaw rate, and the control method further includes:

[0114] 08: In case of vehicle deviation due to braking, the second driving information is obtained in real time;

[0115] 09: Determine the yaw rate difference according to the actual yaw rate and the nominal yaw rate, where the yaw rate difference is the absolute value of the difference between the actual yaw rate and the nominal yaw rate;

[0116] 010: When the brake pedal depth decreases to less than the preset brake pedal depth threshold, or when the vehicle speed decreases to less than the preset vehicle speed threshold, or when the yaw angular velocity difference is less than the preset yaw angular velocity threshold for longer than the preset time, the vehicle's deviation control module is turned off and the vehicle's wheel angle recovery module is activated.

[0117] The control method of the vehicle can be applied to the control device 10 of the vehicle, and the processing module 11 is used to obtain the second driving information in real time when the vehicle is running off the track under braking, and determine the yaw rate difference according to the actual yaw rate and the nominal yaw rate, and the yaw rate difference is the absolute value of the difference between the actual yaw rate and the nominal yaw rate. The control module 12 is used to turn off the running off control module of the vehicle and activate the wheel angle recovery module of the vehicle when the brake pedal depth is reduced to less than a preset brake pedal depth threshold, or when the vehicle speed is reduced to less than a preset vehicle speed threshold, or when the yaw rate difference is less than the preset yaw rate threshold for a time greater than a preset time.

[0118] Specifically, after the vehicle has braked and deviated for a period of time, the vehicle will no longer be in the state of braked deviation, that is, the vehicle will re-enter the normal driving state or enter the parking state. When the vehicle no longer has braked deviation, the vehicle returns to the control mode of determining the wheel angle according to the steering wheel angle, that is, the vehicle's deviation control module (the deviation control module is a control module or control mode that is turned on after the vehicle enters the deviation control state) is turned off, and the vehicle's wheel angle recovery module (the wheel angle recovery module is a control module or control mode that the vehicle enters when the vehicle no longer has braked deviation) is reactivated. The second driving information includes the brake pedal depth, the vehicle's speed, the actual yaw angular velocity and the nominal yaw angular velocity. When the vehicle has braked deviation, the processing module 11 obtains the second driving information in real time to monitor the vehicle's driving condition in real time, so as to determine whether the vehicle is no longer in the state of braked deviation.

[0119] Further, the processing module 11 determines the yaw rate difference according to the actual yaw rate and the nominal yaw rate, wherein the yaw rate difference is the absolute value of the difference between the actual yaw rate and the nominal yaw rate. If the brake pedal depth is reduced to less than the preset brake pedal depth threshold, it indicates that the driver no longer has the need to brake the vehicle, and further indicates that the vehicle is no longer in a braking state (if the vehicle is no longer in a braking state, the vehicle is no longer in a braking deviation state). If the speed of the vehicle is reduced to less than the preset vehicle speed threshold, it indicates that the speed of the vehicle itself is very low or the vehicle has entered a parking state, and the vehicle is no longer in a braking deviation state. If the yaw rate difference of the vehicle is less than the preset yaw rate threshold for a time greater than a preset time length, it indicates that the yaw moment of the vehicle is small, and at this time, it is no longer necessary to apply an additional wheel angle to the wheels of the vehicle, and the control method of the vehicle can be changed to control the wheel rotation angle according to the steering wheel angle.

[0120] See also Figure 2 and Fig.10 In some embodiments, the control method further comprises:

[0121] 011: When the wheel angle recovery module is activated, obtain the steering wheel angle and the preset wheel angle recovery rate;

[0122] 012: According to the preset wheel angle recovery rate, control the vehicle's wheel angle to recover to the angle value corresponding to the steering wheel angle.

[0123] The control method of the above-mentioned vehicle can be applied to the control device 10 of the vehicle, and the control module 12 is used to obtain the steering wheel angle and the preset wheel angle recovery rate when the wheel angle recovery module is in an activated state, and control the wheel angle of the vehicle to be restored to the angle value corresponding to the steering wheel angle according to the preset wheel angle recovery rate.

[0124] It is understandable that when the wheel angle recovery module is in an activated state, the control method of the vehicle's wheel angle is changed to control the vehicle's wheel angle according to the steering wheel angle, that is, the control method of the vehicle's wheel angle is consistent with the control method under the normal driving state of the vehicle. At this time, the vehicle's wheel angle will change to a certain extent according to the steering wheel angle, and the change relationship between the vehicle's wheel angle and the steering wheel angle is positively correlated. The change rate of the vehicle's wheel angle is the preset wheel angle recovery rate (the preset wheel angle recovery rate can be set by the operator or driver himself), so as to avoid the vehicle's wheels turning too fast and causing adverse effects on the comfort of the driver and passengers.

[0125] In summary, in the vehicle control method and vehicle control device provided by the present application, if the vehicle meets the preset control conditions, it indicates that the vehicle is braking at a relatively high speed, and the two sides of the vehicle have generated a yaw moment due to the unequal ground braking force, that is, the vehicle has braked and deviated. At this time, the present application determines the wheel angle according to the first driving information, and then controls the wheel rotation according to the wheel angle, thereby offsetting the yaw moment generated by the unequal ground braking force on both sides of the vehicle to prevent the vehicle from braking and deviating. The present application can control the wheel rotation according to the first driving information in the event of a braking deviation of the vehicle, offsetting the yaw moment generated by the unequal ground braking force on both sides of the vehicle, to ensure that the vehicle does not deviate from the expected driving route, and reduce the risk of vehicle safety accidents.

[0126] In certain embodiments, see Fig.11 The present application also provides an electronic device 30, which includes a memory and a processor. The memory is configured to store a computer program. When the processor executes the computer program, it implements the control method in any of the above embodiments.

[0127] For example, when the processor of the electronic device 30 executes the computer program stored in the memory, the following control method is implemented:

[0128] 05: When the vehicle meets a preset control condition, determine the wheel steering angle according to the first driving information;

[0129] 07: Control the rotation of the vehicle's wheels according to the wheel angle.

[0130] For another example, when the processor of the electronic device 30 executes the computer program stored in the memory, the following control method is implemented:

[0131] 052: When the vehicle is in a braking state, determine the wheel angle according to the first driving information.

[0132] For another example, when the processor of the electronic device 30 executes the computer program stored in the memory, it can also implement the control methods in 051, 053, 054, 055, 0551, 0552, 056, 0571, 0572, 0581, 0582, 0591, 0592, 071, 073, 08, 09, 010, 011 and 012.

[0133] In certain embodiments, see Fig.11 The present application also provides a vehicle 100, including the vehicle control device 10 in any of the above embodiments or the electronic device 30 in any of the above embodiments.

[0134] See also Fig.12In some embodiments, the present application further provides a computer-readable storage medium 200 on which a computer program 202 is stored, and when the program is executed by a processor, the control method in any of the above embodiments is implemented.

[0135] For example, when the computer program 202 is executed by the processor 20, the following control method is implemented:

[0136] 05: When the vehicle meets a preset control condition, determine the wheel steering angle according to the first driving information;

[0137] 07: Control the rotation of the vehicle's wheels according to the wheel angle.

[0138] For another example, when the computer program 202 is executed by the processor 20, the following control method is implemented:

[0139] 052: When the vehicle is in a braking state, determine the wheel angle according to the first driving information.

[0140] For another example, when the computer program 202 is executed by the processor 20, the control methods in 051, 053, 054, 055, 0551, 0552, 056, 0571, 0572, 0581, 0582, 0591, 0592, 071, 073, 08, 09, 010, 011 and 012 can also be implemented.

[0141] In the computer-readable storage medium 200 of the present application, if the vehicle meets the preset control conditions, it indicates that the vehicle is braking at a relatively high speed, and the two sides of the vehicle generate a yaw moment due to the unequal ground braking force, that is, the vehicle is braking and running off. At this time, the present application determines the wheel angle according to the first driving information, and then controls the wheel rotation according to the wheel angle, thereby offsetting the yaw moment generated by the unequal ground braking force on both sides of the vehicle to prevent the vehicle from braking and running off. The present application can control the wheel rotation according to the first driving information in the event of braking and running off the vehicle, offsetting the yaw moment generated by the unequal ground braking force on both sides of the vehicle, to ensure that the vehicle does not deviate from the expected driving route, and reduce the risk of vehicle safety accidents.

[0142] In certain embodiments, the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the control method described in any one of the above embodiments is implemented.

[0143] In the description of this specification, the descriptions with reference to the terms "certain embodiments", "in an example", "exemplarily", etc., mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0144] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0145] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle control method, characterized in that: The control method comprises: When the vehicle meets a preset control condition, determining a wheel angle according to the first driving information; According to the wheel angle, the rotation of the wheels of the vehicle is controlled.

2. The control method according to claim 1, characterized in that: The preset control condition includes that the vehicle is in a braking state, and when the vehicle satisfies the preset control condition, determining the wheel angle according to the first driving information includes: When the vehicle is in the braking state, the wheel angle is determined according to the first driving information.

3. The control method according to claim 1, characterized in that: The preset control condition includes that the vehicle is in a braking state, the second driving information includes the brake pedal depth and the acceleration of the vehicle, and the control method further includes: When the brake pedal depth is greater than or equal to a preset brake pedal depth threshold, and / or when the acceleration of the vehicle is less than or equal to a preset acceleration threshold, it is determined that the vehicle is in the braking state.

4. The control method according to claim 1, characterized in that: The preset control condition also includes that the vehicle is in a braking state and that the vehicle is in a moving state. When the vehicle satisfies the preset control condition, determining the wheel angle according to the first driving information includes: When the vehicle is in a braking state and in a moving state, the wheel turning angle is determined according to the first driving information.

5. The control method according to claim 1, characterized in that: The preset control condition also includes that the vehicle is in a braking state and that the vehicle is in a moving state, the second driving information includes the speed of the vehicle, and the control method further includes: When the vehicle is in a braking state, if the speed of the vehicle is greater than or equal to a preset vehicle speed threshold, it is determined that the vehicle is in a moving state.

6. The control method according to claim 1, characterized in that: The preset control conditions also include the vehicle being in a braking state, the vehicle being in a moving state, and the vehicle being braked and running off the track. When the vehicle satisfies the preset control conditions, determining the wheel angle according to the first driving information includes: When the vehicle is in a braking state, the vehicle is in a moving state, and the vehicle is braking and running off the track, the wheel angle is determined according to the first driving information.

7. The control method according to claim 6, characterized in that: The determining the wheel angle according to the first driving information when the vehicle is in a braking state, the vehicle is in a moving state, and the vehicle is braking and running off the track comprises: When the vehicle is in a braking state, the vehicle is in a moving state, and the vehicle is running off the track due to braking, a running off control module of the vehicle is activated, and the wheel turning angle is determined according to the first driving information.

8. The control method according to claim 1, characterized in that: The preset control conditions also include the vehicle being in a braking state, the vehicle being in a moving state, and the vehicle being braked and running off, the second driving information also includes an actual yaw angular velocity and a nominal yaw angular velocity, and the control method also includes: When the vehicle is in a braking state and in a moving state, determining a yaw rate difference according to the actual yaw rate and the nominal yaw rate, the yaw rate difference being an absolute value of a difference between the actual yaw rate and the nominal yaw rate; When the yaw rate difference is greater than or equal to a preset yaw rate threshold, and the time during which the yaw rate difference is greater than or equal to the preset yaw rate threshold is greater than a preset time period, it is determined that the vehicle has braked deviation.

9. The control method according to claim 1, characterized in that: The driving information further includes an actual yaw rate and a nominal yaw rate. The determining of the wheel angle according to the first driving information includes: Determining a yaw rate difference between the actual yaw rate and the nominal yaw rate and a rate of change of the yaw rate difference according to the actual yaw rate and the nominal yaw rate; The yaw rate difference and the yaw rate difference change rate are input into a preset fuzzy control algorithm to determine the wheel angle.

10. The control method according to claim 1, characterized in that: The step of determining the wheel angle according to the first driving information includes: Get the preset wheel angle threshold; The wheel turning angle is determined according to the first driving information, and the wheel turning angle is less than or equal to a preset wheel turning angle threshold.

11. The control method according to claim 1, characterized in that: The step of controlling the rotation of the wheels of the vehicle according to the wheel angle comprises: Obtaining a preset wheel rotation rate; The wheel rotation of the vehicle is controlled according to the wheel rotation angle and the preset wheel rotation rate, and the rotation rate of the wheel of the vehicle is less than or equal to the preset wheel rotation rate.

12. The control method according to claim 1, characterized in that: The preset control condition includes the occurrence of braking deviation of the vehicle, the second driving information includes brake pedal depth, vehicle speed, actual yaw rate and nominal yaw rate, and the control method further includes: When the vehicle deviates during braking, acquiring the second driving information in real time; When the brake pedal depth decreases to less than a preset brake pedal depth threshold, or when the vehicle speed decreases to less than a preset vehicle speed threshold, or when the yaw velocity difference is less than a preset yaw velocity threshold for a period longer than a preset duration, the vehicle's deviation control module is turned off and the vehicle's wheel angle recovery module is activated, and the yaw velocity difference is the absolute value of the difference between the actual yaw velocity and the nominal yaw velocity.

13. The control method according to claim 12, characterized in that: The control method further comprises: When the wheel angle recovery module is in an activated state, obtaining a steering wheel angle and a preset wheel angle recovery rate; According to the preset wheel angle recovery rate, the wheel angle of the vehicle is controlled to be restored to an angle value corresponding to the steering wheel angle.

14. A vehicle control device, characterized in that: The control device comprises a processing module and a control module; The processing module is used to determine the wheel angle according to the first driving information when the vehicle meets the preset control conditions; The control module is used to control the rotation of the wheels of the vehicle according to the wheel angle.

15. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory is configured to store a computer program, and the processor implements the control method according to any one of claims 1 to 13 when executing the computer program.

16. A vehicle, characterized in that: Includes the control device of claim 14, or includes the electronic device of claim 15.

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

18. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the control method according to any one of claims 1 to 13 is implemented.

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