Control method of vehicle, vehicle, and computer-readable storage medium

Abstract

The application provides a control method of a vehicle, a vehicle and a computer readable storage medium, relates to the technical field of vehicles, and the method is applied to a vehicle equipped with four-wheel steering and independent driving of front and rear axles. When a turning-in-place mode of the vehicle is activated, the front and rear wheels are controlled to steer to respective target angles in the same direction, the front and rear drive motors are controlled to output the same size and opposite direction torque to obtain the lateral and longitudinal accelerations of the vehicle, the size relationship between the lateral and longitudinal accelerations and a preset acceleration threshold is determined, and the torque output by the front and rear drive motors, the steering angles of the front and rear wheels and the yaw angular velocity of the vehicle are adjusted according to the size relationship, so that the front and rear axles receive the same size and opposite direction longitudinal force in the longitudinal direction, and the lateral forces received by the front and rear axles in the lateral direction form a pair of force couples. The application can realize the turning-in-place of the vehicle and solve the problem of difficult U-turn on a narrow road.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, and more particularly, to a control method of a vehicle, a vehicle and a computer readable storage medium in the technical field of vehicles. BACKGROUND

[0002] With the rapid development of social economy, cars have entered thousands of households and become an essential means of transportation in people's daily life, resulting in an increasing number of vehicles on the road. When a user drives a vehicle to make a U-turn on a narrow road, the user always faces the problem of difficulty in making a U-turn on a narrow road. Making a U-turn on a narrow road is not only cumbersome to operate, but also extremely easy to cause the vehicle to be scratched, greatly reducing the convenience and driving experience of the user driving the vehicle. SUMMARY

[0003] The present application provides a control method of a vehicle, a vehicle and a computer readable storage medium. The method can not only realize the in-place turning of the vehicle and solve the problem of difficulty in making a U-turn on a narrow road, but also reduce the turning radius of the vehicle and improve the passability of the vehicle in an off-road scene.

[0004] In a first aspect, a control method of a vehicle is provided. The vehicle includes a front axle, a rear axle, a front drive motor for driving the front axle, and a rear drive motor for driving the rear axle. The control method includes: in a case where an in-place turning mode of the vehicle is activated, controlling front wheels and rear wheels to turn to respective target turning angles in the same direction; controlling the front drive motor to output a first torque and controlling the rear drive motor to output a second torque; wherein the first torque and the second torque are the same in size and opposite in direction; obtaining a lateral acceleration and a longitudinal acceleration of the vehicle; determining a size relationship between the lateral acceleration and the longitudinal acceleration and a preset acceleration threshold; and adjusting the first torque, the second torque, a turning angle of the front wheels, a turning angle of the rear wheels, and a yaw angular velocity of the vehicle according to the size relationship, so that a first longitudinal force received by the front axle in the longitudinal direction and a second longitudinal force received by the rear axle in the longitudinal direction are the same in size and opposite in direction, and a first lateral force received by the front axle in the lateral direction and a second lateral force received by the rear axle in the lateral direction form a pair of force couples.

[0005] In the technical solution, the control method of the vehicle is applied to a vehicle equipped with four-wheel steering and front-rear axle independent driving. In the original steering mode of the vehicle, the front wheels and the rear wheels are controlled to steer to the corresponding target steering angles in the same direction, the front motor and the rear motor are controlled to output the same size and opposite direction torque, the lateral acceleration and the longitudinal acceleration of the vehicle are obtained, the size relationship between the lateral acceleration and the longitudinal acceleration and the preset acceleration threshold is determined, the torque output by the front motor and the rear motor, the steering angle of the front wheels, the steering angle of the rear wheels and the yaw rate of the vehicle are adjusted according to the size relationship, so that the first longitudinal force in the longitudinal direction of the front axle and the second longitudinal force in the longitudinal direction of the rear axle have the same size and opposite direction, and the first lateral force in the lateral direction of the front axle and the second lateral force in the lateral direction of the rear axle form a pair of force couples. The original steering of the vehicle can be automatically realized, the vehicle can be safely turned around and turned on a narrow road section, the turning radius of the vehicle can be reduced, the road congestion can be relieved to a certain extent, the passability of the vehicle is improved, the user does not need to control the vehicle during turning around or turning, the difficulty of controlling the vehicle is reduced, the seniority of the vehicle and the convenience of controlling the vehicle are improved, and the driving pleasure of the user is improved, and the driving mood is relaxed.

[0006] In combination with the first aspect, in some possible implementation manners, the adjusting the first torque, the second torque, the steering angle of the front wheels, the steering angle of the rear wheels and the yaw rate of the vehicle according to the size relationship comprises: when the size relationship is that the lateral acceleration and the longitudinal acceleration are both greater than the preset acceleration threshold, the first torque is reduced and the second torque is increased, so that the longitudinal acceleration reaches the preset acceleration threshold; when the longitudinal acceleration reaches the preset acceleration threshold, the lateral acceleration is obtained again; a first judgment result is obtained by judging whether the lateral acceleration obtained again reaches the preset acceleration threshold; the first torque control and the steering angle control of the front wheels and the rear wheels are performed on the front motor and the rear motor according to the first judgment result, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and whether the yaw rate reaches a preset angular velocity is judged; if not, when the yaw rate is greater than the preset angular velocity, the first torque and the second torque are reduced based on a preset torque adjustment ratio, or when the yaw rate is less than the preset angular velocity, the first torque and the second torque are increased based on the preset torque adjustment ratio, so that the yaw rate reaches the preset angular velocity.

[0007] With reference to the first aspect and the above implementation manners, in some possible implementation manners, the torque control on the front motor and the rear motor and the angle control on the front wheel and the rear wheel according to the first determination result includes: when the first determination result is that the lateral acceleration reaches the preset acceleration threshold, controlling the front motor to continuously output a first torque that is reduced, the rear motor to continuously output a second torque that is increased, and keeping the angles of the front wheel and the rear wheel unchanged; when the first determination result is that the lateral acceleration does not reach the preset acceleration threshold, adjusting the first torque, the second torque, and the angles of the front wheel and the rear wheel, so that the lateral acceleration reaches the preset acceleration threshold.

[0008] With reference to the first aspect and the above implementation manners, in some possible implementation manners, the adjusting the first torque, the second torque, the angle of the front wheel, the angle of the rear wheel, and the yaw angular velocity of the vehicle according to the size relationship includes: when the size relationship is that the longitudinal acceleration is greater than the preset acceleration threshold and the lateral acceleration reaches the preset acceleration threshold, increasing the angles of the front wheel and the rear wheel, and reducing the first torque and the second torque, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determining whether the yaw angular velocity reaches a preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, reducing the first torque and the second torque based on a preset torque adjustment proportion, or when the yaw angular velocity is less than the preset angular velocity, increasing the first torque and the second torque based on the preset torque adjustment proportion, so that the yaw angular velocity reaches the preset angular velocity.

[0009] In a possible implementation manner of the first aspect, the adjusting the first torque, the second torque, the rotation angle of the front wheel, the rotation angle of the rear wheel, and the yaw angular velocity of the vehicle according to the size relationship comprises: when the size relationship is that the longitudinal acceleration is greater than the preset acceleration threshold and the lateral acceleration is less than the preset acceleration threshold, increasing the rotation angle of the front wheel and decreasing the rotation angle of the rear wheel to make the longitudinal acceleration reach the preset acceleration threshold; when the longitudinal acceleration reaches the preset acceleration threshold, reacquiring the lateral acceleration; determining whether the reacquired lateral acceleration reaches the preset acceleration threshold to obtain a second determination result; performing torque control on the front motor and the rear motor and rotation angle control on the front wheel and the rear wheel according to the second determination result, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determining whether the yaw angular velocity reaches a preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, decreasing the first torque and the second torque based on a preset torque adjustment proportion, or when the yaw angular velocity is less than the preset angular velocity, increasing the first torque and the second torque based on the preset torque adjustment proportion, so that the yaw angular velocity reaches the preset angular velocity.

[0010] In a possible implementation manner of the first aspect, the adjusting the first torque, the second torque, the rotation angle of the front wheel, the rotation angle of the rear wheel, and the yaw angular velocity of the vehicle according to the size relationship comprises: when the size relationship is that the longitudinal acceleration is greater than the preset acceleration threshold and the lateral acceleration is less than the preset acceleration threshold, increasing the rotation angle of the front wheel and decreasing the rotation angle of the rear wheel to make the longitudinal acceleration reach the preset acceleration threshold; when the longitudinal acceleration reaches the preset acceleration threshold, reacquiring the lateral acceleration; determining whether the reacquired lateral acceleration reaches the preset acceleration threshold to obtain a second determination result; performing torque control on the front motor and the rear motor and rotation angle control on the front wheel and the rear wheel according to the second determination result, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determining whether the yaw angular velocity reaches a preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, decreasing the first torque and the second torque based on a preset torque adjustment proportion, or when the yaw angular velocity is less than the preset angular velocity, increasing the first torque and the second torque based on the preset torque adjustment proportion, so that the yaw angular velocity reaches the preset angular velocity.

[0011] In some possible implementation manners, in combination with the first aspect and the foregoing implementation manners, the adjusting the first torque, the second torque, the steering angle of the front wheel, the steering angle of the rear wheel, and the yaw angular velocity of the vehicle according to the size relationship comprises: when the size relationship is that the longitudinal acceleration reaches the preset acceleration threshold and the lateral acceleration is greater than or less than the preset acceleration threshold, determining whether the yaw angular velocity reaches a preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, decreasing the first torque and the second torque based on a preset torque adjustment ratio, and decreasing the steering angle of the front wheel and the steering angle of the rear wheel based on a preset steering angle adjustment value, or when the yaw angular velocity is less than the preset angular velocity, increasing the first torque and the second torque based on the preset torque adjustment ratio, and increasing the steering angle of the front wheel and the steering angle of the rear wheel based on the preset steering angle adjustment value, so that the yaw angular velocity reaches the preset angular velocity, the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force.

[0012] In some possible implementation manners, in combination with the first aspect and the foregoing implementation manners, the adjusting the first torque, the second torque, the steering angle of the front wheel, the steering angle of the rear wheel, and the yaw angular velocity of the vehicle according to the size relationship comprises: when the size relationship is that the longitudinal acceleration and the lateral acceleration both reach the preset acceleration threshold, determining whether the yaw angular velocity reaches a preset angular velocity; if yes, keeping the first torque and the second torque unchanged, and keeping the steering angle of the front wheel and the steering angle of the rear wheel unchanged; if not, when the yaw angular velocity is greater than the preset angular velocity, decreasing the first torque and the second torque based on a preset torque adjustment ratio, or when the yaw angular velocity is less than the preset angular velocity, increasing the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw angular velocity reaches the preset angular velocity, the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force.

[0013] In some possible implementation manners, in combination with the first aspect and the above implementation manners, the adjusting the first torque, the second torque, the rotation angle of the front wheel, the rotation angle of the rear wheel, and the yaw angular velocity of the vehicle according to the size relationship comprises: when the size relationship is that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration is greater than the preset acceleration threshold, decreasing the rotation angle of the front wheel and increasing the rotation angle of the rear wheel; determining whether the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; if yes, keeping the output torque of the front motor and the output torque of the rear motor unchanged, keeping the rotation angle of the front wheel unchanged after being decreased, and keeping the rotation angle of the rear wheel unchanged after being increased; if no, adjusting the first torque, the second torque, and the rotation angle of the front wheel and the rotation angle of the rear wheel, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determining whether the yaw angular velocity reaches a preset angular velocity; if no, when the yaw angular velocity is greater than the preset angular velocity, decreasing the first torque and the second torque based on a preset torque adjustment proportion, or when the yaw angular velocity is less than the preset angular velocity, increasing the first torque and the second torque based on the preset torque adjustment proportion, so that the yaw angular velocity reaches the preset angular velocity.

[0014] In some possible implementation manners, in combination with the first aspect and the above implementation manners, the adjusting the first torque, the second torque, the rotation angle of the front wheel, the rotation angle of the rear wheel, and the yaw angular velocity of the vehicle according to the size relationship comprises: when the size relationship is that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration reaches the preset acceleration threshold, decreasing the rotation angle of the front wheel and increasing the first torque, or increasing the rotation angle of the rear wheel and decreasing the second torque, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determining whether the yaw angular velocity reaches a preset angular velocity; if no, when the yaw angular velocity is greater than the preset angular velocity, decreasing the first torque and the second torque based on a preset torque adjustment proportion, or when the yaw angular velocity is less than the preset angular velocity, increasing the first torque and the second torque based on the preset torque adjustment proportion, so that the yaw angular velocity reaches the preset angular velocity.

[0015] In a possible implementation of the first aspect and the foregoing implementation, in some possible implementation, the adjusting the first torque, the second torque, the steering angle of the front wheel, the steering angle of the rear wheel and the yaw angular velocity of the vehicle according to the size relationship comprises: when the size relationship is that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration is less than the preset acceleration threshold, increasing the first torque, decreasing the steering angle of the front wheel, decreasing the second torque, and increasing the steering angle of the rear wheel, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determining whether the yaw angular velocity reaches a preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, decreasing the first torque and the second torque based on a preset torque adjustment ratio, or when the yaw angular velocity is less than the preset angular velocity, increasing the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw angular velocity reaches the preset angular velocity.

[0016] In a possible implementation of the first aspect and the foregoing implementation, in some possible implementation, the controlling the front wheel and the rear wheel to steer to the respective corresponding target steering angles in the same direction in the case that the original steering mode of the vehicle is activated comprises: in the case that the original steering mode of the vehicle is activated, obtaining a preset original steering direction; obtaining a preset steering angle corresponding to the original steering direction, to obtain the respective corresponding target steering angles of the front wheel and the rear wheel; and controlling the front wheel and the rear wheel to steer to the respective corresponding target steering angles in the same direction.

[0017] In a second aspect, a control device of a vehicle is provided, the vehicle comprising a front axle, a rear axle, a front-drive motor for driving the front axle, and a rear-drive motor for driving the rear axle, and the control device comprises:

[0018] a first control module, configured to control the front wheel and the rear wheel to steer to respective corresponding target steering angles in the same direction in the case that an original steering mode of the vehicle is activated, and control the front-drive motor to output a first torque and control the rear-drive motor to output a second torque; wherein the first torque and the second torque are the same in size and opposite in direction;

[0019] an acceleration acquisition module, configured to acquire a lateral acceleration and a longitudinal acceleration of the vehicle;

[0020] an acceleration comparison module, configured to determine a size relationship between the lateral acceleration and the longitudinal acceleration and a preset acceleration threshold;

[0021] a second control module configured to adjust the first torque, the second torque, the rotation angle of the front wheel, the rotation angle of the rear wheel, and the yaw angular velocity of the vehicle according to the size relationship, so that the first longitudinal force on the front axle and the second longitudinal force on the rear axle have the same size and opposite directions, and the first lateral force on the front axle and the second lateral force on the rear axle form a pair of force couple.

[0022] With reference to the second aspect, in some possible implementation manners, the second control module is specifically configured to: when the size relationship is that the lateral acceleration and the longitudinal acceleration are both greater than the preset acceleration threshold, reduce the first torque and increase the second torque, so that the longitudinal acceleration reaches the preset acceleration threshold; when the longitudinal acceleration reaches the preset acceleration threshold, reacquire the lateral acceleration; determine whether the reacquired lateral acceleration reaches the preset acceleration threshold, to obtain a first determination result; perform torque control on the front motor and the rear motor, and rotation angle control on the front wheel and the rear wheel according to the first determination result, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determine whether the yaw angular velocity reaches a preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, reduce the first torque and the second torque based on a preset torque adjustment proportion, or when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment proportion, so that the yaw angular velocity reaches the preset angular velocity.

[0023] With reference to the second aspect and the foregoing implementation manners, in some possible implementation manners, the second control module, in the torque control on the front motor and the rear motor and the rotation angle control on the front wheel and the rear wheel according to the first determination result, is specifically configured to: when the first determination result is that the lateral acceleration reaches the preset acceleration threshold, control the front motor to continuously output the reduced first torque, control the rear motor to continuously output the increased second torque, and keep the rotation angles of the front wheel and the rear wheel unchanged; when the first determination result is that the lateral acceleration does not reach the preset acceleration threshold, adjust the first torque, the second torque, and the rotation angles of the front wheel and the rear wheel, so that the lateral acceleration reaches the preset acceleration threshold.

[0024] With reference to the second aspect and the above implementation manners, in some possible implementation manners, the second control module is specifically configured to: when the size relationship is that the longitudinal acceleration is greater than the preset acceleration threshold and the lateral acceleration reaches the preset acceleration threshold, increase the steering angle of the front wheels and the steering angle of the rear wheels, and decrease the first torque and the second torque, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determine whether the yaw rate reaches a preset yaw rate; if not, when the yaw rate is greater than the preset yaw rate, decrease the first torque and the second torque based on a preset torque adjustment ratio, or when the yaw rate is less than the preset yaw rate, increase the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw rate reaches the preset yaw rate.

[0025] With reference to the second aspect and the above implementation manners, in some possible implementation manners, the second control module is specifically configured to: when the size relationship is that the longitudinal acceleration is greater than the preset acceleration threshold and the lateral acceleration reaches the preset acceleration threshold, increase the steering angle of the front wheels and the steering angle of the rear wheels, and decrease the first torque and the second torque, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determine whether the yaw rate reaches a preset yaw rate; if not, when the yaw rate is greater than the preset yaw rate, decrease the first torque and the second torque based on a preset torque adjustment ratio, or when the yaw rate is less than the preset yaw rate, increase the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw rate reaches the preset yaw rate.

[0026] With reference to the second aspect and the above implementation manners, in some possible implementation manners, the second control module is specifically configured to: when the magnitude relationship is that the longitudinal acceleration reaches the preset acceleration threshold and the lateral acceleration is greater than or less than the preset acceleration threshold, determine whether the yaw angular velocity reaches a preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, decrease the first torque and the second torque based on a preset torque adjustment ratio and decrease the steering angle of the front wheel and the steering angle of the rear wheel based on a preset steering angle adjustment value, or when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio and increase the steering angle of the front wheel and the steering angle of the rear wheel based on the preset steering angle adjustment value, so that the yaw angular velocity reaches the preset angular velocity, the absolute value of the first longitudinal force is the same as that of the second longitudinal force, and the absolute value of the first lateral force is the same as that of the second lateral force.

[0027] With reference to the second aspect and the above implementation manners, in some possible implementation manners, the second control module is specifically configured to: when the magnitude relationship is that the longitudinal acceleration reaches the preset acceleration threshold and the lateral acceleration is greater than or less than the preset acceleration threshold, determine whether the yaw angular velocity reaches a preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, decrease the first torque and the second torque based on a preset torque adjustment ratio and decrease the steering angle of the front wheel and the steering angle of the rear wheel based on a preset steering angle adjustment value, or when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio and increase the steering angle of the front wheel and the steering angle of the rear wheel based on the preset steering angle adjustment value, so that the yaw angular velocity reaches the preset angular velocity, the absolute value of the first longitudinal force is the same as that of the second longitudinal force, and the absolute value of the first lateral force is the same as that of the second lateral force.

[0028] With reference to the second aspect and the above implementation manners, in some possible implementation manners, the second control module is specifically configured to: when the magnitude relationship is that the longitudinal acceleration reaches the preset acceleration threshold and the lateral acceleration is greater than or less than the preset acceleration threshold, determine whether the yaw angular velocity reaches a preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, decrease the first torque and the second torque based on a preset torque adjustment ratio and decrease the steering angle of the front wheel and the steering angle of the rear wheel based on a preset steering angle adjustment value, or when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio and increase the steering angle of the front wheel and the steering angle of the rear wheel based on the preset steering angle adjustment value, so that the yaw angular velocity reaches the preset angular velocity, the absolute value of the first longitudinal force is the same as that of the second longitudinal force, and the absolute value of the first lateral force is the same as that of the second lateral force.

[0029] With reference to the second aspect and the above implementation manners, in some possible implementation manners, the second control module is specifically configured to: when the size relationship is that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration is greater than the preset acceleration threshold, reduce the steering angle of the front wheel and increase the steering angle of the rear wheel; determine whether the first longitudinal force and the second longitudinal force have the same absolute value and the first lateral force and the second lateral force have the same absolute value; if yes, keep the output torque of the front motor and the rear motor unchanged, keep the steering angle of the front wheel unchanged after being reduced, and keep the steering angle of the rear wheel unchanged after being increased; if no, adjust the first torque, the second torque, and the steering angle of the front wheel and the rear wheel, so that the first longitudinal force and the second longitudinal force have the same absolute value, and the first lateral force and the second lateral force have the same absolute value; and determine whether the yaw rate reaches a preset yaw rate; if no, when the yaw rate is greater than the preset yaw rate, reduce the first torque and the second torque based on a preset torque adjustment proportion, or when the yaw rate is less than the preset yaw rate, increase the first torque and the second torque based on the preset torque adjustment proportion, so that the yaw rate reaches the preset yaw rate.

[0030] With reference to the second aspect and the above implementation manners, in some possible implementation manners, the second control module is specifically configured to: when the size relationship is that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration reaches the preset acceleration threshold, reduce the steering angle of the front wheel and increase the first torque, or increase the steering angle of the rear wheel and reduce the second torque, so that the first longitudinal force and the second longitudinal force have the same absolute value, and the first lateral force and the second lateral force have the same absolute value; and determine whether the yaw rate reaches a preset yaw rate; if no, when the yaw rate is greater than the preset yaw rate, reduce the first torque and the second torque based on a preset torque adjustment proportion, or when the yaw rate is less than the preset yaw rate, increase the first torque and the second torque based on the preset torque adjustment proportion, so that the yaw rate reaches the preset yaw rate.

[0031] With reference to the second aspect and the above implementation manners, in some possible implementation manners, the second control module is specifically configured to: when the size relationship is that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration is less than the preset acceleration threshold, increase the first torque, decrease the rotation angle of the front wheel, decrease the second torque, and increase the rotation angle of the rear wheel, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determine whether the yaw rate reaches a preset yaw rate; if not, when the yaw rate is greater than the preset yaw rate, decrease the first torque and the second torque based on a preset torque adjustment ratio, or when the yaw rate is less than the preset yaw rate, increase the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw rate reaches the preset yaw rate.

[0032] With reference to the second aspect and the above implementation manners, in some possible implementation manners, the first control module is specifically configured to: in a case where a vehicle original steering mode is activated, obtain a preset original steering direction; obtain a preset steering angle corresponding to the original steering direction, to obtain a target steering angle corresponding to each of the front wheel and the rear wheel; and control the front wheel and the rear wheel to steer to the same direction to the target steering angle corresponding to each of the front wheel and the rear wheel.

[0033] In a third aspect, a vehicle is provided, including a memory and a processor. The memory is configured to store executable program code, and the processor is configured to invoke and run the executable program code from the memory, so that the vehicle performs the control method of the vehicle in the first aspect or any possible implementation manner of the first aspect.

[0034] In a fourth aspect, a computer program product is provided, which includes computer program code. When the computer program code is run on a computer, the computer is caused to perform the control method of the vehicle in the first aspect or any possible implementation manner of the first aspect.

[0035] In a fifth aspect, a computer readable storage medium is provided, which stores computer program code. When the computer program code is run on a computer, the computer is caused to perform the control method of the vehicle in the first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 A schematic flowchart of a control method of a vehicle provided by an embodiment of the present application is shown;

[0037] Figure 2An exemplary schematic diagram of a vehicle with four-wheel steering and independent driving of front and rear axles is shown.

[0038] Figure 3 Another exemplary schematic diagram of a vehicle with four-wheel steering and independent driving of front and rear axles is shown.

[0039] Figure 4 A coordinate system schematic diagram about lateral and longitudinal acceleration is shown.

[0040] Figure 5 Still another exemplary schematic diagram of a vehicle with four-wheel steering and independent driving of front and rear axles is shown.

[0041] Figure 6 Still another exemplary schematic diagram of a vehicle with four-wheel steering and independent driving of front and rear axles is shown.

[0042] Figure 7 A structure schematic diagram of a control device of a vehicle provided by an embodiment of the present application is shown.

[0043] Figure 8 A structure schematic diagram of a control device of a vehicle provided by an embodiment of the present application is shown. DETAILED DESCRIPTION

[0044] The technical solutions in the present application will be described in detail below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B: "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0045] Hereinafter, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more features.

[0046] The following is an embodiment of a vehicle control method provided by an embodiment of the present application.

[0047] Figure 1 A schematic flowchart of a vehicle control method provided by an embodiment of the present application is shown. As Figure 1 shown, the vehicle control method provided by the present application is applied to a vehicle equipped with four-wheel steering and independent driving of front and rear axles, as Figure 2 shown, Figure 2An exemplary schematic diagram of a vehicle with four-wheel steering and independent driving of front and rear axles is shown, the vehicle includes a front axle Z1, a rear axle Z2, a front drive motor for driving the front axle and a rear drive motor for driving the rear axle, the front drive motor and the rear drive motor are not shown in the figure, the distance between the front axle Z1 and the rear axle Z2 and the center of mass of the vehicle is equal, the front wheels of the vehicle include a left front wheel Q1 and a right front wheel Q2, the rear wheels include a left rear wheel H1 and a rear front wheel H2, the front drive motor drives the front wheels to rotate through the front axle Z1, and the rear drive motor drives the rear wheels to rotate through the rear axle Z2. Figure 2 The vehicle shown can independently control the steering of the left front wheel Q1, can independently control the steering of the right front wheel Q2, can independently control the steering of the left rear wheel H1, and can independently control the steering of the rear front wheel H2, or can not only independently control the synchronous steering of the left front wheel Q1 and the right front wheel Q2, but also independently control the synchronous steering of the left rear wheel H1 and the rear front wheel H2.

[0048] The control method of the above vehicle includes the following solutions:

[0049] S110: In the case where the vehicle's original steering mode is activated, control the front wheels and the rear wheels to steer to the respective corresponding target steering angles in the same direction.

[0050] In an exemplary embodiment, if it is detected that the original steering mode of the vehicle is activated, indicating that the user needs the vehicle to steer in place, the vehicle is controlled to enter the preparation stage of steering in place, that is, the front wheels and the rear wheels are controlled to steer to the respective corresponding target steering angles in the same direction. As shown in Figure 2 and Figure 3 shown, Figure 3 Another exemplary schematic diagram of a vehicle with four-wheel steering and independent driving of front and rear axles is shown, Figure 2 In the case where the front wheels and the rear wheels are controlled to steer to the left, and the steering angle is the target steering angle, Figure 3 In the case where the front wheels and the rear wheels are controlled to steer to the right, and the steering angle is the target steering angle. Wherein, the target steering angle is pre-set, that is, after the front wheels and the rear wheels are controlled to steer to the respective corresponding target steering angles in the same direction, the steering angle of the front wheels reaches the target steering angle, the steering angle of the rear wheels reaches the target steering angle, and the respective corresponding target steering angles of the front wheels and the rear wheels can be the same or different, Figure 2 and Figure 3 In the case where α represents the steering angle of the front wheels and β represents the steering angle of the rear wheels.

[0051] S120: Control the front drive motor to output a first torque and control the rear drive motor to output a second torque.

[0052] In the case that the front wheels and the rear wheels are controlled to steer to the respective corresponding target steering angles, that is, both of the and the reach the target steering angles, the front motor and the rear motor are controlled to rotate, the front motor outputs a first torque, and the rear motor outputs a second torque, the first torque and the second torque are of the same magnitude and opposite directions, that is, the direction in which the front motor drives the front wheels to rotate is opposite to the direction in which the rear motor drives the rear wheels to rotate, and then the resultant force on the front axle and the resultant force on the rear axle are of the same magnitude and opposite directions.

[0053] The rotating directions of the front motor and the rear motor are defined in advance, the front motor and the rear motor are controlled to rotate forward (counterclockwise) when the front wheels and the rear wheels are controlled to rotate forward (counterclockwise), that is, the front motor and the rear motor are controlled to rotate forward, the torque output by the front motor and the rear motor is in the counterclockwise direction, and the resultant force on the front axle and the resultant force on the rear axle are both forward; the front motor and the rear motor are controlled to rotate backward (clockwise) when the front wheels and the rear wheels are controlled to rotate backward (clockwise), and the torque output by the front motor and the rear motor is in the clockwise direction, and the resultant force on the front axle and the resultant force on the rear axle are both backward. As shown in FIG. 1, the front motor is controlled to rotate forward, the resultant force on the front axle is referred to as a first resultant force, F1 represents the first resultant force, and the direction of the first resultant force is forward; the rear motor is controlled to rotate backward, the resultant force on the rear axle is referred to as a second resultant force, F2 represents the second resultant force, and the direction of the second resultant force is backward. Figure 2 As shown in FIG. 2, the front motor is controlled to rotate backward, the direction of the first resultant force is backward, the rear motor is controlled to rotate forward, and the direction of the second resultant force is forward. Figure 3

[0054] S130: Obtain the lateral acceleration and the longitudinal acceleration of the vehicle.

[0055] In the case that the respective steering angles of the front wheels and the rear wheels reach the target steering angles and rotate, the lateral acceleration and the longitudinal acceleration of the vehicle collected by the acceleration sensor are obtained, the lateral acceleration is represented as Ay, and the longitudinal acceleration is represented as Ax.

[0056] S140: Determine the size relationship between the lateral acceleration and the longitudinal acceleration and a preset acceleration threshold.

[0057] The preset acceleration threshold corresponding to Ay and Ax is the same, and the preset acceleration threshold is represented as As. After Ay and Ax are obtained, the size relationship between Ay, Ax and As is compared. In general, As is set to 0.

[0058] ​S150: adjusting the first torque, the second torque, the rotation angle of the front wheel, the rotation angle of the rear wheel and the yaw angular velocity of the vehicle according to the size relationship, so that the first longitudinal force on the front axle in the longitudinal direction and the second longitudinal force on the rear axle in the longitudinal direction are of the same size and opposite directions, and the first lateral force on the front axle in the lateral direction and the second lateral force on the rear axle in the lateral direction form a pair of force couple. Wherein, the first longitudinal force and the second longitudinal force are collinear in the longitudinal direction; the force couple refers to a pair of parallel forces acting on the same rigid body, which are of the same size, opposite directions and not collinear. In this application, the first lateral force and the second lateral force form a force couple acting on the vehicle, i.e. the first lateral force and the second lateral force are a pair of parallel forces acting on the vehicle, which are of the same size, opposite directions and not collinear in the lateral direction.

[0059] As shown in Figure 2 and Figure 3 F1x represents the first longitudinal force on the front axle in the longitudinal direction, also represents the longitudinal component of F1, F2x represents the second longitudinal force on the rear axle in the longitudinal direction, also represents the longitudinal component of F2, F1y represents the first lateral force on the front axle in the lateral direction, also represents the lateral component of F1, and F2y represents the second lateral force on the rear axle in the lateral direction, also represents the lateral component of F2.

[0060] After obtaining the size relationship, the first torque, the second torque, the rotation angle of the front wheel, the rotation angle of the rear wheel and the yaw angular velocity of the vehicle are adjusted according to the size relationship, so that F1x and F2x are of the same size and opposite directions, and F1y and F2y form a pair of force couple. That is, F1x and F2x are of the same size and opposite directions, i.e. F1x and F2x can cancel each other out, F1x+F2x=0, i.e. Ax reaches As, the longitudinal velocity of the vehicle is 0, and the vehicle will not move in the longitudinal direction. F1y and F2y form a pair of force couple, Ay reaches As, F1y and F2y are forces of the same size, opposite directions and parallel to each other, the vehicle will rotate around its center of mass, and the vehicle will turn on the spot. Wherein, the direction of the vehicle turning on the spot is related to the direction of F1y. If the direction of F1y is to the left, the direction of the vehicle turning on the spot is counterclockwise, and if the direction of F1y is to the right, the direction of the vehicle turning on the spot is clockwise.

[0061] The control method of the vehicle provided in the embodiments of the present application is applied to a vehicle equipped with four-wheel steering and independent driving of front and rear axles or a vehicle equipped with front-wheel steering, rear-wheel steering and independent driving of front and rear axles. In the control method, when the original steering mode of the vehicle is activated, the front wheels and the rear wheels are controlled to steer to respective corresponding target steering angles in the same direction, the front motor and the rear motor are controlled to output the same size and opposite direction torque to obtain the lateral acceleration and the longitudinal acceleration of the vehicle, the size relationship between the lateral acceleration and the longitudinal acceleration and a preset acceleration threshold is determined, and the torque output by the front motor and the rear motor, the steering angle of the front wheels, the steering angle of the rear wheels and the yaw angular velocity of the vehicle are adjusted according to the size relationship, so that the first longitudinal force in the longitudinal direction on the front axle and the second longitudinal force in the longitudinal direction on the rear axle are of the same size and opposite direction, and the first lateral force in the lateral direction on the front axle and the second lateral force in the lateral direction on the rear axle form a pair of force couples. The control method can automatically realize the original steering of the vehicle, can safely turn around and turn on a narrow road section, is beneficial to reducing the turning radius of the vehicle, can relieve road congestion to a certain extent, improves the passability of the vehicle, and during the turning around or turning of the vehicle, the user does not need to control the vehicle, which reduces the difficulty of controlling the vehicle, improves the seniority of the vehicle and the convenience of controlling the vehicle, and improves the driving pleasure of the user and the driving mood.

[0062] The specific implementation of each step in the embodiments shown in the following is described: Figure 1

[0063] In order to facilitate understanding, the following describes each parameter involved in the present application by using letters, as shown in Table 1:

[0064] Table 1

[0065]

[0066] Wherein, decreasing alpha is equivalent to increasing the component of the front wheel in the longitudinal direction, that is, equivalent to increasing F1x, increasing alpha is equivalent to decreasing the component of the front wheel in the longitudinal direction, that is, equivalent to decreasing F1x; similarly, decreasing beta is equivalent to increasing the component of the rear wheel in the longitudinal direction, that is, equivalent to increasing F2x, increasing beta is equivalent to decreasing the component of the rear wheel in the longitudinal direction, that is, equivalent to decreasing F2x.

[0067] In a possible implementation, the adjusting the first torque, the second torque, the steering angle of the front wheels, the steering angle of the rear wheels and the yaw angular velocity of the vehicle according to the size relationship comprises the following solutions:

[0068] ​when the size relationship is that the lateral acceleration and the longitudinal acceleration are both greater than the preset acceleration threshold, decreasing the first torque and increasing the second torque to make the longitudinal acceleration reach the preset acceleration threshold;

[0069] when the longitudinal acceleration reaches the preset acceleration threshold, again acquiring the lateral acceleration;

[0070] judging whether the again acquired lateral acceleration reaches the preset acceleration threshold to obtain a first judgment result;

[0071] performing torque control on the front motor and the rear motor and performing angle control on the front wheel and the rear wheel according to the first judgment result, so that the absolute values of the first longitudinal force and the second longitudinal force are the same, and the absolute values of the first lateral force and the second lateral force are the same; and

[0072] judging whether the yaw angular velocity reaches a preset angular velocity;

[0073] if not, when the yaw angular velocity is greater than the preset angular velocity, decreasing the first torque and the second torque based on a preset torque adjustment proportion, or when the yaw angular velocity is less than the preset angular velocity, increasing the first torque and the second torque based on the preset torque adjustment proportion, so that the yaw angular velocity reaches the preset angular velocity.

[0074] As shown in FIG. 1, Figure 4 as shown in FIG. 1, Figure 4 a coordinate system diagram about lateral and longitudinal accelerations is shown, an x-axis represents a longitudinal acceleration axis, and a y-axis represents a lateral acceleration axis. If Ax>0 and Ay>0, it indicates that the vehicle moves to the first quadrant, |F1x|>|F2x| and |F1y|>|F2y|.

[0075] For the case of Ax>0 and Ay>0, Ta is decreased and Tb is increased, so that Ax=0. Wherein, decreasing Ta and increasing Tb is not necessarily to adjust only once to make Ax=0, if Ax is not 0 after decreasing Ta and increasing Tb for the first time, continue to decrease Ta and increase Tb until Ax=0.

[0076] In the case of detecting Ax=0, Ay is acquired again, it is judged whether Ay is 0 or not, a first judgment result is obtained, torque control is performed on the front and rear driving motors and angle control is performed on the front and rear wheels according to the first judgment result, so that |F1x|=|F2x| and |F1y|=|F2y|, wherein |F1x|=|F1cosα|, |F2x|=|F2cosβ|, |F1y|=|F1sinα|, |F2y|=|F2sinβ|, |F1x|=|F2x| and |F1y|=|F2y| means that |F1cosα|=|F2cosβ| and |F1sinα|=|F2sinβ|.

[0077] Wherein, torque control on the front and rear driving motors and angle control on the front and rear wheels means that Ta, Tb, α and β are adjusted to make Ax=0 under the premise of Ay=0, and the constraint condition of |F1cosα|=|F2cosβ| and |F1sinα|=|F2sinβ| needs to be met when Ta, Tb, α and β are adjusted.

[0078] After torque control on the front and rear driving motors and angle control on the front and rear wheels, so that Ax=0, Vh of the vehicle is acquired, and it is judged whether Vh reaches Vd or not. If Vh reaches Vd, it means that the vehicle will turn at the set turning speed (i.e. Vd) when turning in place, and the actual turning speed of the vehicle is equal to Vd, which also means that the actual turning speed of the vehicle will not be too fast or too slow, so that the vehicle can complete turning in place in a short time and the safety of turning in place can be ensured.

[0079] If Vh does not reach Vd, it means that the actual turning speed of the vehicle may be too fast or too slow when the vehicle turns in place. If it is determined that Vh>Vd, it means that the actual turning speed of the vehicle is too fast, then Ta and Tb are decreased based on a preset torque adjustment ratio until Vh=Vd; if it is determined that Vh<Vd, it means that the actual turning speed of the vehicle is too slow, then Ta and Tb are increased based on a preset torque adjustment ratio until Vh=Vd, and after Vh=Vd, Ta and Tb are no longer adjusted, i.e. Ta and Tb and α and β remain unchanged. Wherein, the preset torque adjustment ratio includes a magnification or a reduction of torque, for example, Ta after being increased is represented as Ta1, Ta1=Ta×magnification, Tb after being increased is represented as Tb1, Tb1=Tb×magnification, Ta after being reduced is represented as Ta2, Ta2=Ta / reduction, and Tb after being reduced is represented as Tb2, Tb2=Tb / reduction.

[0080] In a possible implementation, the torque control on the front motor and the rear motor and the angle control on the front wheel and the rear wheel according to the first determination result include the following:

[0081] When the first determination result is that the lateral acceleration reaches the preset acceleration threshold, the front motor is controlled to continuously output the reduced first torque, the rear motor is controlled to continuously output the increased second torque, and the angles of the front wheel and the rear wheel are kept unchanged;

[0082] When the first determination result is that the lateral acceleration does not reach the preset acceleration threshold, the first torque, the second torque, and the angles of the front wheel and the rear wheel are adjusted to make the lateral acceleration reach the preset acceleration threshold.

[0083] If, under the premise of Ax=0, Ay=0, that is, the constraint condition |F1cosα|=|F2cosβ| and |F1sinα|=|F2sinβ| is met, the front motor is controlled to continuously output the reduced Ta, the rear motor is controlled to continuously output the increased Tb, and α and β are kept unchanged. If, under the premise of Ax=0, Ay≠0, that is, the constraint condition |F1cosα|=|F2cosβ| and |F1sinα|=|F2sinβ| is not met, Ta and Tb are adjusted until Ay=0, so as to meet the constraint condition |F1cosα|=|F2cosβ| and |F1sinα|=|F2sinβ|.

[0084] In a possible implementation, the adjustment of the first torque, the second torque, the angle of the front wheel, the angle of the rear wheel, and the yaw rate of the vehicle according to the size relationship includes the following solutions:

[0085] When the size relationship is that the longitudinal acceleration is greater than the preset acceleration threshold and the lateral acceleration reaches the preset acceleration threshold, the angles of the front wheel and the rear wheel are increased, and the first torque and the second torque are reduced, so that the absolute values of the first longitudinal force and the second longitudinal force are the same, and the absolute values of the first lateral force and the second lateral force are the same; and,

[0086] It is determined whether the yaw rate reaches a preset angle rate;

[0087] If not, when the yaw angular velocity is greater than the preset angular velocity, the first torque and the second torque are decreased based on a preset torque adjustment ratio, or when the yaw angular velocity is less than the preset angular velocity, the first torque and the second torque are increased based on the preset torque adjustment ratio, so that the yaw angular velocity reaches the preset angular velocity.

[0088] As shown in Figure 4 If Ax>0 and Ay=0, it indicates that the vehicle moves along the positive half-axis of the x-axis, |F1x|>|F2x| and |F1y|=|F2y|.

[0089] For the case of Ax>0 and Ay=0, α and β are increased and Ta and Tb are decreased, so that Ax=0 and the constraint condition |F1cosα|=|F2cosβ| and |F1sinα|=|F2sinβ| are satisfied. Wherein, the increased α is denoted as α1, the increased β is denoted as β1, |α-α1|≤J and |β-β1|≤J, for example, J belongs to (0, 5°].

[0090] After satisfying the constraint condition |F1cosα|=|F2cosβ| and |F1sinα|=|F2sinβ|, i.e. Ax=0 and Ay=0, Vh of the vehicle is obtained, and it is determined whether Vh reaches Vd. If Vh reaches Vd, it indicates that the vehicle will turn at the set turning speed (i.e. Vd) when turning in place, and the actual turning speed of the vehicle is equal to Vd, which also indicates that the actual turning speed of the vehicle will not be too fast or too slow, not only can the turning in place be completed in a short time, but also the safety of the turning in place can be ensured.

[0091] If Vh does not reach Vd, it indicates that the actual turning speed of the vehicle may be too fast or too slow when the vehicle turns in place. If it is determined that Vh>Vd, it indicates that the actual turning speed of the vehicle is too fast, and Ta and Tb are decreased based on a preset torque adjustment ratio until Vh=Vd; if it is determined that Vh<Vd, it indicates that the actual turning speed of the vehicle is too slow, and Ta and Tb are increased based on a preset torque adjustment ratio until Vh=Vd. After Vh=Vd, Ta and Tb are no longer adjusted, i.e. Ta and Tb and α and β remain unchanged.

[0092] In one possible implementation, the above adjusting the first torque, the second torque, the turning angle of the front wheel, the turning angle of the rear wheel and the yaw angular velocity of the vehicle according to the size relationship comprises the following scheme:

[0093] When the magnitude relationship is that the longitudinal acceleration is greater than the preset acceleration threshold and the lateral acceleration is less than the preset acceleration threshold, the steering angle of the front wheel is increased and the steering angle of the rear wheel is decreased so that the longitudinal acceleration reaches the preset acceleration threshold.

[0094] When the longitudinal acceleration reaches the preset acceleration threshold, the lateral acceleration is acquired again.

[0095] Determine whether the lateral acceleration acquired again reaches the preset acceleration threshold to obtain a second determination result;

[0096] Based on the second determination result, torque control is performed on the front drive motor and the rear drive motor, and steering angle control is performed on the front wheel and the rear wheel, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and,

[0097] Determine whether the yaw rate has reached the preset angular velocity;

[0098] If not, when the yaw rate is greater than the preset angular rate, the first torque and the second torque are reduced based on the preset torque adjustment ratio; or, when the yaw rate is less than the preset angular rate, the first torque and the second torque are increased based on the preset torque adjustment ratio, so that the yaw rate reaches the preset angular rate.

[0099] like Figure 4 As shown, if Ax>0 and Ay<0, it means that the vehicle is moving in the fourth quadrant, |F1x|>|F2x| and |F1y|<|F2y|.

[0100] For the case where Ax > 0 and Ay < 0, increase α and decrease β to make Ax = 0. However, increasing α and decreasing β does not necessarily result in Ax = 0 after only one adjustment. If Ax is not 0 after the first increase of α and decrease of β, then continue increasing α and decreasing β until Ax = 0.

[0101] When Ax=0 is detected, Ay is obtained again, and it is determined whether Ay is 0. A second judgment result is obtained, and torque control is performed on the front drive motor and the rear drive motor, as well as steering angle control on the front wheel and the rear wheel, so that the vehicle satisfies the constraint conditions |F1cosα|=|F2cosβ| and |F1sinα|=|F2sinβ|.

[0102] After the torque control is performed on the front motor and the rear motor and the angle control is performed on the front wheel and the rear wheel, so that the Ax is 0, the Vh of the vehicle is obtained, and it is judged whether the Vh reaches the Vd. If the Vh reaches the Vd, it indicates that the vehicle is steering at a standstill, and the vehicle will steer according to the set steering speed (i.e. Vd). The actual steering speed of the vehicle is equal to Vd, which also indicates that the actual steering speed of the vehicle will not be too fast or too slow. The vehicle can not only complete the steering at a standstill in a short time, but also can ensure the safety of the steering at a standstill.

[0103] If the Vh does not reach the Vd, it indicates that the actual steering speed of the vehicle may be too fast or too slow when the vehicle is steering at a standstill. If it is determined that the Vh > Vd, it indicates that the actual steering speed of the vehicle is too fast. Then, the Ta and Tb are decreased based on the preset torque adjustment ratio until the Vh = Vd. If it is determined that the Vh < Vd, it indicates that the actual steering speed of the vehicle is too slow. Then, the Ta and Tb are increased based on the preset torque adjustment ratio until the Vh = Vd. After the Vh = Vd, the Ta and Tb are no longer adjusted, i.e. the Ta and Tb and the α and β are kept unchanged.

[0104] In a possible implementation, the torque control on the front motor and the rear motor and the angle control on the front wheel and the rear wheel according to the second judgment result comprises:

[0105] When the second judgment result is that the lateral acceleration reaches the preset acceleration threshold, the output torque of the front motor and the rear motor is kept unchanged, and the angle of the front wheel after being increased is kept unchanged and the angle of the rear wheel after being decreased is kept unchanged.

[0106] When the second judgment result is that the lateral acceleration does not reach the preset acceleration threshold, the first torque, the second torque and the angle of the front wheel and the rear wheel are adjusted to make the lateral acceleration reach the preset acceleration threshold.

[0107] If Ax = 0 and Ay = 0, meaning the constraints |F1cosα| = |F2cosβ| and |F1sinα| = |F2sinβ| are satisfied, then the output torques of the front and rear drive motors should remain constant. This means the output torque Ta of the front drive motor should remain unchanged, the output torque Tb of the rear drive motor should remain unchanged, and the increased α and decreased β should remain constant. If Ax = 0 and Ay ≠ 0, meaning the constraints |F1cosα| = |F2cosβ| and |F1sinα| = |F2sinβ| are not satisfied, then Ta and Tb should be adjusted, and α and β should be further adjusted based on the increased and decreased β until Ay = 0, thus satisfying the constraints |F1cosα| = |F2cosβ| and |F1sinα| = |F2sinβ|.

[0108] In one possible implementation, the adjustment of the first torque, the second torque, the steering angle of the front wheel, the steering angle of the rear wheel, and the yaw rate of the vehicle based on the aforementioned magnitude relationship includes the following schemes:

[0109] When the magnitude relationship is such that the longitudinal acceleration reaches the preset acceleration threshold and the lateral acceleration is greater than or less than the preset acceleration threshold, it is determined whether the yaw rate reaches the preset angular rate.

[0110] If not, when the yaw rate is greater than the preset angular rate, the first torque and the second torque are reduced based on the preset torque adjustment ratio, and the steering angle of the front wheel and the steering angle of the rear wheel are reduced based on the preset steering angle adjustment value; or, when the yaw rate is less than the preset angular rate, the first torque and the second torque are increased based on the preset torque adjustment ratio, and the steering angle of the front wheel and the steering angle of the rear wheel are increased based on the preset steering angle adjustment value, so that the yaw rate reaches the preset angular rate, the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force.

[0111] like Figure 4 As shown, if Ax=0 and Ay>0 or Ay<0, it means that the vehicle moves along the positive half of the y-axis or the negative half of the y-axis, that is, |F1x|=|F2x| and |F1y|>|F2y| or |F1y|<|F2y|.

[0112] For the case of Ax=0 and Ay>0 or Ay<0, Vh of the vehicle is obtained, and it is determined whether Vh reaches Vd. If Vh reaches Vd, it indicates that the actual steering speed of the vehicle during the steering in place is equal to Vd, which means that the actual steering speed of the vehicle is neither too fast nor too slow, and the steering in place can be completed in a short time and the safety of the steering in place is ensured, that is, Ta and Tb, and a and b remain unchanged when Vh reaches Vd.

[0113] If Vh does not reach Vd, it indicates that the actual steering speed of the vehicle during the steering in place can be too fast or too slow. If it is determined that Vh>Vd, it indicates that the actual steering speed of the vehicle is too fast, then Ta and Tb are decreased based on a preset torque adjustment ratio, and a and b are decreased based on a preset angle adjustment value until Vh=Vd; if it is determined that Vh<Vd, it indicates that the actual steering speed of the vehicle is too slow, then Ta and Tb are increased based on a preset torque adjustment ratio, and a and b are increased based on a preset angle adjustment value until Vh=Vd, and after Vh=Vd, Ta and Tb, and a and b are no longer adjusted, that is, Ta and Tb, and a and b remain unchanged. Wherein, the increased a=a+pre-set angle adjustment value, the increased b=b+pre-set angle adjustment value, the decreased a=a-pre-set angle adjustment value, and the decreased b=b-pre-set angle adjustment value. During the adjustment of Ta and Tb, and a and b, the vehicle needs to satisfy the constraint conditions of |F1cos a|=|F2cos b| and |F1sin a|=|F2sin b|.

[0114] In a possible implementation, the adjusting the first torque, the second torque, the steering angle of the front wheel, the steering angle of the rear wheel and the yaw rate of the vehicle according to the size relationship comprises the following solutions:

[0115] When the size relationship is that the longitudinal acceleration and the lateral acceleration both reach the preset acceleration threshold, it is determined whether the yaw rate reaches a preset angular velocity;

[0116] If yes, the first torque and the second torque remain unchanged, and the steering angles of the front wheel and the rear wheel remain unchanged;

[0117] If no, when the yaw rate is greater than the preset angular velocity, the first torque and the second torque are decreased based on a preset torque adjustment ratio, or when the yaw rate is less than the preset angular velocity, the first torque and the second torque are increased based on the preset torque adjustment ratio, so that the yaw rate reaches the preset angular velocity, the absolute value of the first longitudinal force is the same as that of the second longitudinal force, and the absolute value of the first lateral force is the same as that of the second lateral force.

[0118] As Figure 4 shown, if Ax=0 and Ay=0, it means that the vehicle satisfies the constraint condition of |F1cosα|=|F2cosβ| and |F1sinα|=|F2sinβ|.

[0119] For the case of Ax=0 and Ay=0, Vh of the vehicle is obtained, and it is judged whether Vh reaches Vd. If Vh reaches Vd, it means that the vehicle will turn at the set turning speed (i.e. Vd) when turning in place, and the actual turning speed of the vehicle is equal to Vd, which also means that the actual turning speed of the vehicle will not be too fast or too slow, not only can the turning in place be completed in a short time, but also the safety of the turning in place can be ensured, that is, Ta and Tb, α and β remain unchanged when Vh reaches Vd.

[0120] If Vh does not reach Vd, it means that the actual turning speed of the vehicle may be too fast or too slow when the vehicle turns in place. If it is determined that Vh>Vd, it means that the actual turning speed of the vehicle is too fast, then Ta and Tb are decreased based on the preset torque adjustment ratio until Vh=Vd; if it is determined that Vh<Vd, it means that the actual turning speed of the vehicle is too slow, then Ta and Tb are increased based on the preset torque adjustment ratio until Vh=Vd, and after Vh=Vd, Ta and Tb are no longer adjusted, that is, Ta and Tb remain unchanged. During the adjustment of Ta and Tb, the vehicle needs to satisfy the constraint condition of |F1cosα|=|F2cosβ| and |F1sinα|=|F2sinβ|.

[0121] In one possible implementation, the above adjusting the first torque, the second torque, the turning angle of the front wheel, the turning angle of the rear wheel and the yaw rate of the vehicle according to the size relationship comprises the following scheme:

[0122] When the size relationship is that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration is greater than the preset acceleration threshold, the turning angle of the front wheel is decreased, and the turning angle of the rear wheel is increased;

[0123] It is judged whether the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force and the absolute value of the first lateral force is the same as the absolute value of the second lateral force;

[0124] If yes, the output torque of the front motor and the output torque of the rear motor remain unchanged, the decreased turning angle of the front wheel remains unchanged and the increased turning angle of the rear wheel remains unchanged;

[0125] If not, adjust the first torque, the second torque, and the steering angles of the front and rear wheels so that the absolute values ​​of the first longitudinal force and the second longitudinal force are the same, and the absolute values ​​of the first lateral force and the second lateral force are the same; and

[0126] Determine whether the yaw rate has reached the preset angular velocity;

[0127] If not, when the yaw rate is greater than the preset angular rate, the first torque and the second torque are reduced based on the preset torque adjustment ratio; or, when the yaw rate is less than the preset angular rate, the first torque and the second torque are increased based on the preset torque adjustment ratio, so that the yaw rate reaches the preset angular rate.

[0128] like Figure 4 As shown, if Ax < 0 and Ay > 0, it means that the vehicle is moving towards the second quadrant, and |F1x| < |F2x| and |F1y| > |F2y|.

[0129] For the case where Ax < 0 and Ay > 0, decrease α and increase β. After decreasing α and increasing β, determine whether F1x, F2x, F1y, and F2y are true, and whether |F1x| = |F2x| and |F1y| = |F2y| are true, that is, whether the vehicle satisfies the constraints |F1cosα| = |F2cosβ| and |F1sinα| = |F2sinβ|. If |F1x| = |F2x| and |F1y| = |F2y| are true, that is, the vehicle satisfies the constraints, then keep the output torque of the front drive motor and the rear drive motor unchanged, that is, keep the Ta of the front drive motor output unchanged, keep the Tb of the rear drive motor output unchanged, and keep the decreased α and increased β unchanged. If |F1x|=|F2x| and |F1y|=|F2y| are not true, meaning the vehicle does not meet the constraints, then adjust Ta and Tb, and continue to adjust α and β based on the decreased α and increased β, until the vehicle meets the constraints. That is, the vehicle meets the constraints if Ax=0 and Ay=0.

[0130] Under the condition that the vehicle meets the constraints, obtain the vehicle's Vh and determine whether Vh reaches Vd. If Vh reaches Vd, it means that when the vehicle turns in place, it will turn according to the set turning speed (i.e., Vd). The actual turning speed of the vehicle is equal to Vd, which also means that the actual turning speed of the vehicle will not be too fast or too slow. It can not only complete the turning in place in a short time, but also ensure the safety of turning in place. That is, when Vh reaches Vd, Ta and Tb, α and β remain unchanged.

[0131] If Vh does not reach Vd, it means that when the vehicle is turning in place, the actual turning speed of the vehicle may be too fast or too slow. If it is determined that Vh > Vd, indicating that the actual turning speed of the vehicle is too fast, then Ta and Tb are reduced based on a preset torque adjustment ratio until Vh = Vd; if it is determined that Vh < Vd, indicating that the actual turning speed of the vehicle is too slow, then Ta and Tb are increased based on the preset torque adjustment ratio until Vh = Vd. After Vh = Vd, Ta and Tb are no longer adjusted, that is, Ta and Tb are maintained. Among them, during the adjustment of Ta and Tb, the vehicle needs to meet the constraint conditions.

[0132] In a possible implementation, the adjustment of the first torque, the second torque, the steering angle of the front wheels, the steering angle of the rear wheels, and the yaw rate of the vehicle according to the magnitude relationship includes the following solutions:

[0133] When the magnitude relationship is that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration reaches the preset acceleration threshold, the steering angle of the front wheels is reduced, and the first torque is increased, or the steering angle of the rear wheels is increased, and the second torque is reduced, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and,

[0134] Judge whether the yaw rate reaches the preset angular velocity;

[0135] If not, when the yaw rate is greater than the preset angular velocity, the first torque and the second torque are reduced based on a preset torque adjustment ratio, or when the yaw rate is less than the preset angular velocity, the first torque and the second torque are increased based on the preset torque adjustment ratio, so that the yaw rate reaches the preset angular velocity.

[0136] As Figure 4 shown, if Ax < 0 and Ay = 0, it means that the vehicle is moving along the negative half-axis of the x-axis, |F1x| < |F2x| and |F1y| = |F'2y|.

[0137] For the case of Ax < 0 and Ay = 0, increase Ta, reduce α, or reduce Tb, increase β, so that Ax = 0, |F1x| = |F2x| and |F1y| = |F2y| hold, so that the vehicle meets the constraint conditions.

[0138] When the vehicle meets the constraint conditions, obtain the Vh of the vehicle and determine whether Vh reaches Vd. If Vh reaches Vd, it means that when the vehicle turns in place, it will turn according to the set turning speed (i.e., Vd). The actual turning speed of the vehicle is equal to Vd, which also means that the actual turning speed of the vehicle is neither too fast nor too slow. It can not only complete the in-place turn in a short time but also ensure the safety of the in-place turn. That is, when Vh reaches Vd, keep Ta and Tb, α and β unchanged.

[0139] If Vh does not reach Vd, it means that when the vehicle turns in place, the actual turning speed of the vehicle may be too fast or too slow. If it is determined that Vh > Vd, it means that the actual turning speed of the vehicle is too fast, then reduce Ta and Tb based on the preset torque adjustment ratio until Vh = Vd; if it is determined that Vh < Vd, it means that the actual turning speed of the vehicle is too slow, then increase Ta and Tb based on the preset torque adjustment ratio until Vh = Vd. After Vh = Vd, do not adjust Ta and Tb anymore, that is, keep Ta and Tb. Among them, during the adjustment of Ta and Tb, the vehicle needs to meet the constraint conditions.

[0140] In a possible implementation, the adjustment of the first torque, the second torque, the steering angle of the front wheels, the steering angle of the rear wheels, and the yaw rate of the vehicle according to the size relationship includes the following solutions:

[0141] When the size relationship is that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration is less than the preset acceleration threshold, increase the first torque, decrease the steering angle of the front wheels, decrease the second torque, and increase the steering angle of the rear wheels so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and,

[0142] Judge whether the yaw rate reaches the preset angular velocity;

[0143] If not, then when the yaw rate is greater than the preset angular velocity, reduce the first torque and the second torque based on the preset torque adjustment ratio, or when the yaw rate is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio so that the yaw rate reaches the preset angular velocity.

[0144] As Figure 4 shown, if Ax < 0 and Ay < 0, it means that the vehicle is moving in the third quadrant, |F1x| < |F2x| and |F1y| < |F2y|.

[0145] For the case of Ax < 0 and Ay < 0, increase Ta, decrease a, decrease Tb, and increase b, so that Ax = 0, Ay = 0, |F1x| = |F2x| and |F1y| = |F2y| are established, so that the vehicle satisfies the constraint condition.

[0146] In the case where the vehicle satisfies the constraint condition, Vh of the vehicle is obtained, and it is determined whether Vh reaches Vd. If Vh reaches Vd, it indicates that the vehicle will turn at the set turning speed (i.e. Vd) when turning in place, and the actual turning speed of the vehicle is equal to Vd, which also indicates that the actual turning speed of the vehicle will not be too fast or too slow, and the vehicle can not only complete the turning in place in a short time, but also ensure the safety of the turning in place, that is, in the case where Vh reaches Vd, Ta and Tb, a and b are kept unchanged.

[0147] If Vh does not reach Vd, it indicates that the actual turning speed of the vehicle may be too fast or too slow when the vehicle turns in place. If it is determined that Vh > Vd, it indicates that the actual turning speed of the vehicle is too fast, and Ta and Tb are decreased based on the preset torque adjustment ratio until Vh = Vd; if it is determined that Vh < Vd, it indicates that the actual turning speed of the vehicle is too slow, and Ta and Tb are increased based on the preset torque adjustment ratio until Vh = Vd, and after Vh = Vd, Ta and Tb are no longer adjusted, that is, Ta and Tb are kept unchanged. During the adjustment of Ta and Tb, the vehicle needs to satisfy the constraint condition.

[0148] In a possible implementation, in the case where the turning in place mode of the vehicle is activated, the control of the front wheels and the rear wheels to turn in the same direction to the respective target turning angles includes the following scheme:

[0149] In the case where the turning in place mode of the vehicle is activated, a preset turning in place direction is obtained;

[0150] A preset turning angle corresponding to the turning in place direction is obtained, and the respective target turning angles of the front wheels and the rear wheels are obtained;

[0151] The front wheels and the rear wheels are controlled to turn in the same direction to the respective target turning angles.

[0152] The vehicle is provided with a switch for activating and closing the turning in place mode, which is displayed in the central control screen of the vehicle, and the turning in place directions that can be selected, i.e. counterclockwise direction and clockwise direction, are also displayed in the central control screen. When the vehicle turns in place in the counterclockwise direction, the direction of F1y is left, and when the vehicle turns in place in the clockwise direction, the direction of F1y is right. For the case where the turning in place direction of the vehicle is the counterclockwise direction, it is previously set that the front wheels and the rear wheels need to be controlled to turn left at the same time, and the torque direction output by the front motor is counterclockwise, and the torque direction output by the rear motor is clockwise, as shown in the following table:Figure 2 or, the front wheels and the rear wheels need to be controlled to turn right at the same time, and the torque output by the front motor is clockwise, and the torque output by the rear motor is counterclockwise, as shown in FIG. 6B. Figure 3 For the case where the turning direction of the vehicle is clockwise, it is previously set that the front wheels and the rear wheels need to be controlled to turn left at the same time, and the torque output by the front motor is clockwise, and the torque output by the rear motor is counterclockwise, as shown in FIG. 6C. Figure 5 Figure 5 Another exemplary schematic diagram of a vehicle with four-wheel steering and independent driving of front and rear axles is shown; or, the front wheels and the rear wheels need to be controlled to turn right at the same time, and the torque output by the front motor is counterclockwise, and the torque output by the rear motor is clockwise, as shown in FIG. 6D. Figure 6 Figure 6 Another exemplary schematic diagram of a vehicle with four-wheel steering and independent driving of front and rear axles is shown.

[0153] Figure 5 and Figure 6 The vehicle is shown to turn clockwise at a standstill, Figure 5 in which the front motor is reversed (clockwise rotation), the front wheels are reversed (clockwise rotation), the rear motor is forward (counterclockwise rotation), the rear wheels are forward (counterclockwise rotation), the direction of F1 is backward, the direction of F2 is forward, and the direction of F1y is right; Figure 6 in which the front motor is forward (counterclockwise rotation), the front wheels are forward (counterclockwise rotation), the rear motor is reversed (clockwise rotation), the rear wheels are reversed (clockwise rotation), the direction of F1 is forward, the direction of F2 is backward, and the direction of F1y is right.

[0154] Both clockwise and counterclockwise turning directions at a standstill correspond to controlling the front wheels and the rear wheels to turn left at the same time and controlling the front wheels and the rear wheels to turn right at the same time, and after the user selects the turning direction at a standstill in the central control screen, the user can also select the direction in which the front wheels and the rear wheels are controlled to turn at the same time, for example, selecting left turning.

[0155] For the case where the turning direction at a standstill is previously set to have a corresponding preset turning angle, when the turning direction at a standstill is selected, the corresponding preset turning angle can be obtained, i.e., the target turning angle is obtained, and then the front wheels and the rear wheels are controlled to turn to the same direction to the respective corresponding target turning angles, for example, selecting controlling the front wheels and the rear wheels to turn left at the same time, and then the front wheels and the rear wheels are controlled to turn left to the target turning angle. The preset turning angle corresponding to the clockwise turning direction at a standstill and the preset turning angle corresponding to the counterclockwise turning direction at a standstill can be the same or different.

[0156] The following is the operation process of the user using the vehicle turning function at a standstill:

[0157] ​​Step 1: the user opens the switch of activating the original turning mode in the central control screen, and the central control screen prompts the user to select the original turning direction and the direction of controlling the front wheels and rear wheels to turn simultaneously, for example, the user selects the original turning direction as counterclockwise and the direction of controlling the front wheels and rear wheels to turn simultaneously as left turning;

[0158] Step 2: the vehicle prompts the user to release the steering wheel, release the accelerator pedal and release the brake pedal;

[0159] Step 3: the steering wheel is automatically turned left by a certain angle, and the front wheels and rear wheels are turned left in proportion, and then the turning angles of the front wheels and rear wheels reach the target turning angles, and after determining that the turning angles of the front wheels and rear wheels reach the target turning angles, the user is prompted again whether to start the original turning of the vehicle, and after the user clicks the confirmation button in the central control screen, the vehicle automatically performs the operation of the original turning, that is, the operation process of the above embodiment;

[0160] Step 4: after the vehicle performs the original turning operation to make the vehicle reach the target position, the brake pedal is stepped on, the vehicle is stably stopped at the target position, the original turning mode is closed, the control of the steering wheel is returned to normal, and the front wheels and rear wheels are returned to normal, that is, the counterclockwise original turning of the vehicle is completed.

[0161] The control process of the clockwise original turning of the vehicle is the same as that of the counterclockwise original turning of the vehicle, and the present application will not be described again. Whether the clockwise original turning or the counterclockwise original turning of the vehicle can solve the problem of difficult turning in a narrow road and improve the passability of the vehicle.

[0162] The following is an embodiment of the device of the present application, which can be used to execute the method embodiment of the present application. For details not disclosed in the device embodiment of the present application, please refer to the method embodiment of the present application.

[0163] Figure 7 A structure schematic diagram of a control device of a vehicle is shown. As shown in the example, Figure 7 The vehicle includes a front axle, a rear axle, a front drive motor for driving the front axle and a rear drive motor for driving the rear axle, and the control device comprises:

[0164] A first control module 710 is configured to control the front wheels and the rear wheels to turn to respective target turning angles in the same direction and control the front drive motor to output a first torque and the rear drive motor to output a second torque when the original turning mode of the vehicle is activated, wherein the first torque and the second torque are of the same size and opposite directions;

[0165] An acceleration acquisition module 720 is configured to acquire the lateral acceleration and longitudinal acceleration of the vehicle.

[0166] an acceleration ratio module 730, configured to determine a size relationship between the lateral acceleration and the longitudinal acceleration and a preset acceleration threshold;

[0167] a second control module 740, configured to adjust the first torque, the second torque, the rotation angle of the front wheel, the rotation angle of the rear wheel and the yaw angular velocity of the vehicle according to the size relationship, so that the first longitudinal force on the front axle in the longitudinal direction and the second longitudinal force on the rear axle in the longitudinal direction have the same absolute value and opposite directions, and the first lateral force on the front axle in the lateral direction and the second lateral force on the rear axle in the lateral direction form a pair of force couples.

[0168] In a possible implementation, the second control module 740 is specifically configured to: when the size relationship is that the lateral acceleration and the longitudinal acceleration are both greater than the preset acceleration threshold, reduce the first torque and increase the second torque, so that the longitudinal acceleration reaches the preset acceleration threshold; when the longitudinal acceleration reaches the preset acceleration threshold, reacquire the lateral acceleration; determine whether the reacquired lateral acceleration reaches the preset acceleration threshold, to obtain a first determination result; perform torque control on the front motor and the rear motor and rotation angle control on the front wheel and the rear wheel according to the first determination result, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determine whether the yaw angular velocity reaches a preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, reduce the first torque and the second torque based on a preset torque adjustment ratio, or when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw angular velocity reaches the preset angular velocity.

[0169] In a possible implementation, the second control module 740, in terms of performing torque control on the front motor and the rear motor and rotation angle control on the front wheel and the rear wheel according to the first determination result, is specifically configured to: when the first determination result is that the lateral acceleration reaches the preset acceleration threshold, control the front motor to continuously output the reduced first torque, control the rear motor to continuously output the increased second torque, and keep the rotation angles of the front wheel and the rear wheel unchanged; when the first determination result is that the lateral acceleration does not reach the preset acceleration threshold, adjust the first torque, the second torque and the rotation angles of the front wheel and the rear wheel, so that the lateral acceleration reaches the preset acceleration threshold.

[0170] In a possible implementation, the second control module 740 is specifically configured to: when the size relationship is that the longitudinal acceleration is greater than the preset acceleration threshold and the lateral acceleration reaches the preset acceleration threshold, increase the steering angles of the front wheels and the rear wheels, and decrease the first torque and the second torque, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determine whether the yaw rate reaches a preset yaw rate; if not, when the yaw rate is greater than the preset yaw rate, decrease the first torque and the second torque based on a preset torque adjustment ratio, or when the yaw rate is less than the preset yaw rate, increase the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw rate reaches the preset yaw rate.

[0171] In a possible implementation, the second control module 740 is specifically configured to: when the size relationship is that the longitudinal acceleration is greater than the preset acceleration threshold and the lateral acceleration is less than the preset acceleration threshold, increase the steering angle of the front wheels and decrease the steering angle of the rear wheels, so that the longitudinal acceleration reaches the preset acceleration threshold; when the longitudinal acceleration reaches the preset acceleration threshold, again acquire the lateral acceleration; determine whether the again-acquired lateral acceleration reaches the preset acceleration threshold, to obtain a second determination result; perform torque control on the front motor and the rear motor, and perform steering angle control on the front wheels and the rear wheels according to the second determination result, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determine whether the yaw rate reaches a preset yaw rate; if not, when the yaw rate is greater than the preset yaw rate, decrease the first torque and the second torque based on a preset torque adjustment ratio, or when the yaw rate is less than the preset yaw rate, increase the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw rate reaches the preset yaw rate.

[0172] In a possible implementation, the second control module 740 is specifically configured to: when the second determination result is that the lateral acceleration reaches the preset acceleration threshold, keep the output torque of the front motor and the rear motor unchanged, and keep the angle of the front wheel unchanged and the angle of the rear wheel unchanged after being increased; and when the second determination result is that the lateral acceleration does not reach the preset acceleration threshold, adjust the first torque, the second torque, and the angle of the front wheel and the rear wheel, so that the lateral acceleration reaches the preset acceleration threshold.

[0173] In a possible implementation, the second control module 740 is specifically configured to: when the size relationship is that the longitudinal acceleration reaches the preset acceleration threshold and the lateral acceleration is greater than or less than the preset acceleration threshold, determine whether the yaw angular velocity reaches a preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, decrease the first torque and the second torque based on a preset torque adjustment ratio, and decrease the angle of the front wheel and the angle of the rear wheel based on a preset angle adjustment value, or when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio, and increase the angle of the front wheel and the angle of the rear wheel based on the preset angle adjustment value, so that the yaw angular velocity reaches the preset angular velocity, the absolute value of the first longitudinal force is the same as that of the second longitudinal force, and the absolute value of the first lateral force is the same as that of the second lateral force.

[0174] In a possible implementation, the second control module 740 is specifically configured to: when the size relationship is that the longitudinal acceleration and the lateral acceleration both reach the preset acceleration threshold, determine whether the yaw angular velocity reaches a preset angular velocity; if yes, keep the first torque and the second torque unchanged, and keep the angle of the front wheel and the angle of the rear wheel unchanged; if not, when the yaw angular velocity is greater than the preset angular velocity, decrease the first torque and the second torque based on a preset torque adjustment ratio, or when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw angular velocity reaches the preset angular velocity, the absolute value of the first longitudinal force is the same as that of the second longitudinal force, and the absolute value of the first lateral force is the same as that of the second lateral force.

[0175] In a possible implementation, the second control module 740 is specifically configured to: when the size relationship is that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration is greater than the preset acceleration threshold, reduce the steering angle of the front wheel and increase the steering angle of the rear wheel; determine whether the first longitudinal force and the second longitudinal force have the same absolute value and the first lateral force and the second lateral force have the same absolute value; if yes, keep the output torque of the front motor and the rear motor unchanged, keep the steering angle of the front wheel unchanged after being reduced, and keep the steering angle of the rear wheel unchanged after being increased; if no, adjust the first torque, the second torque, and the steering angle of the front wheel and the rear wheel, so that the first longitudinal force and the second longitudinal force have the same absolute value, and the first lateral force and the second lateral force have the same absolute value; and determine whether the yaw rate reaches a preset yaw rate; if no, reduce the first torque and the second torque based on a preset torque adjustment ratio when the yaw rate is greater than the preset yaw rate, or increase the first torque and the second torque based on the preset torque adjustment ratio when the yaw rate is less than the preset yaw rate, so that the yaw rate reaches the preset yaw rate.

[0176] In a possible implementation, the second control module 740 is specifically configured to: when the size relationship is that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration reaches the preset acceleration threshold, reduce the steering angle of the front wheel and increase the first torque, or increase the steering angle of the rear wheel and reduce the second torque, so that the first longitudinal force and the second longitudinal force have the same absolute value, and the first lateral force and the second lateral force have the same absolute value; and determine whether the yaw rate reaches a preset yaw rate; if no, reduce the first torque and the second torque based on a preset torque adjustment ratio when the yaw rate is greater than the preset yaw rate, or increase the first torque and the second torque based on the preset torque adjustment ratio when the yaw rate is less than the preset yaw rate, so that the yaw rate reaches the preset yaw rate.

[0177] In one possible implementation, the second control module 740 is specifically configured to: when the magnitude relationship is that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration is less than the preset acceleration threshold, increase the first torque, decrease the steering angle of the front wheel, decrease the second torque, and increase the steering angle of the rear wheel, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determine whether the yaw rate has reached a preset angular velocity; if not, when the yaw rate is greater than the preset angular velocity, decrease the first torque and the second torque based on a preset torque adjustment ratio, or, when the yaw rate is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw rate reaches the preset angular velocity.

[0178] In one possible implementation, the first control module 710 is specifically used to: when the vehicle's stationary steering mode is activated, obtain a preset stationary steering direction; obtain a preset steering angle corresponding to the stationary steering direction, and obtain the target steering angles corresponding to the front wheels and the rear wheels respectively; control the front wheels and the rear wheels to turn in the same direction to their respective target steering angles.

[0179] It should be noted that the vehicle control device provided in the above embodiments is only illustrated by the division of the above functional modules when executing the vehicle control method. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle control device and the vehicle control method embodiments provided in the above embodiments belong to the same concept. Therefore, for details not disclosed in the device embodiments of this application, please refer to the vehicle control method embodiments of this application, which will not be repeated here.

[0180] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0181] Figure 8 This illustration shows a schematic diagram of a control device structure for a vehicle with four-wheel steering and independent front and rear axle drive, according to an embodiment of this application.

[0182] For example, such as Figure 8 As shown, the vehicle 800 includes a memory 801 and a processor 802. The memory 801 stores executable program code 8011, and the processor 802 is used to call and execute the executable program code 8011 to perform a vehicle control method.

[0183] The embodiment can divide the vehicle into functional modules according to the method examples described above. For example, each functional module can be divided according to a corresponding function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in the form of hardware. It should be noted that the division of the modules in the embodiment is illustrative, and is only a logical functional division. In actual implementation, another division manner can be used.

[0184] In the case of dividing each functional module according to a corresponding function, the vehicle can include a first control module, an acceleration acquisition module, an acceleration comparison module, a second control module, and the like. It should be noted that all related contents of each step involved in the method embodiment can be cited in the functional description of the corresponding functional module, and will not be described here.

[0185] The vehicle provided by the embodiment is used to execute the control method of the vehicle described above, and thus can achieve the same effects as the implementation method described above.

[0186] In the case of using an integrated unit, the vehicle can include a processing module and a storage module. The processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute program codes and data.

[0187] The processing module can be a processor or a controller, which can implement or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure of the present application. The processor can also be a combination of computing functions, such as one or more microprocessor combinations, combinations of digital signal processing (digital signal processing, DSP) and microprocessors, and the like. The storage module can be a memory.

[0188] The embodiment also provides a computer readable storage medium, which stores computer program codes. When the computer program codes run on a computer, the computer executes the related method steps described above to implement the control method of the vehicle in the embodiment.

[0189] The embodiment also provides a computer program product. When the computer program product runs on a computer, the computer executes the related steps described above to implement the control method of the vehicle in the embodiment.

[0190] In addition, the vehicle provided by the embodiment of the present application can be a chip, an assembly or a module. The vehicle can include a connected processor and a memory. The memory is used to store instructions. When the vehicle runs, the processor can call and execute the instructions to make the chip execute the control method of the vehicle in the embodiment described above.

[0191] Among them, the vehicle, computer readable storage medium, computer program product or chip provided by the embodiment are used to execute the control method of the corresponding vehicle provided above, so the beneficial effects achieved thereby can refer to the beneficial effects of the control method of the corresponding vehicle provided above, which will not be repeated here.

[0192] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the division of the above functional modules is taken as an example, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0193] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0194] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for controlling a vehicle, the vehicle comprising a front axle, a rear axle, a front-drive motor for driving the front axle, and a rear-drive motor for driving the rear axle, characterized in that, The control method includes: When the vehicle's stationary steering mode is activated, control the front and rear wheels to turn in the same direction to their respective target steering angles. The front drive motor is controlled to output a first torque and the rear drive motor is controlled to output a second torque; wherein the first torque and the second torque are the same in magnitude but opposite in direction; Obtain the lateral and longitudinal accelerations of the vehicle; Determine the magnitude relationship between the lateral acceleration and the longitudinal acceleration and a preset acceleration threshold; The first torque, the second torque, the steering angle of the front wheel, the steering angle of the rear wheel, and the yaw rate of the vehicle are adjusted according to the magnitude relationship, so that the first longitudinal force on the front axle in the longitudinal direction is the same in magnitude and opposite in direction to the second longitudinal force on the rear axle in the longitudinal direction, the first lateral force on the front axle in the lateral direction and the second lateral force on the rear axle in the lateral direction form a couple, the first longitudinal force and the second longitudinal force are collinear in the longitudinal direction, and the first lateral force and the second lateral force are not collinear in the lateral direction.

2. The control method according to claim 1, characterized in that, The adjustment of the first torque, the second torque, the steering angle of the front wheel, the steering angle of the rear wheel, and the yaw rate of the vehicle according to the magnitude relationship includes: When the magnitude relationship is such that both the lateral acceleration and the longitudinal acceleration are greater than the preset acceleration threshold, the first torque is reduced and the second torque is increased so that the longitudinal acceleration reaches the preset acceleration threshold; When the longitudinal acceleration reaches the preset acceleration threshold, the lateral acceleration is acquired again. Determine whether the re-acquired lateral acceleration reaches the preset acceleration threshold to obtain a first determination result; Based on the first determination result, torque control is performed on the front drive motor and the rear drive motor, and steering angle control is performed on the front wheel and the rear wheel, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and, Determine whether the yaw rate has reached the preset angular velocity; If not, when the yaw rate is greater than the preset angular rate, the first torque and the second torque are reduced based on the preset torque adjustment ratio; or, when the yaw rate is less than the preset angular rate, the first torque and the second torque are increased based on the preset torque adjustment ratio, so that the yaw rate reaches the preset angular rate.

3. The control method according to claim 2, characterized in that, The step of performing torque control on the front drive motor and the rear drive motor based on the first determination result, and performing steering angle control on the front wheel and the rear wheel, includes: When the first determination result is that the lateral acceleration reaches the preset acceleration threshold, the front drive motor is controlled to continuously output the reduced first torque, the rear drive motor is controlled to continuously output the increased second torque, and the steering angle of the front wheel and the rear wheel is kept unchanged. When the first determination result is that the lateral acceleration has not reached the preset acceleration threshold, the first torque, the second torque, and the respective steering angles of the front wheel and the rear wheel are adjusted so that the lateral acceleration reaches the preset acceleration threshold.

4. The control method according to claim 1, characterized in that, The adjustment of the first torque, the second torque, the steering angle of the front wheel, the steering angle of the rear wheel, and the yaw rate of the vehicle according to the magnitude relationship includes: When the magnitude relationship is such that the longitudinal acceleration is greater than the preset acceleration threshold and the lateral acceleration reaches the preset acceleration threshold, the steering angle of the front wheel and the steering angle of the rear wheel are increased, and the first torque and the second torque are decreased, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and, Determine whether the yaw rate has reached the preset angular velocity; If not, when the yaw rate is greater than the preset angular rate, the first torque and the second torque are reduced based on the preset torque adjustment ratio; or, when the yaw rate is less than the preset angular rate, the first torque and the second torque are increased based on the preset torque adjustment ratio, so that the yaw rate reaches the preset angular rate.

5. The control method according to claim 1, characterized in that, The adjustment of the first torque, the second torque, the steering angle of the front wheel, the steering angle of the rear wheel, and the yaw rate of the vehicle according to the magnitude relationship includes: When the magnitude relationship is that the longitudinal acceleration is greater than the preset acceleration threshold and the lateral acceleration is less than the preset acceleration threshold, the steering angle of the front wheel is increased and the steering angle of the rear wheel is decreased so that the longitudinal acceleration reaches the preset acceleration threshold. When the longitudinal acceleration reaches the preset acceleration threshold, the lateral acceleration is acquired again. Determine whether the lateral acceleration acquired again reaches the preset acceleration threshold to obtain a second determination result; Based on the second determination result, torque control is performed on the front drive motor and the rear drive motor, and steering angle control is performed on the front wheel and the rear wheel, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and, Determine whether the yaw rate has reached the preset angular velocity; If not, when the yaw rate is greater than the preset angular rate, the first torque and the second torque are reduced based on the preset torque adjustment ratio; or, when the yaw rate is less than the preset angular rate, the first torque and the second torque are increased based on the preset torque adjustment ratio, so that the yaw rate reaches the preset angular rate.

6. The control method according to claim 5, characterized in that, The step of performing torque control on the front drive motor and the rear drive motor based on the second determination result, and performing steering angle control on the front wheel and the rear wheel, includes: When the second determination result is that the lateral acceleration reaches the preset acceleration threshold, the output torque of the front drive motor and the rear drive motor remains unchanged, and the angle of the increased front wheel remains unchanged and the angle of the decreased rear wheel remains unchanged. When the second determination result is that the lateral acceleration has not reached the preset acceleration threshold, the first torque, the second torque, and the respective steering angles of the front wheel and the rear wheel are adjusted so that the lateral acceleration reaches the preset acceleration threshold.

7. The control method according to claim 1, characterized in that, The adjustment of the first torque, the second torque, the steering angle of the front wheel, the steering angle of the rear wheel, and the yaw rate of the vehicle according to the magnitude relationship includes: When the magnitude relationship is such that the longitudinal acceleration reaches the preset acceleration threshold and the lateral acceleration is greater than or less than the preset acceleration threshold, it is determined whether the yaw rate reaches the preset angular rate. If not, when the yaw rate is greater than the preset angular rate, the first torque and the second torque are reduced based on the preset torque adjustment ratio, and the steering angle of the front wheel and the steering angle of the rear wheel are reduced based on the preset steering angle adjustment value; or, when the yaw rate is less than the preset angular rate, the first torque and the second torque are increased based on the preset torque adjustment ratio, and the steering angle of the front wheel and the steering angle of the rear wheel are increased based on the preset steering angle adjustment value, so that the yaw rate reaches the preset angular rate, the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force.

8. The control method according to claim 1, characterized in that, The adjustment of the first torque, the second torque, the steering angle of the front wheel, the steering angle of the rear wheel, and the yaw rate of the vehicle according to the magnitude relationship includes: When the magnitude relationship is such that both the longitudinal acceleration and the lateral acceleration reach the preset acceleration threshold, it is determined whether the yaw rate reaches the preset angular rate. If so, control the first torque and the second torque to remain constant, and keep the steering angle of the front wheel and the rear wheel constant respectively; If not, when the yaw rate is greater than the preset angular rate, the first torque and the second torque are reduced based on the preset torque adjustment ratio; or, when the yaw rate is less than the preset angular rate, the first torque and the second torque are increased based on the preset torque adjustment ratio, so that the yaw rate reaches the preset angular rate, the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force.

9. The control method according to claim 1, characterized in that, The adjustment of the first torque, the second torque, the steering angle of the front wheel, the steering angle of the rear wheel, and the yaw rate of the vehicle according to the magnitude relationship includes: When the magnitude relationship is such that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration is greater than the preset acceleration threshold, the steering angle of the front wheel is reduced and the steering angle of the rear wheel is increased. Determine whether the absolute values ​​of the first longitudinal force and the second longitudinal force are the same, and whether the absolute values ​​of the first lateral force and the second lateral force are the same; If so, then the output torque of the front drive motor and the rear drive motor remains unchanged, the reduced steering angle of the front wheel remains unchanged, and the increased steering angle of the rear wheel remains unchanged. If not, adjust the first torque, the second torque, and the steering angles of the front and rear wheels so that the absolute values ​​of the first longitudinal force and the second longitudinal force are the same, and the absolute values ​​of the first lateral force and the second lateral force are the same; and Determine whether the yaw rate has reached the preset angular velocity; If not, when the yaw rate is greater than the preset angular rate, the first torque and the second torque are reduced based on the preset torque adjustment ratio; or, when the yaw rate is less than the preset angular rate, the first torque and the second torque are increased based on the preset torque adjustment ratio, so that the yaw rate reaches the preset angular rate.

10. The control method according to claim 1, characterized in that, The adjustment of the first torque, the second torque, the steering angle of the front wheel, the steering angle of the rear wheel, and the yaw rate of the vehicle according to the magnitude relationship includes: When the magnitude relationship is such that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration reaches the preset acceleration threshold, the steering angle of the front wheel is decreased and the first torque is increased; or, the steering angle of the rear wheel is increased and the second torque is decreased, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and, Determine whether the yaw rate has reached the preset angular velocity; If not, when the yaw rate is greater than the preset angular rate, the first torque and the second torque are reduced based on the preset torque adjustment ratio; or, when the yaw rate is less than the preset angular rate, the first torque and the second torque are increased based on the preset torque adjustment ratio, so that the yaw rate reaches the preset angular rate.

11. The control method according to claim 1, characterized in that, The adjustment of the first torque, the second torque, the steering angle of the front wheel, the steering angle of the rear wheel, and the yaw rate of the vehicle according to the magnitude relationship includes: When the magnitude relationship is such that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration is less than the preset acceleration threshold, the first torque is increased, the steering angle of the front wheel is decreased, the second torque is decreased, and the steering angle of the rear wheel is increased, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and, Determine whether the yaw rate has reached the preset angular velocity; If not, when the yaw rate is greater than the preset angular rate, the first torque and the second torque are reduced based on the preset torque adjustment ratio; or, when the yaw rate is less than the preset angular rate, the first torque and the second torque are increased based on the preset torque adjustment ratio, so that the yaw rate reaches the preset angular rate.

12. The control method according to any one of claims 1 to 11, characterized in that, When the vehicle's stationary steering mode is activated, controlling the front and rear wheels to turn in the same direction to their respective target steering angles includes: When the vehicle's stationary steering mode is activated, obtain the preset stationary steering direction; Obtain the preset steering angle corresponding to the stationary turning direction, and obtain the target steering angles corresponding to the front wheel and the rear wheel respectively; Control the front wheels and the rear wheels to turn in the same direction to their respective target steering angles.

13. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor is configured to call and run the executable program code from the memory, causing the vehicle to perform the vehicle control method as described in any one of claims 1 to 12.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the vehicle control method as described in any one of claims 1 to 12.

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