Vehicle control method and device and vehicle

Abstract

The invention discloses a vehicle control method and device and a vehicle, and relates to the technical field of vehicles. According to the method, after a steering transmission ratio and a steering control parameter of the vehicle are obtained according to the real-time vehicle speed of the vehicle, the steering control parameter can be compared with a corresponding threshold value, and if the steering control parameter is larger than the corresponding threshold value, the steering transmission ratio is increased; and controlling the vehicle to steer based on the increased steering transmission ratio. Therefore, by introducing the steering control parameters related to the steering wheel information and the wheel information of the vehicle in the process of controlling the steering of the vehicle, the functional safety of the vehicle is limited, the problems of vehicle sideslip, turnover and the like caused by an unreasonable steering transmission ratio are prevented, and then the vehicle safety and the personal safety in the vehicle are guaranteed.

Description

Technical Field

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

[0002] With the development of intelligent driving technology, more and more vehicles are equipped with steer-by-wire systems. The steer-by-wire system is a system that automatically adjusts the steering ratio according to the driving conditions of the vehicle, thereby controlling the steering of the vehicle. The steering ratio refers to the ratio of the steering degree of the vehicle's steering wheel to the steering degree of the wheels, which is related to the sensitivity and stability of the vehicle's lateral movement. The steer-by-wire system adjusts the steering ratio in real time according to the driving conditions of the vehicle, and controls the steering of the vehicle according to the adjusted steering ratio, thereby improving the safety of the vehicle during driving.

[0003] In the related art, a steer-by-wire system usually designs a steering ratio based on the steering sensitivity of the steering wheel and wheels of the vehicle, and adjusts the steering ratio in real time according to the vehicle speed, thereby controlling the steering of the vehicle.

[0004] However, due to unreasonable design or adjustment of the steering gear ratio, problems such as vehicle skidding and rollover may occur, and the safety of the vehicle and the personal safety of people inside the vehicle cannot be guaranteed. Summary of the invention

[0005] The present application provides a vehicle control method, device and vehicle, which can ensure vehicle safety and personal safety inside the vehicle by limiting the functional safety of the vehicle.

[0006] This application discloses the following technical solutions:

[0007] In a first aspect, the present application provides a vehicle control method, the method comprising:

[0008] Get the vehicle speed;

[0009] According to the vehicle speed, acquiring a steering transmission ratio and a steering control parameter, wherein the steering control parameter is related to steering wheel information and wheel information of the vehicle;

[0010] If the steering control parameter is greater than a threshold value corresponding to the steering control parameter, increasing the steering transmission ratio;

[0011] The vehicle steering is controlled according to the increased steering transmission ratio.

[0012] Optionally, the steering control parameters include a steering wheel angle, a wheel angle and a steering wheel angle speed;

[0013] If the steering control parameter is greater than a threshold value corresponding to the steering control parameter, increasing the steering transmission ratio comprises:

[0014] If the steering wheel angle is greater than a steering wheel angle threshold, or the wheel angle is greater than a wheel angle threshold, or the steering wheel angle speed is greater than a steering wheel angle speed threshold, the steering transmission ratio of the vehicle is increased.

[0015] Optionally, obtaining the steering transmission ratio according to the vehicle speed includes:

[0016] When the vehicle speed is lower than a first speed threshold, determining the steering transmission ratio to be a first value;

[0017] When the vehicle speed is higher than the first speed threshold and lower than a second speed threshold, determining the function of the steering transmission ratio to be a second function that is positively correlated with the vehicle speed;

[0018] When the vehicle speed is higher than the second speed threshold, the steering gear ratio is determined to be a third value, and the third value is smaller than the first value.

[0019] Optionally, the wheel angle threshold is the smaller value of a first ratio and a second ratio, the first ratio being the ratio of the vehicle's limit lateral acceleration to the steering sensitivity, and the second ratio being the ratio of the vehicle's maximum rack displacement to the steering geometry Ackerman ratio.

[0020] Optionally, the steering wheel angle threshold is the product of the wheel angle threshold and the steering transmission ratio.

[0021] Optionally, the steering wheel angular velocity threshold is negatively correlated with a yaw angular velocity steady-state gain value of the vehicle.

[0022] In a second aspect, the present application provides a vehicle control device, the device comprising: a vehicle speed acquisition module, a parameter acquisition module, a ratio increase module and a vehicle control module;

[0023] The vehicle speed acquisition module is used to acquire the vehicle speed;

[0024] The parameter acquisition module is used to acquire a steering transmission ratio and a steering control parameter according to the vehicle speed, wherein the steering control parameter is related to the steering wheel information and the wheel information of the vehicle;

[0025] The ratio increasing module is used to increase the steering transmission ratio of the vehicle if the steering control parameter is greater than a threshold value corresponding to the steering control parameter;

[0026] The vehicle control module is used to control the steering of the vehicle according to the increased steering transmission ratio.

[0027] Optionally, the steering control parameters include a steering wheel angle, a wheel angle and a steering wheel angle speed;

[0028] The ratio increasing module is specifically used to increase the steering transmission ratio of the vehicle if the steering wheel angle is greater than a steering wheel angle threshold, or the wheel angle is greater than a wheel angle threshold, or the steering wheel angle speed is greater than a steering wheel angle speed threshold.

[0029] Optionally, the parameter acquisition module includes: a first determination submodule, a second determination submodule and a third determination submodule;

[0030] The first determination submodule is configured to determine that the steering transmission ratio is a first value when the vehicle speed is lower than a first speed threshold;

[0031] The second determination submodule is configured to determine, when the vehicle speed is higher than the first speed threshold and lower than a second speed threshold, that the function of the steering transmission ratio is a second function that is positively correlated with the vehicle speed;

[0032] The third determination submodule is configured to determine, when the vehicle speed is higher than the second speed threshold, that the steering transmission ratio is a third value, wherein the third value is smaller than the first value.

[0033] Optionally, the wheel angle threshold is the smaller value of a first ratio and a second ratio, the first ratio being the ratio of the vehicle's limit lateral acceleration to the steering sensitivity, and the second ratio being the ratio of the vehicle's maximum rack displacement to the steering geometry Ackerman ratio.

[0034] Optionally, the steering wheel angle threshold is the product of the wheel angle threshold and the steering transmission ratio.

[0035] Optionally, the steering wheel angular velocity threshold is negatively correlated with a yaw angular velocity steady-state gain value of the vehicle.

[0036] In a third aspect, the present application provides a vehicle, comprising a vehicle control device, wherein the vehicle control device is used to execute the vehicle control method described in the first aspect.

[0037] Compared with the prior art, this application has the following beneficial effects:

[0038] The present application provides a vehicle control method, device and vehicle. After obtaining the steering transmission ratio and steering control parameters of the vehicle according to the real-time vehicle speed, the method can compare the steering control parameters with the corresponding threshold value. If the steering control parameter is greater than the corresponding threshold value, the steering transmission ratio is increased, and the vehicle steering is controlled based on the increased steering transmission ratio. Therefore, by introducing the steering control parameters related to the steering wheel information and wheel information of the vehicle in the process of controlling the vehicle steering, the functional safety of the vehicle is restricted to prevent the vehicle from skidding, rolling over and other problems caused by unreasonable steering transmission ratio, thereby ensuring the vehicle safety and the personal safety of people inside the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0040] Figure 1 A flow chart of a vehicle control method provided in an embodiment of the present application;

[0041] Figure 2 A schematic diagram of a steady-state gain curve of a steady-state yaw rate of a vehicle provided in an embodiment of the present application;

[0042] Figure 3 A schematic diagram of a curve showing a steering transmission ratio changing with vehicle speed provided in an embodiment of the present application;

[0043] Figure 4 A schematic diagram of a vehicle control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] First, the technical terms involved in this application are explained:

[0045] The steering gear ratio refers to the ratio of the vehicle's steering wheel steering degree to the wheel steering degree, which is related to the vehicle's lateral movement sensitivity and stability.

[0046] Steering sensitivity refers to the speed at which the vehicle's steering actuator (steering gear, steering transmission mechanism, steering wheel) responds to the steering signal or steering control mechanism (steering wheel). The most important influencing factor is the steering transmission ratio set when the steering system is designed.

[0047] As described above, the steer-by-wire system usually designs the steering ratio based on the steering sensitivity of the vehicle's steering wheel and wheels, and adjusts the steering ratio in real time according to the vehicle's speed, thereby controlling the steering of the vehicle.

[0048] However, due to unreasonable design or adjustment of the steering gear ratio, problems such as vehicle skidding and rollover may occur, and the safety of the vehicle and the personal safety of people inside the vehicle cannot be guaranteed.

[0049] In view of this, the present application provides a vehicle control method, device and vehicle. After obtaining the steering transmission ratio and steering control parameters of the vehicle according to the real-time speed of the vehicle, the method can compare the steering control parameters with the corresponding thresholds. If the steering control parameters are greater than the corresponding thresholds, the steering transmission ratio is increased, and the vehicle steering is controlled based on the increased steering transmission ratio. Therefore, by introducing steering control parameters related to the steering wheel information and wheel information of the vehicle in the process of controlling the steering of the vehicle, the functional safety of the vehicle is restricted to prevent the occurrence of problems such as vehicle skidding and rollover caused by unreasonable steering transmission ratios, thereby ensuring the safety of the vehicle and the personal safety of people inside the vehicle.

[0050] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0051] See also Figure 1 , which is a flow chart of a vehicle control method provided by an embodiment of the present application. The method includes:

[0052] S101: Obtain vehicle speed.

[0053] In some examples, the electronic control unit (ECU) can obtain the vehicle speed based on the speed sensor located in the gearbox housing of the vehicle. The purpose of the electronic control unit is to control the driving state of the car and realize its various functions. It mainly uses data collection and exchange of various sensors and buses to determine the vehicle state and the driver's intention and control the car through actuators.

[0054] In other examples, the electronic control unit may first obtain the acceleration of the vehicle when it is moving based on an inertial measurement unit located at the vehicle body, and then obtain the vehicle speed based on the acceleration.

[0055] It should be noted that this application does not limit the specific method for obtaining the vehicle speed.

[0056] S102: Obtain a steering transmission ratio and a steering control parameter according to the vehicle speed.

[0057] The steering gear ratio refers to the ratio of the vehicle's steering wheel steering degree to the wheel steering degree, which is related to the vehicle's lateral movement sensitivity and stability.

[0058] The steering control parameters are related to the steering wheel information and wheel information of the vehicle and are used to restrict the functional safety of the vehicle. Exemplarily, the steering control parameters may include a steering wheel angle SWA, a wheel angle δ, and a steering wheel angle speed dδ.

[0059] In some specific implementations, since different vehicle speeds may correspond to different steering gear ratios, the electronic control unit may first set a first speed threshold V for dividing the value of the steering gear ratio. 1 and the second speed threshold V 2 , so that the steering gear ratio becomes the first speed threshold V 1 and the second speed threshold V 2 is a piecewise function based on the segmentation. Specifically, the first speed threshold V 1 is the dividing value between the low speed and the medium speed of the vehicle, and the second speed threshold V 2 is the dividing value between the medium speed and high speed of the vehicle, and the second speed threshold V 2 Greater than the first speed threshold V 1 When the vehicle speed is lower than a first speed threshold, the vehicle controls the vehicle steering with a first steering transmission ratio; when the vehicle speed is higher than the first speed threshold and lower than a second speed threshold, the vehicle controls the vehicle steering with a second steering transmission ratio; when the vehicle speed is higher than the second speed threshold, the vehicle controls the vehicle steering with a third steering transmission ratio.

[0060] Exemplarily, the first speed threshold V 1 The formula for obtaining can be shown as follows:

[0061]

[0062] Among them, V 1 is the first speed threshold, L is the wheelbase of the vehicle, ay max is the vehicle’s limit lateral acceleration, δ max is the wheel angle threshold.

[0063] Specifically, the wheel angle threshold δ max The smaller value is the ratio of the vehicle's limit lateral acceleration to the steering sensitivity and the ratio of the vehicle's maximum rack displacement to the steering geometry Ackerman ratio. Wheel angle threshold δ max The formula for obtaining can be shown as follows:

[0064]

[0065] Among them, δ max is the wheel angle threshold, ay max is the vehicle's limit lateral acceleration, SS ch is the steering sensitivity of the vehicle, s rack_max is the maximum rack displacement of the vehicle, and Lever is the steering geometry Ackerman ratio of the vehicle.

[0066] Exemplarily, the second speed threshold V 2 The formula for obtaining can be shown as follows:

[0067]

[0068] Among them, V 2 is the second speed threshold, and K is the stability factor of the vehicle.

[0069] It should be noted that the second speed threshold can be directly calculated by the stability factor K of the vehicle, or the characteristic vehicle speed can be calculated first and then used as the second speed threshold. The characteristic vehicle speed refers to the vehicle speed corresponding to the time when the steady-state gain of the yaw rate of the vehicle reaches the maximum value. Figure 2 , which is a schematic diagram of a steady-state gain curve of a steady-state yaw rate of a vehicle provided in an embodiment of the present application. Figure 2 It can be seen that when the vehicle's yaw rate steady-state gain reaches its maximum value, the corresponding vehicle speed is 34m / s, so the second speed threshold V of the vehicle is 2 That is 34 m / s. It should be noted that for the specific characteristic vehicle speed and the second speed threshold V 2 , this application does not limit it.

[0070] The first speed threshold V is obtained by the above method. 1 and the second speed threshold V 2 After that, the steering gear ratio corresponding to the vehicle at different speeds can be calculated. Specifically, when the vehicle speed is lower than the first speed threshold V 1 If the vehicle is actually equipped with a half-width steering wheel, the corresponding first steering gear ratio i can be determined based on safety factors and user experience. 1 For example, the first value may be 3.75, or other values, such as 4.25, etc. The first value is related to the steering wheel angle threshold SWA. max and wheel angle threshold δ max Related, this application does not limit the specific size of the first value.

[0071] When the vehicle speed is higher than the first speed threshold V 1 and is lower than the second speed threshold V 2When , the corresponding second steering transmission ratio is a function that is positively correlated with the vehicle speed. Exemplarily, the above function can be expressed as the following formula (4):

[0072]

[0073] Among them, i 2 is the second steering gear ratio, u is the vehicle speed, L is the vehicle wheelbase, K is the vehicle stability factor, is the ideal steady-state gain value of the vehicle’s yaw rate.

[0074] It can be understood that the wheelbase refers to the distance from the center of the front axle to the center of the rear axle of the vehicle. The ideal steady-state vehicle yaw rate gain of the vehicle is a constant value that does not change with the vehicle speed, so that even an inexperienced driver can easily drive the vehicle based on visual information. For example, the above ideal steady-state yaw rate gain value is The value of can be It should be noted that the present application does not limit the specific wheelbase size and the ideal yaw rate steady-state gain value of the vehicle.

[0075] When the vehicle speed is higher than the second speed threshold V 2 When the vehicle speed is higher, the vehicle is more likely to enter an unstable state. 2 The corresponding third steering transmission ratio can be expressed as follows:

[0076]

[0077] Among them, i 3 is the third steering gear ratio, V 2 is the second speed threshold, L is the wheelbase of the vehicle, K is the stability factor of the vehicle, V 1 is the first speed threshold, is the ideal steady-state gain value of the vehicle's yaw rate. It can be understood that since the above parameters are all constant values, the third steering transmission ratio i when the vehicle speed is higher than the second speed threshold is 3 is also a constant value, and the third steering transmission ratio i 3 Must be higher than the first steering gear ratio i 1 .

[0078] See also Figure 3, which is a schematic diagram of a steering transmission ratio curve varying with vehicle speed provided in an embodiment of the present application. As can be seen from the figure, curve 2 is a wire-controlled steering calibration value curve, which is a wire-controlled steering calibration value curve obtained by fitting the corresponding steering transmission ratio when the vehicle speed is the target value. Since the fitted wire-controlled steering calibration value curve may cause problems such as vehicle skidding and rollover due to unreasonable steering transmission ratio designed or adjusted, the vehicle safety and the personal safety of people inside the vehicle cannot be guaranteed.

[0079] Curve 1 is a curve of the steering gear ratio constructed according to an embodiment of the present application. When the vehicle speed is lower than the first speed threshold V 1 (The first speed threshold V 1 When the first steering gear ratio is i 1 is about a fixed value of 4.75. When the vehicle speed is higher than the first speed threshold V 1 and is lower than the second speed threshold V 2 When the second steering transmission ratio i 2 is a function positively correlated with the vehicle speed. When the vehicle speed is higher than the second speed threshold V 2 When the third steering transmission ratio i 3 Approximately a fixed value of 14.

[0080] Through the above-mentioned steering transmission ratio segmented design, the vehicle can improve the steering sensitivity by using a smaller steering transmission ratio in the low-speed driving area, so that the driver only needs to rotate the steering wheel at a smaller angle to control the steering of the vehicle, reducing the driver's busyness. In the medium-speed driving area, the vehicle can use different steering transmission ratios according to different vehicle speeds to control the steering of the vehicle. In the high-speed driving area, the vehicle's stability is improved by using a larger steering transmission ratio, so that the driver needs to rotate the steering wheel at a larger angle to control the steering of the vehicle, thereby ensuring the safety of the vehicle and the personal safety of the people inside the vehicle.

[0081] S103: Determine whether the steering control parameter is greater than the corresponding threshold value. If not, execute S104; if yes, execute S105.

[0082] After obtaining the steering control parameter in step S103, the electronic control unit needs to determine whether the steering control parameter is greater than the corresponding threshold value. Specifically, it is necessary to determine whether the steering wheel angle is greater than the steering wheel angle threshold value, whether the wheel angle is greater than the wheel angle threshold value, and whether the steering wheel angular velocity is greater than the steering wheel angular velocity threshold value.

[0083] Among them, the wheel angle threshold δ max The formula for obtaining is shown in formula (2) above. The steering wheel angle threshold SWA max is the wheel angle threshold δ maxThe product of the steering gear ratio, the steering wheel angular velocity threshold dδ max It is negatively correlated with the steady-state gain value of the vehicle's yaw rate.

[0084] It should be noted that the above steering wheel angular velocity threshold dδ max In addition to being negatively correlated with the steady-state gain value of the vehicle's yaw rate, it can also be positively correlated with the first control parameter. The first control parameter refers to the threshold value for entering vehicle control, that is, if the steering wheel of the vehicle moves more than 5°, the vehicle control can be started, then the first control parameter is 5. It should be noted that the first control parameter can also be 3°, 4°, etc., and the application does not limit the specific value of the first control parameter.

[0085] Specifically, the steering wheel angle threshold SWA max The formula for obtaining the steering wheel angular velocity threshold dδ can be shown in the following formula (6): max The formula for obtaining can be shown as follows:

[0086] SWA max =δ max ×i i (6)

[0087]

[0088] Among them, SWA max is the steering wheel angle threshold, δ max is the wheel angle threshold, i i is the steering gear ratio, dδ max is the steering wheel angular velocity threshold, is the ideal steady-state gain value of the vehicle’s yaw rate.

[0089] If the steering wheel angle is greater than the steering wheel angle threshold, or the wheel angle is greater than the wheel angle threshold, or the steering wheel angle speed is greater than the steering wheel angle speed threshold, then step S105 needs to be executed; if the steering wheel angle is not greater than the steering wheel angle threshold, and the wheel angle is not greater than the wheel angle threshold, and the steering wheel angle speed is not greater than the steering wheel angle speed threshold, then step S104 needs to be executed.

[0090] S104: Control the vehicle steering according to the steering gear ratio.

[0091] If the steering wheel angle is not greater than the steering wheel angle threshold, the wheel angle is not greater than the wheel angle threshold, and the steering wheel angle speed is not greater than the steering wheel angle speed threshold, the electronic control unit can directly control the vehicle steering according to the steering transmission ratio obtained in step S102.

[0092] S105: Increase the steering gear ratio.

[0093] If the steering wheel angle is greater than the steering wheel angle threshold, or the wheel angle is greater than the wheel angle threshold, or the steering wheel angle speed is greater than the steering wheel angle speed threshold, the electronic control unit controls to increase the steering gear ratio.

[0094] S106: Controlling the steering of the vehicle according to the increased steering gear ratio.

[0095] After the steering gear ratio is increased, the electronic control unit may control the vehicle steering based on the increased steering gear ratio.

[0096] The present application provides a vehicle control method, which can compare the steering control parameter with the corresponding threshold value after obtaining the steering transmission ratio and steering control parameter of the vehicle according to the real-time vehicle speed. If the steering control parameter is greater than the corresponding threshold value, the steering transmission ratio is increased, and the vehicle steering is controlled based on the increased steering transmission ratio. Therefore, by introducing the steering control parameter related to the steering wheel information and wheel information of the vehicle in the process of controlling the vehicle steering, the functional safety of the vehicle is restricted to prevent the vehicle from skidding, rolling over and other problems caused by unreasonable steering transmission ratio, thereby ensuring the safety of the vehicle and the personal safety of people inside the vehicle.

[0097] See also Figure 4 , which is a schematic diagram of a vehicle control device provided by an embodiment of the present application. The vehicle control device 400 includes: a vehicle speed acquisition module 401, a parameter acquisition module 402, a ratio increase module 403 and a vehicle control module 404.

[0098] Specifically, the vehicle speed acquisition module 401 is used to acquire the vehicle speed;

[0099] A parameter acquisition module 402 is used to acquire a steering gear ratio and a steering control parameter according to a vehicle speed, wherein the steering control parameter is related to the steering wheel information and the wheel information of the vehicle;

[0100] A ratio increasing module 403, configured to increase the steering transmission ratio of the vehicle if the steering control parameter is greater than a threshold value corresponding to the steering control parameter;

[0101] The vehicle control module 404 is used to control the steering of the vehicle according to the increased steering gear ratio.

[0102] In some specific implementations, the above-mentioned steering control parameters include a steering wheel angle, a wheel angle and a steering wheel angular velocity; then, the above-mentioned ratio increasing module 403 is specifically used for: if the steering wheel angle is greater than a steering wheel angle threshold, or the wheel angle is greater than a wheel angle threshold, or the steering wheel angular velocity is greater than a steering wheel angular velocity threshold, then increasing the steering transmission ratio of the vehicle.

[0103] In some specific implementations, the parameter acquisition module 402 includes: a first determination submodule, a second determination submodule, and a third determination submodule;

[0104] Specifically, the first determination submodule is used to determine that the steering transmission ratio is a first value when the vehicle speed is lower than a first speed threshold; the second determination submodule is used to determine that the function of the steering transmission ratio is a second function that is positively correlated with the vehicle speed when the vehicle speed is higher than the first speed threshold and lower than a second speed threshold; the third determination submodule is used to determine that the steering transmission ratio is a third value when the vehicle speed is higher than the second speed threshold, and the third value is less than the first value.

[0105] In some specific implementations, the wheel angle threshold is the smaller of a first and a second value, the first being the ratio of the vehicle's limit lateral acceleration to the steering sensitivity, and the second being the ratio of the vehicle's maximum rack displacement to the steering geometry Ackerman ratio.

[0106] In some specific implementations, the steering wheel angle threshold is the product of the wheel angle threshold and the steering gear ratio.

[0107] In some specific implementations, the above-mentioned steering wheel angular velocity threshold is negatively correlated with the yaw angular velocity steady-state gain value of the vehicle.

[0108] In summary, the present application provides a vehicle control device, which introduces steering control parameters related to the vehicle's steering wheel information and wheel information in the process of controlling the vehicle's steering, thereby limiting the functional safety of the vehicle, preventing problems such as vehicle skidding and rollover caused by unreasonable steering transmission ratio, and thereby ensuring the safety of the vehicle and the personal safety of people inside the vehicle.

[0109] Correspondingly, the present application also discloses a vehicle, including a vehicle control device as introduced in the aforementioned embodiment, wherein the vehicle control device is used to execute the aforementioned vehicle control method.

[0110] A vehicle provided in an embodiment of the present application has the beneficial effects of the vehicle control method and vehicle control device introduced above.

[0111] The "first" and "second" in the names such as "first" and "second" (if any) mentioned in the embodiments of the present application are only used as name identifiers and do not represent the first or second in order.

[0112] Through the description of the above implementation methods, it can be known that those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment method can be implemented by means of software plus a general hardware platform. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a storage medium, such as a read-only memory (ROM) / RAM, a magnetic disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the methods described in each embodiment of the present application or some parts of the embodiments.

[0113] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same and similar parts between the various embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and medium embodiments, since they are basically similar to the system and method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The device and medium embodiments described above are merely schematic, in which the units described as separate components may or may not be physically separated, and the components indicated as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0114] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, It is characterized in that The method comprises: Get the vehicle speed; According to the vehicle speed, acquiring a steering transmission ratio and a steering control parameter, wherein the steering control parameter is related to steering wheel information and wheel information of the vehicle; If the steering control parameter is greater than a threshold value corresponding to the steering control parameter, increasing the steering transmission ratio; The vehicle steering is controlled according to the increased steering transmission ratio.

2. The method according to claim 1, It is characterized in that The steering control parameters include steering wheel angle, wheel angle and steering wheel angle speed; If the steering control parameter is greater than a threshold value corresponding to the steering control parameter, increasing the steering transmission ratio comprises: If the steering wheel angle is greater than a steering wheel angle threshold, or the wheel angle is greater than a wheel angle threshold, or the steering wheel angle speed is greater than a steering wheel angle speed threshold, the steering transmission ratio of the vehicle is increased.

3. The method according to claim 1, It is characterized in that The step of obtaining the steering transmission ratio according to the vehicle speed includes: When the vehicle speed is lower than a first speed threshold, determining the steering transmission ratio to be a first value; When the vehicle speed is higher than the first speed threshold and lower than a second speed threshold, determining the function of the steering transmission ratio to be a second function that is positively correlated with the vehicle speed; When the vehicle speed is higher than the second speed threshold, the steering gear ratio is determined to be a third value, and the third value is smaller than the first value.

4. The method according to claim 2, It is characterized in that The wheel angle threshold is the smaller value of a first ratio and a second ratio, wherein the first ratio is the ratio of the vehicle's limit lateral acceleration to the steering sensitivity, and the second ratio is the ratio of the vehicle's maximum rack displacement to the steering geometry Ackerman ratio.

5. The method according to claim 2, It is characterized in that The steering wheel angle threshold is the product of the wheel angle threshold and the steering gear ratio.

6. The method according to claim 2, It is characterized in that The steering wheel angular velocity threshold is negatively correlated with the yaw angular velocity steady-state gain value of the vehicle.

7. A vehicle control device, It is characterized in that The device comprises: a vehicle speed acquisition module, a parameter acquisition module, a ratio increasing module and a vehicle control module; The vehicle speed acquisition module is used to acquire the vehicle speed; The parameter acquisition module is used to acquire a steering transmission ratio and a steering control parameter according to the vehicle speed, wherein the steering control parameter is related to the steering wheel information and the wheel information of the vehicle; The ratio increasing module is used to increase the steering transmission ratio of the vehicle if the steering control parameter is greater than a threshold value corresponding to the steering control parameter; The vehicle control module is used to control the steering of the vehicle according to the increased steering transmission ratio.

8. The device according to claim 7, It is characterized in that The steering control parameters include steering wheel angle, wheel angle and steering wheel angle speed; The ratio increasing module is specifically used to increase the steering transmission ratio of the vehicle if the steering wheel angle is greater than a steering wheel angle threshold, or the wheel angle is greater than a wheel angle threshold, or the steering wheel angle speed is greater than a steering wheel angle speed threshold.

9. The device according to claim 7, It is characterized in that The parameter acquisition module includes: a first determination submodule, a second determination submodule and a third determination submodule; The first determination submodule is configured to determine that the steering transmission ratio is a first value when the vehicle speed is lower than a first speed threshold; The second determination submodule is configured to determine, when the vehicle speed is higher than the first speed threshold and lower than a second speed threshold, that the function of the steering transmission ratio is a second function that is positively correlated with the vehicle speed; The third determination submodule is configured to determine, when the vehicle speed is higher than the second speed threshold, that the steering transmission ratio is a third value, wherein the third value is smaller than the first value.

10. A vehicle, It is characterized in that The vehicle comprises a vehicle control device, and the vehicle control device is used to execute the vehicle control method according to any one of claims 1-6.

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