Vehicle body pitch angle control method, vehicle-mounted controller and vehicle

Abstract

The invention discloses a vehicle body pitch angle control method, a vehicle-mounted controller and a vehicle. The method comprises the steps of obtaining first vehicle data when a vehicle is in a pitch angle control mode; determining a target pitch angle based on the first vehicle data; determining a target wheel end torque based on the target pitch angle; and controlling a motor to execute pitch angle control operation based on the target wheel end torque. According to the scheme, the purpose of implementing corresponding vehicle body pitch angle adjustment according to the actual situation of the vehicle can be achieved, the riding comfort and driving safety of the vehicle are guaranteed, the purpose of adjusting the vehicle body pitch angle is achieved without depending on an external device in the process, the device cost is reduced, meanwhile, the motor is suitable for various types of vehicles, and the application range is wide.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle body pitch angle control, and particularly to a vehicle body pitch angle control method, an on-vehicle controller and an automobile. Background Art

[0002] The motors of existing vehicles have a large response, and due to energy-saving requirements, they often have a strong coasting recovery function. During both the acceleration and deceleration processes, there may be large changes in the vehicle body pitch angle. Moreover, when the driver makes a misstep or in other situations, there may be large fluctuations in the vehicle body pitch angle, which will not only affect the ride comfort of the vehicle, but even affect driving safety. In the prior art, for the problem of large fluctuations in the vehicle body pitch angle, the following two control operations are adopted: one is based on an external control device, but this method has high requirements for vehicle configuration and cannot be widely adapted to various vehicle models due to cost limitations; the other is drive motor control, but the accuracy of this control process is relatively low. Summary of the Invention

[0003] Embodiments of the present invention provide a vehicle body pitch angle control method, an on-vehicle controller and an automobile to solve the problem of low accuracy in adjusting the existing vehicle body pitch angle.

[0004] A vehicle body pitch angle control method includes:

[0005] When the vehicle is in the pitch angle control mode, obtain first vehicle data;

[0006] Based on the first vehicle data, determine a target pitch angle;

[0007] Based on the target pitch angle, determine a target wheel-end torque;

[0008] Based on the target wheel-end torque, control the motor to perform a pitch angle control operation.

[0009] Preferably, the determining the target pitch angle based on the first vehicle data includes:

[0010] Based on the first vehicle data, determine a pitch angle prediction value;

[0011] Process the pitch angle prediction value to determine the target pitch angle.

[0012] Preferably, the determining the pitch angle prediction value based on the first vehicle data includes:

[0013] Based on the current throttle opening, determine a first wheel-end torque;

[0014] Based on the first wheel-end torque and the first vehicle data, determine the pitch angle prediction value.

[0015] Preferably, the processing of the predicted pitch angle value to determine the target pitch angle includes:

[0016] Based on the first vehicle data, determine the current vehicle condition;

[0017] Determine the pitch angle mapping table corresponding to the current vehicle condition as the target pitch angle mapping table;

[0018] Query the target pitch angle mapping table according to the predicted pitch angle value to determine the target pitch angle.

[0019] Preferably, the first vehicle data includes the current steering wheel angle and the current obstacle distance;

[0020] The determining the current vehicle condition based on the first vehicle data includes:

[0021] If the current steering wheel angle is less than the preset steering wheel angle and the current obstacle distance is less than the preset obstacle distance, determine that the current vehicle condition is the first vehicle condition;

[0022] If the current steering wheel angle is less than the preset steering wheel angle and the current obstacle distance is not less than the preset obstacle distance, determine that the current vehicle condition is the second vehicle condition;

[0023] If the current steering wheel angle is not less than the preset steering wheel angle, determine that the current vehicle condition is the third vehicle condition.

[0024] Preferably, determining the target wheel-end torque based on the target pitch angle includes:

[0025] Based on the target pitch angle, determine the second wheel-end torque;

[0026] Based on the measured pitch angle and the target pitch angle, determine the pitch angle difference;

[0027] Correct the second wheel-end torque based on the pitch angle difference to obtain the target wheel-end torque.

[0028] Preferably, before obtaining the first vehicle data when the vehicle is in the pitch angle control mode, the vehicle body pitch angle control method further includes:

[0029] Obtain second vehicle data and determine whether the second vehicle data meets the pitch angle start control condition;

[0030] If the second vehicle data meets the pitch angle start control condition, control the vehicle to enter the pitch angle control mode.

[0031] Preferably, the obtaining the second vehicle data and determining whether the second vehicle data meets the pitch angle start control condition includes:

[0032] Determine the current vehicle condition according to the current steering wheel angle and the current obstacle distance;

[0033] Judge whether the pitch angle start control condition corresponding to the current vehicle condition is satisfied according to the second vehicle data.

[0034] Preferably, the judging whether the pitch angle start control condition corresponding to the current vehicle condition is satisfied according to the second vehicle data includes:

[0035] If the current throttle opening is greater than the first throttle opening threshold and the current brake pedal depth is zero, it is determined that the pitch angle start control condition corresponding to the first vehicle condition is satisfied;

[0036] If the absolute value of the current throttle decrease rate is greater than the first rate threshold, the duration of the throttle opening greater than the second throttle opening threshold before the decrease is less than the first time threshold, and the throttle opening after the decrease is less than the third throttle opening threshold, it is determined that the pitch angle start control condition corresponding to the second vehicle condition is satisfied;

[0037] If the current throttle increase rate is greater than the second rate threshold and the current brake pedal depth is zero, it is determined that the pitch angle start control condition corresponding to the third vehicle condition is satisfied.

[0038] Preferably, after controlling the motor to perform the pitch angle control operation based on the target wheel end torque, the vehicle body pitch angle control method further includes:

[0039] Obtain the third vehicle data and judge whether the third vehicle data satisfies the pitch angle stop control condition;

[0040] If the third vehicle data satisfies the pitch angle stop control condition, control the vehicle to exit the pitch angle control mode.

[0041] Preferably, the third vehicle data includes the current brake pedal depth and the first operation data;

[0042] The judging whether the third vehicle data satisfies the pitch angle stop control condition includes:

[0043] If the current brake pedal depth is greater than zero, judge that the first operation data satisfies the pitch angle stop control condition.

[0044] Preferably, the judging that the first operation data satisfies the pitch angle stop control condition includes:

[0045] Determine the current vehicle condition according to the current steering wheel angle and the current obstacle distance;

[0046] Based on the first operating data, determine whether the pitch angle stop control condition corresponding to the current vehicle condition is satisfied.

[0047] Preferably, the determining whether the pitch angle stop control condition corresponding to the current vehicle condition is satisfied based on the first operating data includes:

[0048] If the current obstacle distance is not less than the preset obstacle distance, or the measured pitch angle at the next moment is not greater than the target pitch angle, it is determined that the pitch angle stop control condition corresponding to the first vehicle condition is satisfied;

[0049] If the current accelerator pedal depth is greater than zero, or the measured pitch angle at the current moment is greater than the target pitch angle, it is determined that the pitch angle stop control condition corresponding to the second vehicle condition is satisfied;

[0050] If the current steering wheel angle is less than the preset steering wheel angle, or the measured pitch angle at the current moment is not greater than the target pitch angle, it is determined that the pitch angle stop control condition corresponding to the third vehicle condition is satisfied.

[0051] A vehicle-mounted controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the vehicle body pitch angle control method described in any one of the above is implemented.

[0052] A vehicle includes the above vehicle-mounted controller.

[0053] The above vehicle body pitch angle control method, vehicle-mounted controller, and vehicle determine the target pitch angle to be achieved at the next moment according to the first vehicle data, and control the motor to perform the pitch angle control operation based on the target wheel end torque determined by the target pitch angle, so as to achieve the purpose of adjusting the vehicle body pitch angle according to the actual situation of the vehicle, ensure the ride comfort and driving safety of the vehicle, and the process does not need to rely on external devices to achieve the purpose of adjusting the vehicle body pitch angle, reduce the device cost, and at the same time the motor is applicable to various types of vehicles, with a wide range of applications. Description of the Drawings

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0055] Figure 1 is a flowchart of a vehicle body pitch angle control method in an embodiment of the present invention;

[0056] Figure 2 It is another flowchart of the vehicle body pitch angle control method in an embodiment of the present invention;

[0057] Figure 3 It is another flowchart of the vehicle body pitch angle control method in an embodiment of the present invention;

[0058] Figure 4 It is another flowchart of the vehicle body pitch angle control method in an embodiment of the present invention;

[0059] Figure 5 It is another flowchart of the vehicle body pitch angle control method in an embodiment of the present invention;

[0060] Figure 6 It is another flowchart of the vehicle body pitch angle control method in an embodiment of the present invention;

[0061] Figure 7 It is another flowchart of the vehicle body pitch angle control method in an embodiment of the present invention;

[0062] Figure 8 It is another flowchart of the vehicle body pitch angle control method in an embodiment of the present invention;

[0063] Figure 9 It is another flowchart of the vehicle body pitch angle control method in an embodiment of the present invention;

[0064] Figure 10 It is another flowchart of the vehicle body pitch angle control method in an embodiment of the present invention;

[0065] Figure 11 It is another flowchart of the vehicle body pitch angle control method in an embodiment of the present invention;

[0066] Figure 12 It is another flowchart of the vehicle body pitch angle control method in an embodiment of the present invention;

[0067] Figure 13 It is a schematic diagram of a two-wheel model on a horizontal road surface;

[0068] Figure 14 It is a schematic diagram of a target pitch angle mapping table corresponding to a second vehicle condition;

[0069] Figure 15 It is a schematic diagram of a target pitch angle mapping table corresponding to a first vehicle condition or a third vehicle condition;

[0070] Figure 16 The shown is a schematic diagram of the wheel-end torque adjustment process;

[0071] Figure 17 It is a schematic diagram of the pitch angle start control condition corresponding to the first vehicle condition;

[0072] Figure 18 It is a schematic diagram of the pitch angle start control condition corresponding to the second vehicle condition;

[0073] Figure 19 It is a schematic diagram of the pitch angle start control condition corresponding to the third vehicle condition. Specific Embodiments

[0074] In order to make the technical problems, technical solutions, and beneficial effects solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0075] An embodiment of the present invention provides a vehicle body pitch angle control method. This vehicle body pitch angle control method can be applied in a vehicle-mounted controller. The vehicle-mounted controller can be a dedicated controller installed on a vehicle for specifically controlling the opening and closing of the vehicle body pitch angle, or a controller installed on a vehicle for controlling the opening of the vehicle body pitch angle and other functions.

[0076] An embodiment of the present invention provides a vehicle body pitch angle control method, as Figure 1 shown, the vehicle body pitch angle control method includes:

[0077] S101: When the vehicle is in the pitch angle control mode, obtain the first vehicle data;

[0078] S102: Based on the first vehicle data, determine the target pitch angle;

[0079] S103: Based on the target pitch angle, determine the target wheel-end torque;

[0080] S104: Based on the target wheel-end torque, control the motor to perform the pitch angle control operation.

[0081] Among them, the pitch angle control mode refers to a mode that can achieve pitch angle control. The first vehicle data is the vehicle data collected in real time, specifically the data required for calculating the target pitch angle.

[0082] As an example, in step S101, when the vehicle-mounted controller is in the pitch angle control mode, that is, when pitch angle control is required to avoid large fluctuations in the vehicle body pitch angle affecting the ride comfort and driving safety of the vehicle, the first vehicle data needs to be obtained. The first vehicle data includes but is not limited to the current steering wheel angle, the current accelerator pedal depth, the current brake pedal depth, the vehicle weight, the center of mass height, the wheelbase, the distance from the center of mass to the front axle, and the current obstacle distance.

[0083] Among them, the target pitch angle refers to the pitch angle of the vehicle body that is calculated in real time based on the first vehicle data and determined that the motor needs to reach at the next moment.

[0084] As an example, in step S102, after the vehicle-mounted controller determines the first vehicle data, it can use a pre-set pitch angle calculation logic to calculate the first vehicle data collected in real time, and determine the target pitch angle that the vehicle body needs to reach at the next moment, so as to make corresponding pitch angle adjustments according to the target pitch angle subsequently, so that the pitch angle of the vehicle body reaches an appropriate angle.

[0085] The target wheel end torque refers to the torque value that needs to be controlled by the motor to reach the target pitch angle according to the calculation of the target pitch angle.

[0086] As an example, in step S103, after the vehicle-mounted controller determines the target pitch angle, it can use a pre-set pitch angle-torque conversion logic to calculate the target pitch angle and determine the target wheel end torque corresponding to the target pitch angle. In this example, the motor is controlled to perform the vehicle body pitch angle control operation based on the target wheel end torque, so as to achieve the purpose of adjusting the vehicle body pitch angle without relying on external devices, reducing the device cost. At the same time, the motor is applicable to various types of vehicles, with a wide range of applications.

[0087] As an example, in step S104, after the vehicle-mounted controller determines the target wheel end torque, it can control the motor to perform the pitch angle control operation according to the target wheel end torque. Specifically, the motor is controlled to output torque according to the target wheel end torque to achieve the adjustment of the vehicle body pitch angle and ensure the accuracy of the control operation.

[0088] In this embodiment, the target pitch angle that the vehicle needs to reach at the next moment is determined according to the first vehicle data, and the motor is controlled to perform the pitch angle control operation based on the target wheel end torque determined by the target pitch angle, so as to achieve the purpose of implementing the corresponding vehicle body pitch angle adjustment according to the actual situation of the vehicle, ensuring the ride comfort and driving safety of the vehicle. And the process does not need to rely on external devices to achieve the purpose of adjusting the vehicle body pitch angle, reducing the device cost. At the same time, the motor is applicable to various types of vehicles, with a wide range of applications.

[0089] In one embodiment, as Figure 2 shown, step S102, determining the target pitch angle based on the first vehicle data, includes:

[0090] S201: Based on the first vehicle data, determine the pitch angle prediction value;

[0091] S202: Process the pitch angle prediction value to determine the target pitch angle.

[0092] The pitch angle prediction value refers to the predicted value of the vehicle pitch angle at the next moment calculated according to the vehicle data collected in real time.

[0093] As an example, in step S201, the vehicle-mounted controller calculates the first vehicle data to obtain a predicted pitch angle value after calculation. By obtaining the predicted pitch angle value, it is convenient to determine the corresponding target pitch angle according to the predicted pitch angle value subsequently, and then determine the magnitude of the pitch angle that the vehicle needs to reach.

[0094] As an example, in step S202, after the vehicle-mounted controller calculates the predicted pitch angle value of the vehicle at the next moment, it processes the predicted pitch angle value to obtain the target pitch angle that needs to be reached at the next moment, so as to determine the target wheel-end torque that the subsequent vehicle body pitch angle needs to be adjusted according to the obtained target pitch angle. In this example, the pitch angle mapping table set in advance can be queried based on the predicted pitch angle value, and the pitch angle that matches the predicted pitch angle value in the pitch angle mapping table is determined as the target pitch angle. The pitch angle mapping table is a data table used to reflect the mapping relationship between the predicted pitch angle value and the target pitch angle.

[0095] In this embodiment, according to the first vehicle data, the predicted pitch angle value is calculated, and then the target pitch angle is determined by looking up the table according to the predicted pitch angle value, so as to achieve the purpose of determining the target pitch angle according to the first vehicle data collected in real time. The calculation process is simple and convenient, and it can ensure that the vehicle body pitch angle adjustment is adapted to its current vehicle working conditions, so as to ensure the ride comfort and driving safety of the vehicle. Moreover, the process does not need to rely on external devices to achieve the purpose of adjusting the vehicle body pitch angle, reducing the device cost. At the same time, the motor is applicable to various types of vehicles, with a wide range of applications.

[0096] In one embodiment, as Figure 3 shown, step S201, that is, based on the first vehicle data, determining the predicted pitch angle value, includes:

[0097] S301: Based on the current throttle opening, determine the first wheel-end torque;

[0098] S302: Based on the first wheel-end torque and the first vehicle data, determine the predicted pitch angle value.

[0099] Wherein, the current throttle opening refers to the throttle opening detected at the current moment. The first wheel-end torque refers to the torque value corresponding to the current throttle opening.

[0100] As an example, in step S301, the vehicle-mounted controller also obtains the current throttle opening of the vehicle, and according to the current throttle opening, queries the pre-set throttle torque mapping table, and determines the torque value corresponding to the current throttle opening in the throttle torque mapping table as the first wheel-end torque corresponding to the current throttle opening. The throttle torque mapping table here is a pre-set data table used to reflect the mapping relationship between the throttle opening and its corresponding wheel-end torque.

[0101] As an example, in step S302, the vehicle-mounted controller calculates the obtained first-round end torque and the first vehicle data to determine the predicted pitch angle value. As Figure 13 shown in the two-wheel model on a horizontal road surface, the vehicle-mounted controller can obtain the vertical forces Fz1 and Fz2 on the front and rear axles, the vehicle weight W, the vehicle mass M, the acceleration a, the displacements x1 and x2 of the upper parts of the front and rear springs, the tire rolling radius rw, the vehicle running resistance Ff, the suspension damping C, the suspension stiffness K and other first vehicle data. Then, based on the first-round end torque and the above first vehicle data, the following formula is used to calculate the predicted pitch angle value, that is, the predicted pitch angle value is the magnitude of the pitch angle calculated based on the first-round end torque and the first vehicle data.

[0102]

[0103] W = Fz1 + Fz2

[0104] W * d_a + m * a * height = Fz2 * d_base

[0105] Fz1 = k * x1 + c * x2

[0106] Fz2 = k * x2 + c * x2

[0107] In this embodiment, the corresponding first-round end torque can be determined by looking up a table according to the current throttle opening. Subsequently, based on the first-round end torque and the collected first vehicle data, the predicted pitch angle value can be obtained through calculation. Determining the predicted pitch angle value can facilitate and accurately understand the current pitch angle state of the vehicle, so that subsequent adjustments can be made based on this state to ensure the accuracy of pitch angle adjustment. Moreover, through the calculation of multiple data, the accuracy of the pitch angle adjustment process can be guaranteed, and the ride comfort and driving safety of the vehicle can be ensured.

[0108] In one embodiment, as Figure 4 shown, in step S202, the predicted pitch angle value is processed to determine the target pitch angle, including:

[0109] S401: Based on the first vehicle data, determine the current vehicle condition;

[0110] S402: Determine the pitch angle mapping table corresponding to the current vehicle condition as the target pitch angle mapping table;

[0111] S403: Query the target pitch angle mapping table according to the predicted pitch angle value to determine the target pitch angle.

[0112] Among them, the vehicle condition refers to the operating condition of the vehicle at the current moment. Specifically, the vehicle condition can be the condition that the distance from the vehicle to the object in front is too close during straight driving, the condition of accidentally stepping on or releasing the throttle during straight driving, and the condition of excessive throttle during cornering.

[0113] As an example, in step S401, the vehicle-mounted controller can determine the current vehicle condition based on the first vehicle data. That is, according to the first vehicle data, it can be determined whether the current vehicle is driving on a straight road or a curved road. At the same time, it can also be determined that when the vehicle is driving straight, whether it is in a condition of being too close to the object in front or in a condition of accidentally stepping on or releasing the accelerator pedal, or it can be determined whether the vehicle is in a condition of excessive accelerator when driving on a curved road. In this example, the current vehicle condition is determined based on the first vehicle data, so as to perform different pitch angle control operations according to different current vehicle conditions in the subsequent steps. This breaks through the situation of only adjusting in the condition of stationary parking, realizes the adjustment of the vehicle body pitch angle for diversified vehicle conditions, and makes the vehicle conditions for adjusting the vehicle body pitch angle more diverse.

[0114] The pitch angle mapping table is a data table used to reflect the mapping relationship between the predicted pitch angle and the target pitch angle.

[0115] As an example, in step S402, after the vehicle-mounted controller determines the current vehicle condition, it can determine the pitch angle mapping table corresponding to the current vehicle condition as the target pitch angle mapping table. After the vehicle-mounted controller determines the current vehicle condition, it can match the current vehicle condition with the configured vehicle conditions corresponding to different pre-set pitch angle mapping tables, and determine the pitch angle mapping table corresponding to the successfully matched configured vehicle condition as the target pitch angle mapping table. By matching the pitch angle mapping table according to the vehicle condition, it helps to ensure that the finally determined target pitch angle is more matched with the current vehicle condition, and further ensures the accuracy of the vehicle body pitch angle adjustment.

[0116] As an example, in step S403, the vehicle-mounted controller compares the predicted pitch angle with the target pitch angle mapping table to determine the target pitch angle corresponding to the predicted pitch angle under the current vehicle condition, so as to control the vehicle to reach the target pitch angle at the next moment and ensure that the adjusted pitch angle can finally reach a better state. For example, Figure 14 the target pitch angle mapping table corresponding to the second vehicle condition shown, Figure 15 the target pitch angle mapping table corresponding to the first vehicle condition (i.e., the condition of being too close to the object in front when driving straight) shown, or the target pitch angle mapping table corresponding to the third vehicle condition (i.e., the condition of excessive accelerator when driving on a curved road). Understandably, the overall shapes of the pitch angle mapping tables under the first vehicle condition and the third vehicle condition are similar.

[0117] In this embodiment, the vehicle-mounted controller first determines the current vehicle operating condition according to the first vehicle data, then obtains the target pitch angle mapping table corresponding to the current vehicle operating condition, and subsequently queries the target pitch angle mapping table according to the predicted pitch angle value to determine the target pitch angle, so that the determined target pitch angle matches its current vehicle operating condition, which helps to ensure the accuracy of the vehicle body pitch angle adjustment and ensure a higher adaptability of its pitch angle adjustment to the vehicle operating condition, so as to ensure the ride comfort and driving safety of the vehicle.

[0118] In one embodiment, the first vehicle data includes the current steering wheel angle and the current obstacle distance;

[0119] As Figure 5 shown, step S401, that is, based on the first vehicle data, determining the current vehicle operating condition, includes:

[0120] S501: If the current steering wheel angle is less than the preset steering wheel angle and the current obstacle distance is less than the preset obstacle distance, it is determined that the current vehicle operating condition is the first vehicle operating condition;

[0121] S502: If the current steering wheel angle is less than the preset steering wheel angle and the current obstacle distance is not less than the preset obstacle distance, it is determined that the current vehicle operating condition is the second vehicle operating condition;

[0122] S503: If the current steering wheel angle is not less than the preset steering wheel angle, it is determined that the current vehicle operating condition is the third vehicle operating condition.

[0123] Wherein, the current steering wheel angle refers to the angle value of the vehicle steering wheel rotation at the current moment. The preset steering wheel angle refers to the angle value preset for evaluating whether the steering wheel angle is small. The obstacle distance refers to the distance value between the vehicle and the obstacle in front at the current moment. The current obstacle distance refers to the distance value between the vehicle and the obstacle in front at the current moment. The preset obstacle distance refers to the distance value preset for evaluating whether the current obstacle distance is small.

[0124] Wherein, the first vehicle operating condition refers to the first vehicle running condition that requires pitch angle control, specifically referring to the condition that when the vehicle is driving straight, the distance between the vehicle and the object in front is too close. The second vehicle operating condition refers to the second vehicle running condition that requires pitch angle control, specifically referring to the condition that when the vehicle is driving straight, the driver's misoperation causes a rapid "step on" or "release" of the accelerator. The third vehicle operating condition refers to the third vehicle running condition that requires pitch angle control, specifically referring to the condition that when the vehicle is driving in a curve, the vehicle's accelerator is too large and the vehicle body "lifts up" too much.

[0125] As an example, in step S501, when the current steering wheel angle is less than the preset steering wheel angle and the current obstacle distance is less than the preset obstacle distance, the vehicle-mounted controller can determine that the vehicle is driving straight without turning and the distance between the vehicle and the obstacle ahead is relatively close. In the case of excessive vehicle throttle, the vehicle body is prone to a large "lifting" phenomenon. Therefore, the current vehicle condition can be determined as the first vehicle condition, so that the corresponding target pitch angle mapping table for the first vehicle condition can be queried based on the measured pitch angle later, and the corresponding target pitch angle can be determined, so as to ensure that after the vehicle body pitch angle is adjusted based on the target pitch angle, the vehicle body pitch angle can adapt to the actual situation of the first vehicle condition, and the vehicle body pitch angle adjustment can be adapted to the first vehicle condition, so as to ensure the ride comfort and driving safety of the vehicle.

[0126] As an example, in step S502, when the current steering wheel angle is less than the preset steering wheel angle and the current obstacle distance is not less than the preset obstacle distance, the vehicle-mounted controller can determine that the vehicle is driving straight without turning and the distance between the vehicle and the obstacle ahead is not close. In the case of the driver's misoperation resulting in a rapid "step on" or "release" of the throttle, the vehicle body is prone to a phenomenon of quickly changing from the "lifting" state to the "nodding" state. Therefore, the current vehicle condition can be determined as the second vehicle condition, so that the corresponding target pitch angle mapping table for the second vehicle condition can be queried based on the measured pitch angle later, and the corresponding target pitch angle can be determined, so as to ensure that after the vehicle body pitch angle is adjusted based on the target pitch angle, the vehicle body pitch angle can adapt to the actual situation of the second vehicle condition, and the vehicle body pitch angle adjustment can be adapted to the second vehicle condition, so as to ensure the ride comfort and driving safety of the vehicle.

[0127] As an example, in step S503, when the current steering wheel angle of the vehicle is not less than the preset steering wheel angle, it can be determined that the vehicle is driving on a curve. In the case of excessive vehicle throttle, the vehicle body is prone to a large "lifting" phenomenon. Therefore, the current vehicle condition can be determined as the third vehicle condition, so that the corresponding target pitch angle mapping table for the third vehicle condition can be queried based on the measured pitch angle later, and the corresponding target pitch angle can be determined, so as to ensure that after the vehicle body pitch angle is adjusted based on the target pitch angle, the vehicle body pitch angle can adapt to the actual situation of the third vehicle condition, and the vehicle body pitch angle adjustment can be adapted to the third vehicle condition, so as to ensure the ride comfort and driving safety of the vehicle.

[0128] In this embodiment, by comparing the current steering wheel angle and the current obstacle distance in the first vehicle data, three different vehicle operating conditions can be determined. According to the determined different vehicle operating conditions, it is convenient to query the target pitch angle mapping table according to different vehicle operating conditions subsequently. At the same time, when adjusting the vehicle body pitch angle, it is ensured that the finally adjusted vehicle body pitch angle is suitable for the actual situation of the current vehicle operating condition, and it can be ensured that the vehicle body pitch angle adjustment is adapted to the current vehicle operating condition, so as to ensure the ride comfort and driving safety of the vehicle.

[0129] In one embodiment, as Figure 6 shown, step S103, determining the target wheel-end torque based on the target pitch angle, includes:

[0130] S601: Determine the second wheel-end torque based on the target pitch angle;

[0131] S602: Determine the pitch angle difference based on the measured pitch angle and the target pitch angle;

[0132] S603: Correct the second wheel-end torque based on the pitch angle difference to obtain the target wheel-end torque.

[0133] Among them, the second wheel-end torque refers to the torque value calculated according to the target pitch angle, which is used to determine the torque value required for the current vehicle to adjust to the preset target state when adjusting the pitch angle.

[0134] As an example, in step S601, the vehicle-mounted controller calculates according to the obtained target pitch angle to determine the corresponding second wheel-end torque at the target pitch angle, and the second wheel-end torque can be calculated according to the calculation process shown in step S202. Calculating the second wheel-end torque is to enable the vehicle body pitch angle to be adjusted to the target state, ensuring that the pitch angle can be effectively adjusted in accordance with the vehicle operating condition.

[0135] Among them, the measured pitch angle refers to the pitch angle of the vehicle at the current moment calculated based on the vehicle data collected in real time. The pitch angle difference refers to the difference between the target pitch angle and the measured pitch angle.

[0136] As an example, in step S602, the vehicle-mounted controller calculates the received measured pitch angle and the target pitch angle to obtain the difference between the two, that is, the pitch angle difference. By obtaining the pitch angle difference, the adjustment of the pitch angle can be made more suitable for the current vehicle operating condition, and it can also avoid the problem that the pitch angle adjustment is not close enough to the driver's driving, reducing the discomfort of the driver's driving.

[0137] Among them, the target wheel-end torque refers to the torque value after correcting the second wheel-end torque, which is used to determine the torque value required for the vehicle to adjust to the state that best matches the current vehicle operating condition when adjusting the pitch angle.

[0138] As an example, in step S603, after the vehicle-mounted controller obtains the pitch angle difference, it performs PID adjustment on the pitch angle difference, calculates through the PID adjustment, and can determine the torque value to be corrected through the calculation process shown in step S202. Therefore, the torque of the second wheel end will be corrected, and the target wheel end torque after correcting the torque of the second wheel end can be obtained. As Figure 16 shown in the wheel end torque adjustment process, the torque is corrected by the pitch angle difference to ensure that the pitch angle control operation performed by the motor better conforms to the vehicle running state, that is, to achieve a higher degree of adaptation, and to ensure the safety of the vehicle pitch angle adjustment.

[0139] In this embodiment, the vehicle-mounted controller can determine the torque of the second wheel end through calculation according to the target pitch angle; then, the pitch angle difference is determined according to the measured pitch angle and the target pitch angle, and PID adjustment is performed on the pitch angle difference. After correcting the torque of the second wheel end, the magnitude of the target wheel end torque required for the motor operation can be determined, ensuring that the torque for the final pitch angle adjustment of the motor fits the current vehicle working condition, avoiding mistakes in the pitch angle adjustment, ensuring the safety of the driver, and maintaining a good driving feeling. By correcting the torque of the second wheel end, it is ensured that the pitch angle adjustment has a higher degree of adaptation to the current vehicle working condition, and can also effectively ensure the safety of the driver and avoid discomfort for the driver during driving.

[0140] In one embodiment, as Figure 7 shown, before step S101, that is, when the vehicle is in the pitch angle control mode and before obtaining the first vehicle data, the vehicle body pitch angle control method further includes:

[0141] S701: Obtain second vehicle data and determine whether the second vehicle data meets the pitch angle start control condition;

[0142] S702: If the second vehicle data meets the pitch angle start control condition, control the vehicle to enter the pitch angle control mode.

[0143] Among them, the second vehicle data is the vehicle data collected in real time and is the vehicle data collected before the first vehicle data. Specifically, it is the data used to evaluate whether it is necessary to start the vehicle body pitch angle control operation and is the condition for controlling the vehicle to enter the pitch angle control mode.

[0144] Among them, the pitch angle start control condition refers to the condition used to evaluate whether the second vehicle data meets the condition for starting the vehicle body pitch angle control function. By changing the motor to adjust the vehicle body pitch angle, the purpose of adjusting the vehicle body pitch angle without relying on external devices can be achieved, reducing the device cost and having a wider application range.

[0145] As an example, in step S701, the vehicle-mounted controller obtains the second vehicle data, which includes but is not limited to the current steering wheel angle, the current accelerator pedal depth, the current brake pedal depth, the vehicle weight, the center of mass height, the wheelbase, the distance from the center of mass to the front axle, and the current obstacle distance. By obtaining the second vehicle data, the vehicle-mounted controller comprehensively judges whether the subsequent vehicle enters the control of the body pitch angle based on multiple data, improves the accuracy of the control process, and ensures driving safety.

[0146] As an example, in step S702, the vehicle-mounted controller obtains the second vehicle data, and determines whether the current vehicle meets the pitch angle start control condition based on the second vehicle data collected according to the current vehicle condition, so as to determine whether to perform the body pitch angle control operation, that is, to determine whether it is necessary to control the vehicle to enter the pitch angle control mode. Specifically, if the second vehicle data meets the pitch angle start control condition, it is determined to perform the body pitch angle control operation, and the vehicle needs to be controlled to enter the pitch angle control mode; if the second vehicle data does not meet the pitch angle start control condition, it is determined not to perform the body pitch angle control operation, and there is no need to control the vehicle to enter the pitch angle control mode. Judging the second vehicle data ensures that the subsequent vehicle meets the current vehicle condition when adjusting the pitch angle, and through the investigation of a large amount of data, the driving safety of the driver can be guaranteed when adjusting the pitch angle.

[0147] In this embodiment, the vehicle-mounted controller determines whether the current vehicle can start the pitch angle adjustment function according to the second vehicle data. By judging the situation of whether the pitch angle of the current vehicle is started through a large amount of data, the accuracy of the body pitch angle adjustment is ensured, the adaptability of the body pitch angle adjustment to the current vehicle condition is guaranteed, and the safety problem of the driver is effectively guaranteed.

[0148] In one embodiment, as Figure 8 shown, step S701, that is, obtaining the second vehicle data and judging whether the second vehicle data meets the pitch angle start control condition, includes:

[0149] S801: Determine the current vehicle condition according to the current steering wheel angle and the current obstacle distance;

[0150] S802: Judge whether it meets the pitch angle start control condition corresponding to the current vehicle condition according to the second vehicle data.

[0151] As an example, step S801 is the same as the above step S401. To avoid repetition, it will not be elaborated here one by one.

[0152] As an example, in step S802, according to the second vehicle data, different pitch angle start control conditions under the current vehicle condition can be determined. Based on the determined different pitch angle start control conditions, the vehicle is controlled to enter the vehicle body pitch angle control mode, which facilitates subsequent adjustment of the pitch angle for different vehicle conditions and improves the accuracy of the vehicle's pitch angle adjustment.

[0153] In this embodiment, after the vehicle-mounted controller determines the current vehicle condition based on the current steering wheel angle and the current obstacle distance, it then queries and obtains the pitch angle start control condition corresponding to the current vehicle condition according to the current vehicle condition. Then, according to the second vehicle data, it is determined whether the pitch angle start control condition corresponding to the current vehicle condition is satisfied to determine whether the vehicle can start the pitch angle adjustment function. According to the second vehicle data, it is determined whether the pitch angle start control condition corresponding to the current vehicle condition is satisfied, so as to determine whether it is necessary to control the vehicle to enter the vehicle body pitch angle control mode under the current vehicle condition, ensure the accuracy of the vehicle body pitch angle adjustment, and ensure the adaptability of the vehicle body pitch angle adjustment to the vehicle condition, and effectively ensure the safety of the driver.

[0154] In one embodiment, as Figure 9 shown, step S802, that is, according to the second vehicle data, determining whether the pitch angle start control condition corresponding to the current vehicle condition is satisfied, includes:

[0155] S901: If the current throttle opening is greater than the first throttle opening threshold and the current brake pedal depth is zero, it is determined that the pitch angle start control condition corresponding to the first vehicle condition is satisfied;

[0156] S902: If the absolute value of the current throttle decrease rate is greater than the first rate threshold, the duration for which the throttle opening before the decrease is greater than the second throttle opening threshold is less than the first time threshold, and the throttle opening after the decrease is less than the third throttle opening threshold, it is determined that the pitch angle start control condition corresponding to the second vehicle condition is satisfied;

[0157] S903: If the current throttle increase rate is greater than the second rate threshold and the current brake pedal depth is zero, it is determined that the pitch angle start control condition corresponding to the third vehicle condition is satisfied.

[0158] Among them, the first throttle opening threshold is a threshold preset for determining whether the current throttle opening of the vehicle satisfies the pitch angle start control condition. The current brake pedal depth refers to the depth of depression of the current vehicle brake pedal.

[0159] As an example, in step S901, when the vehicle-mounted controller recognizes that the current throttle opening of the vehicle is greater than the first throttle opening threshold and the current brake pedal depth of the vehicle is zero, it determines that the vehicle is not braking, determines the second vehicle data, and satisfies the pitch angle start control condition corresponding to the first vehicle condition. Correspondingly, when the vehicle-mounted controller recognizes that the current throttle opening of the vehicle is not greater than the first throttle opening threshold, or the current brake pedal depth of the vehicle is not zero, it determines that the vehicle is braking at this time and does not satisfy the pitch angle start control condition corresponding to the first vehicle condition.

[0160] As Figure 17 shown, assuming that the current throttle opening is AccPdl and the first throttle opening threshold is AccPdl_thres_up1, if the second vehicle data of the first vehicle condition satisfies the pitch angle start control condition, the pitch angle control function is triggered at the trigger point.

[0161] Among them, the first rate threshold refers to a rate threshold preset for determining whether the current throttle decrease rate satisfies the pitch angle start control condition. The second throttle opening threshold refers to an opening threshold preset for determining whether the current throttle opening of the vehicle satisfies the pitch angle start control condition before the decrease.

[0162] Among them, the first time threshold refers to a time threshold preset for determining whether the duration of the current throttle opening satisfies the pitch angle start control condition. The third throttle opening threshold refers to an opening threshold preset for determining whether the throttle opening after the decrease satisfies the pitch angle start control condition.

[0163] As an example, in step S902, the vehicle-mounted controller compares the second vehicle data with the relevant thresholds corresponding to the preset second vehicle condition to determine whether it satisfies the pitch angle start control condition corresponding to the second vehicle condition. In this example, when the absolute value of the current throttle decrease rate is greater than the first rate threshold, and the duration of the throttle opening before the decrease is greater than the second throttle opening threshold and less than the first time threshold, and the throttle opening after the decrease is less than the third throttle opening threshold, it is determined that the second vehicle condition of the current vehicle satisfies the pitch angle start control condition. When the second vehicle data obtained by the vehicle-mounted controller shows that the absolute value of the current throttle decrease rate is not greater than the first rate threshold, the duration of the throttle opening before the decrease is greater than the second throttle opening threshold and less than the first time threshold, or the throttle opening after the decrease is less than the third throttle opening threshold, if one of the conditions is not satisfied, it means that the vehicle is not yet sufficient to start the pitch angle adjustment function at this time, and it is determined that the second vehicle condition of the current vehicle does not satisfy the pitch angle start control condition.

[0164] As Figure 18As shown, assume that the current throttle descent rate is AccPdl_Rate, the first rate threshold is Rate_threS102, the second throttle opening threshold is AccPdl_thres_up2, the duration is Δt, the first time threshold is t_thres, and the third throttle opening threshold is AccPdl_thres_down2. If the second vehicle data of the second vehicle condition meets the pitch angle start control condition, the pitch angle control function is triggered at the trigger point.

[0165] Among them, the second rate threshold refers to the rate threshold preset for determining whether the current throttle rise rate meets the pitch angle start control condition.

[0166] As an example, in step S903, when the second vehicle data obtained by the vehicle-mounted controller shows that the current throttle rise rate is greater than the second rate threshold and the current throttle pedal depth shows zero, it means that the vehicle is not braking at this time, and it is determined that the third vehicle condition of the current vehicle meets the pitch angle start control condition. When the second vehicle data obtained by the vehicle-mounted controller shows that the current throttle rise rate is not greater than the second rate threshold, or the current throttle pedal depth shows non-zero, it means that the vehicle is braking at this time. If one of the above conditions is not met, it means that the vehicle is not yet sufficient to start the pitch angle adjustment function at this time. Therefore, it is determined that the third vehicle condition of the current vehicle does not meet the pitch angle start control condition. As Figure 19 shown, assume that the current throttle opening rise rate is AccPdl_Rate, the second rate threshold is Rate_threS103, and the fourth throttle opening threshold is AccPdl_thres_up3. If the second vehicle data of the third vehicle condition meets the pitch angle start control condition, the pitch angle control function is triggered at the trigger point.

[0167] In this embodiment, if the vehicle-mounted controller recognizes that the current throttle opening is greater than the first throttle opening threshold and the current brake pedal depth is zero, it is determined that the pitch angle start control condition corresponding to the first vehicle condition is satisfied. If any of the above conditions is not established, it is determined that the pitch angle start control condition corresponding to the first vehicle condition is not satisfied, and the body pitch angle adjustment function cannot be started. If the vehicle-mounted controller recognizes that the absolute value of the current throttle decrease rate is greater than the first rate threshold, the duration for which the throttle opening before the decrease is greater than the second throttle opening threshold is less than the first time threshold, and the throttle opening after the decrease is less than the third throttle opening threshold, it is determined that the pitch angle start control condition corresponding to the second vehicle condition is satisfied. If any one of the factors does not meet the condition, it is determined that the pitch angle start control condition corresponding to the second vehicle condition is not satisfied, and the body pitch angle adjustment function cannot be started. If the vehicle-mounted controller recognizes that the current throttle increase rate is greater than the second rate threshold and the current brake pedal depth is zero, it is determined that the pitch angle start control condition corresponding to the third vehicle condition is satisfied. If any of the above conditions is not established, it is determined that the pitch angle start control condition corresponding to the third vehicle condition is not satisfied, and the body pitch angle adjustment function cannot be started. The vehicle-mounted controller collects and analyzes various data to ensure that the vehicle can safely activate the pitch angle adjustment function, improve the adaptability of the pitch angle adjustment to the vehicle condition, and also ensure the safety of the driver's driving.

[0168] In one embodiment, as Figure 10 shown, after step S104, that is, after controlling the motor to perform the pitch angle control operation based on the target wheel-end torque, the body pitch angle control method further includes:

[0169] S1001: Obtain the third vehicle data and determine whether the third vehicle data satisfies the pitch angle stop control condition;

[0170] S1002: If the third vehicle data satisfies the pitch angle stop control condition, control the vehicle to exit the pitch angle control mode.

[0171] Among them, the third vehicle data refers to the vehicle data collected in real time, which is the vehicle data collected after the first vehicle data. Specifically, it is the data used to evaluate whether it is necessary to end the body pitch angle control operation. The pitch angle stop control condition refers to the condition used to evaluate whether the third vehicle data meets the condition for exiting the body pitch angle control function, and is the condition used to control the vehicle to exit the pitch angle control mode.

[0172] As an example, in step S1001, the vehicle-mounted controller obtains third vehicle data, which includes but is not limited to the current steering wheel angle, the current accelerator pedal depth, the current brake pedal depth, the vehicle weight, the center of mass height, the wheelbase, the distance from the center of mass to the front axle, and the current obstacle distance. By obtaining the third vehicle data, the vehicle-mounted controller comprehensively judges whether the following vehicle exits the control of the body pitch angle through multiple data sources, improving the accuracy of the control process and ensuring driving safety.

[0173] As an example, in step S1002, the vehicle-mounted controller obtains third vehicle data. Based on the third vehicle data collected according to the current vehicle condition, it judges whether the current vehicle meets the pitch angle stop control condition, so as to determine whether to exit the pitch angle control mode and stop the body pitch angle control operation. If the third vehicle data meets the pitch angle stop control condition, it is determined to exit the pitch angle control mode and stop the body pitch angle control operation. If the third vehicle data does not meet the pitch angle stop control condition, it is determined not to exit the pitch angle control mode and continue the body pitch angle control operation. Judging the third vehicle data can ensure the safety of the driver during the pitch angle adjustment through the investigation of a large amount of data.

[0174] In this embodiment, the vehicle-mounted controller judges whether the current vehicle can exit the pitch angle adjustment function according to the third vehicle data. By judging whether the pitch angle of the current vehicle stops adjusting through a large amount of data, it ensures the accuracy of the body pitch angle adjustment, the adaptability of the body pitch angle adjustment to the current vehicle condition, and effectively guarantees the safety of the driver.

[0175] In one embodiment, in one embodiment, the third vehicle data includes the current brake pedal depth and the first operation data;

[0176] Step S1001, judging whether the third vehicle data meets the pitch angle stop control condition includes:

[0177] If the current brake pedal depth is greater than zero, it is judged that the first operation data meets the pitch angle stop control condition.

[0178] Wherein, the first operation data refers to the data used to determine whether the vehicle meets the pitch angle stop control condition at the current moment.

[0179] As an example, if the vehicle-mounted controller recognizes that the current brake pedal depth is greater than zero, it means that the vehicle has a braking operation at this time. At the same time, if the vehicle-mounted controller recognizes that the first operation data meets the pitch angle stop control condition, it will control the motor to stop performing the pitch angle control operation, ensuring that the pitch angle adjustment operation matches the current vehicle condition, avoiding excessive adjustment threatening the driver's safety, and avoiding the driver having a bad driving experience.

[0180] In one embodiment, as Figure 11 shown, step S1001, that is, determining that the first operating data meets the pitch angle stop control condition, includes:

[0181] S1101: Determine the current vehicle condition according to the current steering wheel angle and the current obstacle distance;

[0182] S1102: Determine whether the pitch angle stop control condition corresponding to the current vehicle condition is met according to the first operating data.

[0183] As an example, step S1101 is the same as the above step S401. To avoid repetition, it will not be elaborated here one by one.

[0184] As an example, the vehicle-mounted controller can determine whether the vehicle can stop pitch angle adjustment under the current vehicle condition according to the first operating data, and determine whether to stop pitch angle adjustment according to the first operating data, and control the vehicle to exit the vehicle body pitch angle control mode, which can effectively ensure the safety of the driver and improve the accuracy of the vehicle's pitch angle adjustment.

[0185] In this embodiment, after the vehicle-mounted controller determines the current vehicle condition according to the current steering wheel angle and the current obstacle distance, then according to the current vehicle condition, query and obtain the pitch angle stop control condition corresponding to the current vehicle condition, and then determine whether the first operating data meets the pitch angle stop control condition corresponding to the current vehicle condition to determine whether the vehicle can stop the pitch angle adjustment function. Determine whether the first operating data meets the pitch angle stop control condition corresponding to the current vehicle condition, so as to determine whether it is necessary to control the vehicle to exit the vehicle body pitch angle control mode under the current vehicle condition, ensure the accuracy of the vehicle body pitch angle adjustment, and ensure the adaptability of the vehicle body pitch angle adjustment to the vehicle condition, and effectively ensure the safety of the driver.

[0186] In one embodiment, as Figure 12 shown, step S1102, that is, determining whether the pitch angle stop control condition corresponding to the current vehicle condition is met according to the first operating data, includes:

[0187] S1201: If the current obstacle distance is not less than the preset obstacle distance, or the measured pitch angle at the next moment is not greater than the target pitch angle, it is determined that the pitch angle stop control condition corresponding to the first vehicle condition is met;

[0188] S1202: If the current throttle pedal depth is greater than zero, or the measured pitch angle at the current moment is greater than the target pitch angle, it is determined that the pitch angle stop control condition corresponding to the second vehicle condition is met;

[0189] S1203: If the current steering wheel angle is less than the preset steering wheel angle, or the measured pitch angle at the current moment is not greater than the target pitch angle, it is determined that the pitch angle stop control condition corresponding to the third vehicle condition is met.

[0190] As an example, in step S1201, if the vehicle-mounted controller recognizes that the current obstacle distance is not less than the preset distance, or the vehicle-mounted controller recognizes that the measured pitch angle at the next moment is not greater than the target pitch angle, it is determined that the vehicle does not meet the pitch angle stop control condition corresponding to the first vehicle condition at this time. Therefore, the vehicle-mounted controller will control the motor to stop performing the pitch angle control operation under the first vehicle condition. By determining whether multiple pieces of data meet the pitch angle control condition, the interference with the driver's driving is reduced, the situation of misoperation is avoided, and the pitch angle adjustment is more in line with the vehicle condition.

[0191] As an example, in step S1202, if the vehicle-mounted controller recognizes that the current throttle pedal depth is greater than zero, or the vehicle-mounted controller recognizes that the measured pitch angle at the current moment is not less than the target pitch angle, it is determined that the vehicle does not meet the pitch angle stop control condition corresponding to the second vehicle condition at this time. Therefore, the vehicle-mounted controller will control the motor to stop performing the pitch angle control operation under the second vehicle condition. By determining whether multiple pieces of data meet the pitch angle control condition, the interference with the driver's driving is reduced, the situation of misoperation is avoided, and the pitch angle adjustment is more in line with the vehicle condition.

[0192] As an example, in step S1203, if the vehicle-mounted controller recognizes that the current steering wheel angle is less than the preset steering wheel angle, or the vehicle-mounted controller recognizes that the measured pitch angle at the current moment is not greater than the target pitch angle, it is determined that the vehicle does not meet the pitch angle stop control condition corresponding to the third vehicle condition at this time. Therefore, the vehicle-mounted controller will control the motor to stop performing the pitch angle control operation under the third vehicle condition. By determining whether multiple pieces of data meet the pitch angle control condition, the interference with the driver's driving is reduced, the situation of misoperation is avoided, and the pitch angle adjustment is more in line with the vehicle condition.

[0193] In this embodiment, if different vehicle conditions do not meet the conditions for the pitch angle control operation, the vehicle-mounted controller will stop controlling the pitch angle adjustment function. The vehicle-mounted controller determines whether pitch angle adjustment is required by obtaining multiple pieces of data, ensuring the accuracy of the pitch angle adjustment, improving the adaptability of the pitch angle adjustment to the vehicle condition, avoiding adjustment errors caused by the evaluation of a single piece of data, and giving the driver a better experience.

[0194] A vehicle-mounted controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the vehicle body pitch angle control method in the above embodiment.

[0195] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements the video transmission processing method in the above embodiment, for example Figure 1 S101 - S104 shown, or Figures 2 to 12 as shown in, to avoid repetition, it will not be elaborated here.

[0196] In one embodiment, a computer - readable storage medium is provided. A computer program is stored on the computer - readable storage medium. When the computer program is executed by a processor, it implements the information encryption and transmission method in the above embodiment, for example Figure 1 S101 - S104 shown, or Figures 2 to 12 as shown in, to avoid repetition, it will not be elaborated here.

[0197] A vehicle includes the in - vehicle controller in the above embodiment.

[0198] Those of ordinary skill in the art can understand that all or part of the processes in implementing the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non - volatile computer - readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to the memory, storage, database, or other media used in the various embodiments provided in the present application can include non - volatile and / or volatile memories. Non - volatile memory can include read - only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double - data - rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0199] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above.

[0200] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A vehicle body pitch angle control method, characterized in that, Including: When the vehicle is in the pitch angle control mode, obtain the first vehicle data; Based on the first vehicle data, determine the target pitch angle; Based on the target pitch angle, determine the target wheel end torque; Based on the target wheel end torque, control the motor to perform the pitch angle control operation.

2. The vehicle body pitch angle control method according to claim 1, characterized in that The determining the target pitch angle based on the first vehicle data includes: Based on the first vehicle data, determine the predicted pitch angle value; Process the predicted pitch angle value to determine the target pitch angle.

3. The vehicle body pitch angle control method according to claim 2, wherein The determining the measured pitch angle based on the first vehicle data includes: Based on the current throttle opening, determine the first wheel end torque; Based on the first wheel end torque and the first vehicle data, determine the predicted pitch angle value.

4. The vehicle body pitch angle control method according to claim 2, wherein The processing the predicted pitch angle value to determine the target pitch angle includes: Based on the first vehicle data, determine the current vehicle working condition; Determine the pitch angle mapping table corresponding to the current vehicle working condition as the target pitch angle mapping table; Query the target pitch angle mapping table according to the predicted pitch angle value to determine the target pitch angle.

5. The vehicle body pitch angle control method according to claim 4, characterized in that The first vehicle data includes the current steering wheel angle and the current obstacle distance; The determining the current vehicle working condition based on the first vehicle data includes: If the current steering wheel angle is less than the preset steering wheel angle and the current obstacle distance is less than the preset obstacle distance, determine that the current vehicle working condition is the first vehicle working condition; If the current steering wheel angle is less than the preset steering wheel angle and the current obstacle distance is not less than the preset obstacle distance, determine that the current vehicle working condition is the second vehicle working condition; If the current steering wheel angle is not less than the preset steering wheel angle, determine that the current vehicle working condition is the third vehicle working condition.

6. The vehicle body pitch angle control method according to claim 1, wherein The determining the target wheel end torque based on the target pitch angle includes: Based on the target pitch angle, determine the second wheel end torque; Based on the measured pitch angle and the target pitch angle, determine the pitch angle difference; Correct the second wheel end torque based on the pitch angle difference to obtain the target wheel end torque.

7. The vehicle body pitch angle control method according to any one of claims 1-6, characterized in that, Before obtaining the first vehicle data when the vehicle is in the pitch angle control mode, the vehicle body pitch angle control method further includes: Obtain the second vehicle data and judge whether the second vehicle data meets the pitch angle start control condition; If the second vehicle data meets the pitch angle start control condition, control the vehicle to enter the pitch angle control mode.

8. The vehicle body pitch angle control method according to claim 7, wherein The second vehicle data includes the current steering wheel angle and the current obstacle distance; The obtaining the second vehicle data and judging whether the second vehicle data meets the pitch angle start control condition includes: According to the current steering wheel angle and the current obstacle distance, determine the current vehicle working condition; According to the second vehicle data, judge whether it meets the pitch angle start control condition corresponding to the current vehicle working condition.

9. The vehicle body pitch angle control method according to claim 8, characterized in that, The judging whether it meets the pitch angle start control condition corresponding to the current vehicle working condition according to the second vehicle data includes: If the current throttle opening is greater than the first throttle opening threshold and the current brake pedal depth is zero, it is determined that the pitch angle start control condition corresponding to the first vehicle condition is satisfied; If the absolute value of the current throttle decrease rate is greater than the first rate threshold, the duration for which the throttle opening before the decrease is greater than the second throttle opening threshold is less than the first time threshold, and the throttle opening after the decrease is less than the third throttle opening threshold, it is determined that the pitch angle start control condition corresponding to the second vehicle condition is satisfied; If the current throttle increase rate is greater than the second rate threshold and the current brake pedal depth is zero, it is determined that the pitch angle start control condition corresponding to the third vehicle condition is satisfied.

10. The vehicle body pitch angle control method according to any one of claims 1-6, characterized in that, After controlling the motor to perform the pitch angle control operation based on the target wheel-end torque, the vehicle body pitch angle control method further includes: Obtaining third vehicle data and determining whether the third vehicle data satisfies the pitch angle stop control condition; If the third vehicle data satisfies the pitch angle stop control condition, the vehicle is controlled to exit the pitch angle control mode.

11. The vehicle body pitch angle control method according to claim 10, wherein the third vehicle data includes the current brake pedal depth and the first operation data; the determining whether the third vehicle data satisfies the pitch angle stop control condition includes: if the current brake pedal depth is greater than zero, it is determined that the first operation data satisfies the pitch angle stop control condition.

12. The vehicle body pitch angle control method according to claim 11, wherein the determining that the first operation data satisfies the pitch angle stop control condition includes: determining the current vehicle condition according to the current steering wheel angle and the current obstacle distance; judging whether the first operation data satisfies the pitch angle stop control condition corresponding to the current vehicle condition according to the first operation data.

13. The vehicle body pitch angle control method according to claim 12, wherein the judging whether the first operation data satisfies the pitch angle stop control condition corresponding to the current vehicle condition includes: if the current obstacle distance is not less than the preset obstacle distance or the measured pitch angle at the next moment is not greater than the target pitch angle, it is determined that the pitch angle stop control condition corresponding to the first vehicle condition is satisfied; if the current throttle pedal depth is greater than zero or the measured pitch angle at the current moment is greater than the target pitch angle, it is determined that the pitch angle stop control condition corresponding to the second vehicle condition is satisfied; if the current steering wheel angle is less than the preset steering wheel angle or the measured pitch angle at the current moment is not greater than the target pitch angle, it is determined that the pitch angle stop control condition corresponding to the third vehicle condition is satisfied.

14. A vehicle-mounted controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the vehicle body pitch angle control method according to any one of claims 1-13 above is implemented.

15. A vehicle, characterized in that, Including the vehicle-mounted controller in claim 14 above.

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