Vehicle control method, device and equipment and storage medium

Abstract

The embodiment of the invention provides a vehicle control method and device, equipment and a storage medium, and relates to the technical field of automobiles. The method comprises the following steps: acquiring first driving information of a vehicle; wherein the first driving information is used for indicating the current driving state of the vehicle; determining first control information of the vehicle and an expected pitch angle of the vehicle according to the first driving information; wherein the first control information is used for determining a torque distribution proportion; controlling the vehicle to run according to a torque distribution proportion determined by the first control information, and acquiring second running information of the vehicle in real time; wherein the second driving information is used for indicating the motion state of the vehicle body; and after the actual pitch angle of the vehicle is determined according to the second driving information, the vehicle is controlled to run according to the expected pitch angle and the actual pitch angle. The method is used for timely and effectively carrying out anti-pitching control on the vehicle, so that the vehicle control effect is improved, and the driving experience of a user is improved.

Description

Technical Field

[0001] This application relates to the field of automotive technologies, and in particular, to a vehicle control method, apparatus, device, and storage medium. Background Art

[0002] In the field of automotive technologies, the suspension parameters can be adjusted through active suspension technology to ensure the stability and comfort of vehicle driving.

[0003] Exemplarily, when the vehicle generates a pitching motion, the suspension parameters are mainly adjusted according to the current pitching state of the vehicle, so as to achieve anti-pitching control of the vehicle, thereby ensuring the stability and comfort of vehicle driving.

[0004] However, this control method is relatively single, resulting in a certain delay in vehicle control. Under complex working conditions, the vehicle cannot be controlled stably in a timely and effective manner, thus affecting the vehicle control effect and the driving experience of users. Summary of the Invention

[0005] Embodiments of this application provide a vehicle control method, apparatus, device, and storage medium, so as to achieve timely and effective anti-pitching control of the vehicle, thereby improving the vehicle control effect and the driving experience of users.

[0006] In a first aspect, embodiments of this application provide a vehicle control method, and the method includes:

[0007] Obtain first driving information of the vehicle; wherein, the first driving information is used to indicate the current driving state of the vehicle;

[0008] According to the first driving information, determine first control information of the vehicle and a desired pitching angle of the vehicle; wherein, the first control information is used to determine a torque distribution ratio;

[0009] Control the vehicle to travel according to the torque distribution ratio determined by the first control information, and obtain second driving information of the vehicle in real time; wherein, the second driving information is used to indicate the motion state of the vehicle body;

[0010] After determining the actual pitching angle of the vehicle according to the second driving information, control the vehicle to travel according to the desired pitching angle and the actual pitching angle.

[0011] Optionally, the first driving information includes a control torque of the vehicle; according to the first driving information, determining the first control information of the vehicle includes:

[0012] Perform calculation processing on the control torque according to a first prediction model to obtain a predicted pitching angle of the vehicle;

[0013] Determine the torque distribution ratio of the control torque of the vehicle according to the predicted pitch angle of the vehicle and the driving state of the vehicle.

[0014] Optionally, the driving state of the vehicle includes a driving type and driving parameters; determining the torque distribution ratio of the control torque of the vehicle according to the predicted pitch angle of the vehicle and the driving state of the vehicle includes:

[0015] Determine the driving ratio corresponding to each side drive of the vehicle according to the predicted pitch angle, the driving type, and the driving parameters to obtain the first control information; or,

[0016] Obtain a preset ratio distribution table; wherein, the preset ratio distribution table includes a mapping relationship between a predicted pitch angle and a preset adjustment ratio; determine the driving ratio corresponding to each side drive of the vehicle according to the preset ratio distribution table and the driving parameters to obtain the first control information.

[0017] Optionally, the first control information includes a driving ratio; controlling the vehicle to travel according to the torque distribution ratio determined according to the first control information includes:

[0018] Determine the torque distribution ratio corresponding to the front-wheel drive and / or the rear-wheel drive of the vehicle according to the driving ratio included in the first control information;

[0019] Adjust the control torque of the vehicle according to the torque distribution ratio corresponding to the front-wheel drive and / or the rear-wheel drive to control the vehicle to travel.

[0020] Optionally, the first driving information includes vehicle driving mode information, vehicle attribute information, and vehicle driving parameter information; determining the desired pitch angle of the vehicle according to the first driving information includes:

[0021] Determine the target pitch torque corresponding to the vehicle according to the vehicle driving mode information;

[0022] Determine the desired pitch angle of the vehicle according to the target pitch torque, the vehicle attribute information, the vehicle driving parameter information, and a second prediction model.

[0023] Optionally, controlling the vehicle to travel according to the desired pitch angle and the actual pitch angle includes:

[0024] Determine the pitch angle difference between the desired pitch angle and the actual pitch angle control;

[0025] If the pitch angle difference meets the feedback control requirements, control the vehicle to travel according to the pitch angle difference.

[0026] Optionally, controlling the vehicle according to the pitch angle difference includes:

[0027] Determining second control information of the vehicle according to the pitch angle difference; wherein, the second control information is used to indicate stiffness adjustment information and / or damping adjustment information;

[0028] Controlling the vehicle to travel according to the stiffness adjustment information and / or the damping adjustment information.

[0029] In a second aspect, an embodiment of the present application provides a vehicle control device, the device includes:

[0030] An acquisition unit, configured to acquire first driving information of the vehicle; wherein, the first driving information is used to indicate the current driving state of the vehicle;

[0031] A determination unit, configured to determine first control information of the vehicle and a desired pitch angle of the vehicle according to the first driving information; wherein, the first control information is used to determine a torque distribution ratio;

[0032] A first control unit, configured to control the vehicle to travel according to the torque distribution ratio determined by the first control information, and acquire second driving information of the vehicle in real time; wherein, the second driving information is used to indicate the motion state of the vehicle body;

[0033] A second control unit, configured to control the vehicle to travel according to the desired pitch angle and the actual pitch angle after determining the actual pitch angle of the vehicle according to the second driving information.

[0034] Optionally, the first driving information includes the control torque of the vehicle; the determination unit is configured to:

[0035] Perform calculation processing on the control torque according to a first prediction model to obtain a predicted pitch angle of the vehicle;

[0036] Determine the torque distribution ratio of the control torque of the vehicle according to the predicted pitch angle of the vehicle and the driving state of the vehicle.

[0037] Optionally, the driving state of the vehicle includes a driving type and driving parameters; the determination unit is configured to:

[0038] Determine the driving ratio corresponding to each side drive of the vehicle according to the predicted pitch angle, the driving type and the driving parameters, to obtain the first control information; or,

[0039] Obtain a preset ratio allocation table; wherein, the preset ratio allocation table includes the mapping relationship between the predicted pitch angle and the preset adjustment ratio; according to the preset ratio allocation table and the driving parameters, determine the driving ratio corresponding to each side drive of the vehicle to obtain the first control information.

[0040] Optionally, the first control information includes a driving ratio; a first control unit, configured to:

[0041] Determine the torque distribution ratio corresponding to the front-wheel drive and / or the rear-wheel drive of the vehicle according to the driving ratio included in the first control information;

[0042] Adjust the control torque of the vehicle according to the torque distribution ratio corresponding to the front-wheel drive and / or the rear-wheel drive to control the driving of the vehicle.

[0043] Optionally, the first driving information includes vehicle driving mode information, vehicle attribute information, and vehicle driving parameter information; a determining unit, configured to:

[0044] Determine the target pitch torque corresponding to the vehicle according to the vehicle driving mode information;

[0045] Determine the expected pitch angle of the vehicle according to the target pitch torque, the vehicle attribute information, the vehicle driving parameter information, and a second prediction model.

[0046] Optionally, a second control unit, configured to:

[0047] Determine the pitch angle difference between the expected pitch angle and the actual pitch angle control;

[0048] If the pitch angle difference meets the feedback control requirements, control the driving of the vehicle according to the pitch angle difference.

[0049] Optionally, a second control unit, configured to:

[0050] Determine the second control information of the vehicle according to the pitch angle difference; wherein, the second control information is used to indicate stiffness adjustment information and / or damping adjustment information;

[0051] Control the driving of the vehicle according to the stiffness adjustment information and / or the damping adjustment information.

[0052] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0053] The memory stores computer execution instructions;

[0054] The processor executes the computer-executable instructions stored in the memory, such that the processor executes the first aspect and / or various possible implementation manners of the first aspect as described above.

[0055] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, they are used to implement the first aspect and / or various possible implementation manners of the first aspect as described above.

[0056] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the first aspect and / or various possible implementation manners of the first aspect as described above.

[0057] The vehicle control method, device, equipment and storage medium provided by the embodiments of the present application can acquire the first driving information of the vehicle; and determine the first control information of the vehicle and the desired pitch angle of the vehicle according to the first driving information. At this time, the vehicle can be controlled to drive according to the torque distribution ratio determined by the first control information first, so that the control torque of the vehicle can be adjusted according to the current driving state of the vehicle, thereby realizing the feedforward control of the vehicle, and thus timely coping with the pitch movement of the vehicle, not only reducing the delay of the vehicle's anti-pitch, but also being able to timely cope with the pitch movement of the vehicle under the conditions of rapid acceleration or rapid deceleration. After that, the second driving information of the vehicle can be acquired in real time, and the actual pitch angle of the vehicle can be determined according to the second driving information. Then, the vehicle can be controlled to drive according to the desired pitch angle and the actual pitch angle. At this time, the feedback control of the vehicle can be realized through the desired pitch angle and the actual pitch angle, so that the precise control of the vehicle can be realized according to the desired pitch angle, and the anti-pitch effect of the vehicle is ensured. In the above-mentioned implementation manner, through the combination of feedforward control and feedback control, the anti-pitch movement of the vehicle is made more timely and precise, thereby improving the driving comfort and stability, and thus enhancing the user's driving experience. Description of the Drawings

[0058] The drawings here are incorporated into the description and form a part of this description, showing the embodiments consistent with the present application, and are used together with the description to explain the principles of the present application.

[0059] Figure 1 It is a schematic flowchart of a vehicle control method provided by an embodiment of the present application;

[0060] Figure 2 It is a schematic flowchart of another vehicle control method provided by an embodiment of the present application;

[0061] Figure 3 It is a schematic implementation flowchart of a vehicle control method provided by an embodiment of the present application;

[0062] Figure 4 A schematic diagram of the architecture of a control system corresponding to a vehicle control method provided by an embodiment of the present application;

[0063] Figure 5 A schematic diagram of the structure of a vehicle control device provided by an embodiment of the present application;

[0064] Figure 6 A schematic diagram of the structure of another vehicle control device provided by an embodiment of the present application;

[0065] Figure 7 A schematic diagram of the structure of an electronic device provided by an embodiment of the present application.

[0066] Through the above-mentioned drawings, specific embodiments of the present application have been shown, and there will be more detailed descriptions hereinafter. These drawings and text descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Detailed Description of Specific Embodiments

[0067] Here, exemplary embodiments will be described in detail, and their examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0068] The term "and / or" in this article only describes an association relationship and means that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" in this article means any one of multiple or any combination of at least two of multiple. For example, including at least one of A, B, and C can represent including any one or more elements selected from the set composed of A, B, and C.

[0069] During the acceleration or deceleration of the vehicle, the center of mass of the vehicle shifts, which in turn causes the pitch angle of the vehicle to change, thereby affecting the stability of vehicle control and the comfort of vehicle riding.

[0070] Generally, the vehicle suspension parameters can be adjusted according to the current pitch state of the vehicle, so as to suppress the pitch motion of the vehicle, maintain the stability of the vehicle, and ensure the comfort of vehicle driving.

[0071] However, this control method is relatively single, resulting in a problem of control lag in the case of rapid changes in vehicle state. For example, in a low-acceleration state, there may be over-intervention, and in a high-acceleration state, there may be a problem of being unable to cancel the pitching motion in time, thus affecting the vehicle control effect, the driving comfort of the vehicle, and further affecting the driving experience of the user.

[0072] The vehicle control method provided by this application can generate first control information according to the driving intention of the driver (that is, the control torque of the vehicle), and thus control the vehicle in advance according to the torque distribution ratio determined by the first control information to cancel at least part of the pitching force, and then control the vehicle according to the actual pitching angle and the desired pitching angle of the vehicle, so as to be able to perform pitching control on the vehicle in a timely, accurate and efficient manner, thereby improving the pitching resistance performance of the vehicle and solving the above technical problems.

[0073] The technical solution of this application and how the technical solution of this application solves the above technical problems will be described in detail below with specific embodiments. These specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will be described below with reference to the drawings.

[0074] Figure 1 It is a schematic flow chart of a vehicle control method provided by an embodiment of this application. As Figure 1 shown, the method includes:

[0075] S101. Obtain the first driving information of the vehicle.

[0076] Among them, the first driving information is used to indicate the current driving state of the vehicle.

[0077] In one example, the current driving state of the vehicle can indicate at least one of the following information: the braking state of the vehicle, the driving state of the vehicle, the driving information of the vehicle, the attribute information of the vehicle, etc.

[0078] Among them, the driving state of the vehicle can be determined according to the driving torque of the vehicle. At this time, the driving torque of the vehicle can be determined according to the opening degree of the vehicle's throttle pedal; or, the change rate of the driving torque can also be determined according to the change rate of the opening degree of the vehicle's throttle pedal; or, the acceleration of the vehicle's drive can also be determined according to the driving torque of the vehicle.

[0079] The braking state of the vehicle can be determined according to the braking torque of the vehicle. At this time, the braking torque of the vehicle can be determined according to the depression depth of the vehicle's brake pedal, or the change rate of the braking torque can also be determined according to the change rate of the depression depth of the vehicle's brake pedal; or, the acceleration of the vehicle's braking can also be determined according to the braking torque of the vehicle.

[0080] Among them, the driving information of the vehicle can indicate at least one of the following information: driving style, driving habit, etc. For example, the driving style can be a smooth style, a dynamic style, etc., and the driving habit can be low-speed driving, high-speed driving, etc.

[0081] Among them, the attribute information of the vehicle can indicate at least one of the following information: vehicle mass, vehicle center of mass height, vehicle suspension parameters, etc.

[0082] At this time, the driving intention of the driver can be determined according to the first driving information, and then a feedforward prediction can be made according to the driving intention of the driver, so as to realize the early control of the vehicle to offset the pitching motion of the vehicle. For the specific process, reference can be made to the process described below.

[0083] S102. Determine the first control information of the vehicle and the desired pitch angle of the vehicle according to the first driving information.

[0084] Among them, the first control information is used to determine the torque distribution ratio.

[0085] In one example, the torque distribution ratio can be used to adjust the distribution of the control torque of the vehicle, so as to better control the vehicle to offset the pitching motion of the vehicle.

[0086] In one example, the desired pitch angle of the vehicle can indicate the desired pitch angle that matches the current driving state of the user. For example, the desired pitch angle can be 0, or it can be non-zero. The value of the desired pitch angle is not limited here, and it is subject to meeting the current driving needs of the user.

[0087] S103. Control the vehicle to travel according to the torque distribution ratio determined by the first control information, and obtain the second driving information of the vehicle in real time.

[0088] Among them, the second driving information is used to indicate the motion state of the vehicle body.

[0089] In one example, the control torque of the vehicle can be adjusted according to the torque distribution ratio determined by the first control information, so as to control the vehicle to travel.

[0090] In one example, the second driving information of the vehicle can be obtained according to the body swing angle sensor installed on the vehicle and / or according to the suspension vertical displacement sensor installed on the vehicle. At this time, the second driving information can include at least one of the following information: vehicle angular velocity, vehicle front axle vertical displacement, vehicle rear axle vertical displacement, etc.

[0091] S104. After determining the actual pitch angle of the vehicle according to the second driving information, control the vehicle to travel according to the desired pitch angle and the actual pitch angle.

[0092] In one example, the actual pitch angle of the vehicle can be determined based on the vehicle angular velocity obtained by the vehicle body roll angle sensor.

[0093] In one example, the actual pitch angle of the vehicle can also be determined based on the data obtained by the suspension vertical displacement sensor. For example, the actual pitch angle of the vehicle can be determined based on the vertical displacement of the front axle suspension of the vehicle, the vertical position of the rear axle suspension of the vehicle, and the wheelbase between the front axle suspension and the rear axle suspension of the vehicle.

[0094] In one example, the actual pitch angle of the vehicle determined based on the data obtained by the vehicle body roll angle sensor and the actual pitch angle of the vehicle determined based on the data obtained by the suspension vertical displacement sensor can be weighted and summed to determine the actual pitch angle.

[0095] In one example, after determining the desired pitch angle and the actual pitch angle of the vehicle, the vehicle can be controlled to travel according to the difference between the desired pitch angle and the actual pitch angle, so that the vehicle meets the driving needs of the user.

[0096] As can be seen from the above description, in the embodiments of the present application, the first driving information of the vehicle can be obtained; and based on the first driving information, the first control information of the vehicle and the desired pitch angle of the vehicle can be determined. At this time, the vehicle can be controlled to travel according to the torque distribution ratio determined by the first control information, so that the control torque of the vehicle can be adjusted according to the current driving state of the vehicle, thereby realizing the feedforward control of the vehicle, and thus timely responding to the pitch movement of the vehicle, not only reducing the delay of the vehicle's anti-pitch, but also being able to timely respond to the pitch movement of the vehicle under the conditions of rapid acceleration or rapid deceleration. After that, the second driving information of the vehicle can be obtained in real time, and based on the second driving information, the actual pitch angle of the vehicle can be determined. After that, the vehicle can be controlled to travel according to the desired pitch angle and the actual pitch angle. At this time, the feedback control of the vehicle can be realized through the desired pitch angle and the actual pitch angle, so that the vehicle can be accurately controlled according to the desired pitch angle, and the anti-pitch effect of the vehicle is ensured. In the above embodiments, through the method of feedforward control plus feedback control, the anti-pitch movement of the vehicle is made more timely and accurate, thereby improving the driving comfort and stability, and thus improving the driving experience of the user.

[0097] Figure 2 It is a schematic flow chart of another vehicle control method provided by the embodiments of the present application. As Figure 2 shown, on the basis of the Figure 1 embodiment, the vehicle control method is described in detail. The method includes:

[0098] S201. Obtain the first driving information of the vehicle.

[0099] Among them, the first driving information is used to indicate the current driving state of the vehicle.

[0100] In one example, this step can refer to the content described in S101 above, and will not be elaborated here in detail.

[0101] In the embodiment of the present application, after obtaining the first driving information of the vehicle, the first control information of the vehicle can be determined according to the first driving information.

[0102] Based on this, in a possible implementation manner, the first driving information includes the control torque of the vehicle. Optionally, the control torque may include a braking torque or a driving torque. At this time, when determining the first control information of the vehicle (the first control information is used to determine the torque distribution ratio) according to the first driving information, the content described in S202 to S203 below can be referred to.

[0103] S202. Calculate and process the control torque according to the first prediction model to obtain the predicted pitch angle of the vehicle.

[0104] In one example, the first prediction model can be understood as a longitudinal coupling model. At this time, the control torque can be calculated and processed according to the first prediction model, so that the pitch angle of the vehicle can be determined according to the longitudinal information of the vehicle.

[0105] In one example, the first prediction model can be shown as the following formula (1).

[0106]

[0107] Among them, θ1 represents the predicted pitch angle, η represents the control torque conversion factor. For example, the value can be 0.9, F represents the control torque, K θ represents the suspension pitch stiffness, r represents the rolling radius of the wheel, h cg represents the height of the vehicle's center of mass.

[0108] This implementation manner can determine the predicted pitch angle of the vehicle according to the first driving information, so as to make a pre-judgment according to the driving intention of the vehicle, obtain the predicted pitch angle, and thus can perform anti-pitch control on the vehicle in advance to avoid the problem of unstable vehicle control caused by anti-pitch delay.

[0109] S203. Determine the torque distribution ratio of the control torque of the vehicle according to the predicted pitch angle of the vehicle and the driving state of the vehicle.

[0110] Optionally, the driving state of the vehicle may include a driving type and driving parameters. At this time, in one way, the driving ratio corresponding to each side drive of the vehicle can be determined according to the predicted pitch angle, driving type and driving parameters to obtain the first control information.

[0111] In one example, the drive type can indicate the source of the vehicle's torque. For example, the drive type can be a single-sided drive type (e.g., front-wheel drive, rear-wheel drive), or a double-sided drive type (e.g., front and rear wheels drive simultaneously).

[0112] In one example, the drive parameters can at least include: drive rate and drive category. Among them, the drive rate can indicate the depression rate of the accelerator pedal, or the depression rate of the brake pedal. Among them, the drive category can indicate that the vehicle is in an accelerating state, or indicate that the vehicle is in a decelerating state.

[0113] In one example, when determining the drive ratio corresponding to each side drive of the vehicle according to the predicted pitch angle, drive type, and drive parameters, it is possible to first determine whether the vehicle is a double-sided drive type according to the drive type. If not, the drive ratio corresponding to each side drive of the vehicle can be directly determined. For example, if the drive type is front-wheel drive type, then the drive ratio of the front wheels and the rear wheels is 1:0; if the drive type is rear-wheel drive type, then the drive ratio of the front wheels and the rear wheels is 0:1. If so, the drive ratio corresponding to each side drive of the vehicle can be determined according to the predicted pitch angle and drive parameters.

[0114] In one example, if the drive category is an accelerating state, the proportion of the front-wheel driving force can be increased; if the drive category is a decelerating state, the proportion of the rear-wheel driving force can be increased. At this time, according to the magnitude of the predicted pitch angle and the magnitude of the drive rate, the drive ratio under different drive categories can be determined. Exemplarily, according to the range where the magnitude of the predicted pitch angle is located, and the range where the magnitude of the drive rate is located, the drive ratio corresponding to each side drive can be determined.

[0115] Exemplarily, multiple angle ranges can be preset for the magnitude of the predicted pitch angle, and each angle range is set with a corresponding first adjustment parameter. At the same time, multiple rate ranges are set for the magnitude of the drive rate, and each rate range is set with a corresponding second adjustment parameter. At this time, according to the predicted pitch angle and drive rate of the vehicle, the corresponding first adjustment parameter and second adjustment parameter can be determined, and the drive ratio corresponding to each side drive can be determined according to the first adjustment parameter, and / or, the second adjustment parameter.

[0116] There is no limitation on the preset multiple angle ranges and multiple rate ranges here, which shall be subject to meeting the actual needs.

[0117] In one example, when determining the drive ratio corresponding to each side drive according to the first adjustment parameter, and / or, the second adjustment parameter, the first adjustment parameter and the second adjustment parameter can be weighted and summed to obtain the proportion adjustment magnitude.

[0118] The values of the weights corresponding to the first adjustment parameter and the second adjustment parameter are not limited here, and shall be subject to meeting the actual needs.

[0119] At this time, the size can be adjusted according to this ratio, and the drive ratio corresponding to each side drive of the vehicle can be adjusted, so as to obtain the first control information. For example, if it is determined that the ratio adjustment size is 0.1, then the drive ratio corresponding to each side drive after adjustment is 0.6:0.4; if it is determined that the ratio adjustment size is 0.3, then the drive ratio corresponding to each side drive after adjustment is 0.8:0.2.

[0120] In another way, a preset ratio allocation table can be obtained; wherein, the preset ratio allocation table includes the mapping relationship between the predicted pitch angle and the preset adjustment ratio; according to the preset ratio allocation table and the drive parameters, the drive ratio corresponding to each side drive of the vehicle is determined to obtain the first control information.

[0121] In an example, the preset adjustment ratio included in the preset ratio allocation table can be used to determine the ratio adjustment size. At this time, the drive ratio corresponding to each side drive of the vehicle can be determined according to this ratio adjustment size and the drive parameters. Among them, the drive parameters can be used to indicate the drive category. At this time, when the drive category is in the acceleration state, the front drive ratio can be increased according to the ratio adjustment size; when the drive category is in the deceleration state, the rear drive ratio can be increased according to the ratio adjustment size, so as to determine the drive ratio corresponding to each side drive of the vehicle and obtain the first control information.

[0122] In the above embodiments, the torque distribution ratio that is more matched with the current vehicle can be determined according to the drive state and the predicted pitch angle of the vehicle, so that the vehicle can have a better anti-pitch effect under this torque distribution ratio, thereby improving the anti-pitch performance of the vehicle.

[0123] In the embodiments of the present application, after obtaining the first driving information of the vehicle, the expected pitch angle of the vehicle can also be determined according to the first driving information.

[0124] Based on this, in a possible implementation manner, the first driving information includes vehicle driving mode information, vehicle attribute information, and vehicle driving parameter information. At this time, when determining the expected pitch angle of the vehicle according to the first driving information, reference can be made to the content described in S204 to S205 below.

[0125] S204. Determine the target pitch torque corresponding to the vehicle according to the vehicle driving mode information.

[0126] In one example, the vehicle driving mode may indicate the driving information of the above-mentioned vehicle. For example, the driving mode information may indicate the driving style or driving habit. For example, the driving style may be a smooth style, a dynamic style, etc., and the driving habit may be low-speed driving, high-speed driving, etc.

[0127] At this time, the target pitching moment can be used to retain the road feel under the vehicle driving mode information. For example, in the case of a smooth driving style, a smaller target pitching moment can be determined; in the case of a dynamic driving style, a larger target pitching moment can be determined; in the case of a low-speed driving habit, a larger target pitching moment can be determined; in the case of a high-speed driving habit, a smaller target pitching moment can be determined, etc., so that the driving of the vehicle is more matched with the user's driving style / driving habit.

[0128] Here, there is no limitation on the vehicle driving mode information and the magnitude of the target pitching moment under each vehicle driving mode information, and it is subject to meeting the actual needs.

[0129] S205. Determine the desired pitch angle of the vehicle according to the target pitching moment, vehicle attribute information, vehicle driving parameter information, and the second prediction model.

[0130] In one example, the vehicle attribute information may include but is not limited to the mass of the vehicle, and the vehicle driving parameter information may include but is not limited to vehicle suspension stiffness information, vehicle center-of-mass movement information, etc.

[0131] In one example, the second prediction model can be understood as a vertical coupling model. At this time, the process of determining the desired pitch angle of the vehicle can be determined with reference to the following formula (2).

[0132]

[0133] Among them, θ2 represents the desired pitch angle, M represents the pitching moment caused by the longitudinal acceleration, K θ represents the suspension pitch stiffness, M Tar represents the desired suspension anti-pitching moment, and the specific calculation process can be seen in the following formulas (3) to (5).

[0134] M Tar = F f l1 - F r l2 (3)

[0135] F f = k f (z + l1θ2) + u f (4)

[0136] F r = k r(z - l2θ2)+u r (5)

[0137] Wherein, F f represents the total vertical force of the front suspension, F r represents the total vertical force of the rear suspension, k f represents the front suspension stiffness, k r represents the rear suspension stiffness, l1 represents the distance from the front axle to the center of mass, l2 represents the distance from the rear axle to the center of mass, z represents the static vertical displacement, u f represents the active control force of the front suspension, u r represents the active control force of the rear suspension.

[0138] In a possible implementation manner, the first control information can be determined according to the content described in S202 to S203 above, wherein the first control information includes the drive ratio. When controlling the vehicle driving according to the torque distribution ratio determined according to the first control information, reference can be specifically made to the content described in S206 to S207 below.

[0139] S206. Determine the torque distribution ratio corresponding to the front-wheel drive and / or the rear-wheel drive of the vehicle according to the drive ratio included in the first control information.

[0140] In one example, the determined torque distribution ratio can be referred to the content described in S203 above, and details are not elaborated here.

[0141] S207. Adjust the control torque of the vehicle according to the torque distribution ratio corresponding to the front-wheel drive and / or the rear-wheel drive to control the vehicle driving.

[0142] This implementation manner can, when the vehicle is accelerating or decelerating, reduce the change in the position of the vehicle body center of mass by reasonably distributing the torque, so as to achieve the anti-pitching control effect, which helps to assist the vehicle in maintaining the stability and controllability of the vehicle under various working conditions, thereby improving the control effect of the vehicle and enhancing the driving experience of the user.

[0143] S208. Obtain the second driving information of the vehicle in real time.

[0144] Wherein, the second driving information is used to indicate the motion state of the vehicle body.

[0145] In one example, this step can be referred to the content described in S103 above, and details are not elaborated here.

[0146] S209. After determining the actual pitch angle of the vehicle according to the second driving information, control the vehicle driving according to the desired pitch angle and the actual pitch angle.

[0147] In one example, the second driving information may be the vehicle angular velocity, the vertical displacement of the vehicle front axle, and the vertical displacement of the vehicle rear axle described above. At this time, when determining the actual pitch angle of the vehicle according to the second driving information, reference may be made to the content described in the following formulas (6) to (8).

[0148] θ3 = αθ 摆角 +(1 - α)θ 悬架 (6)

[0149] θ 摆角 = ∫ωydt (7)

[0150]

[0151] where θ 摆角 represents determining the actual pitch angle of the vehicle based on the vehicle angular velocity obtained by the body roll angle sensor, α represents the weight corresponding to the pitch angle determined according to the body roll angle sensor, ωy represents the angular velocity, △z f represents the vertical displacement of the vehicle front axle suspension, △z r represents the vertical position of the vehicle rear axle suspension, and L represents the wheelbase between the vehicle front axle suspension and the rear axle suspension.

[0152] In one possible implementation, when controlling the vehicle to travel according to the desired pitch angle and the actual pitch angle, the pitch angle difference between the desired pitch angle and the actual pitch angle control may be determined first. If the pitch angle difference meets the feedback control requirements, the vehicle is controlled to travel according to the pitch angle difference.

[0153] In one example, the pitch angle difference may be expressed as θ3 - θ2. At this time, it may be determined whether feedback control is required according to the magnitude of the pitch angle difference.

[0154] In one example, if it is determined that the pitch angle difference is greater than the activation limit value, it means that the feedback control requirements are met. At this time, the vehicle can be controlled to travel according to the pitch angle difference.

[0155] In one example, the value of the activation limit can be calibrated according to the actual driving state of the vehicle. The magnitude of the activation limit is not limited here and is subject to meeting the actual needs.

[0156] This implementation method can achieve precise control of the vehicle and avoid excessive intervention, which affects the anti-pitch effect of the vehicle.

[0157] In one possible implementation, when controlling the vehicle to travel according to the pitch angle difference, the second control information of the vehicle may be determined first according to the pitch angle difference, where the second control information is used to indicate the stiffness adjustment information and / or the damping adjustment information; then, the vehicle is controlled to travel according to the stiffness adjustment information and / or the damping adjustment information.

[0158] In one example, first, according to the pitch angle difference, feedback control torque can be determined through PID (Proportional-Integral-Derivative) control, and the pitch torque to be adjusted can be determined based on the feedback control torque, and then the corresponding stiffness adjustment fineness and damping adjustment information can be determined.

[0159] After that, according to the stiffness adjustment information and damping adjustment information, each actuator in the vehicle can be controlled to control the vehicle's driving, and the vehicle can be coordinatedly controlled by multiple actuators to ensure the anti-pitch performance of the vehicle.

[0160] Among them, each actuator of the vehicle may include but is not limited to: a suspension system, an active stabilizer bar, an electronic shock absorber, etc. The type of actuator is not limited here, as long as it can adjust the corresponding stiffness information and damping information.

[0161] In one example, when controlling each actuator in the vehicle according to the stiffness adjustment information and damping adjustment information, the actuator to be controlled can be determined from multiple actuators according to the energy loss degree of each actuator, so as to reduce energy loss and improve the service life of components while controlling the vehicle.

[0162] See Figure 3 , Figure 3 which is a schematic flowchart of the implementation process of a vehicle control method provided by an embodiment of this application. As Figure 3 shown, the first driving information of the vehicle can be obtained, and based on the first driving information, the first control information of the vehicle and the expected pitch angle of the vehicle can be determined. After that, according to the torque distribution ratio determined by the first control information, the vehicle can be controlled to drive, so as to reduce the pitch change of the vehicle body and improve driving comfort. On the other hand, the second driving information of the vehicle can be obtained in real time, and based on the second driving information, the actual pitch angle of the vehicle can be determined. After that, according to the pitch angle difference between the actual pitch angle of the vehicle and the expected pitch angle of the vehicle, the feedback control torque can be determined, and based on the feedback control torque, the second control information can be determined, so as to adjust the stiffness information and damping information corresponding to multiple actuators in the vehicle according to the second control information to control the vehicle to drive, so as to reduce the pitch change of the vehicle body and improve driving comfort.

[0163] See Figure 4 , Figure 4 which is a schematic architecture diagram of a control system corresponding to a vehicle control method provided by an embodiment of this application. As Figure 4 shown, this control system includes at least sensors, a processor, a driver, and an actuator.

[0164] Among them, a sensor is configured to obtain first driving information and second driving information of a vehicle, and send the first driving information and the second driving information to a processor.

[0165] The processor is configured to determine first control information according to the first driving information, and send the first control information to a driver; and determine a desired pitch angle of the vehicle according to the first control information; and determine an actual pitch angle of the vehicle according to the second driving information, and determine second control information according to the desired pitch angle and the actual pitch angle, and send the second control information to an actuator.

[0166] The driver is configured to adjust a control torque output by the driver according to the first control information to implement feedforward control of the vehicle.

[0167] The actuator is configured to control stiffness information and damping information corresponding to the actuator according to the second control information, thereby implementing anti-pitch control of the vehicle.

[0168] See Figure 5 , Figure 5 which is a schematic structural diagram of a vehicle control device provided by an embodiment of the present application. As Figure 5 shown, the control device 50 provided in this embodiment includes:

[0169] An acquisition unit 501 is configured to acquire first driving information of the vehicle; wherein, the first driving information is used to indicate the current driving state of the vehicle.

[0170] A determination unit 502 is configured to determine first control information of the vehicle and a desired pitch angle of the vehicle according to the first driving information; wherein, the first control information is used to determine a torque distribution ratio.

[0171] A first control unit 503 is configured to control the vehicle to travel according to the torque distribution ratio determined by the first control information, and acquire second driving information of the vehicle in real time; wherein, the second driving information is used to indicate the motion state of the vehicle body.

[0172] A second control unit 504 is configured to control the vehicle to travel according to the desired pitch angle and the actual pitch angle after determining the actual pitch angle of the vehicle according to the second driving information.

[0173] See Figure 6 , Figure 6 which is a schematic structural diagram of another vehicle control device provided by an embodiment of the present application. As Figure 6 shown, the control device 60 provided in this embodiment includes:

[0174] An acquisition unit 601 is configured to acquire first driving information of the vehicle; wherein, the first driving information is used to indicate the current driving state of the vehicle.

[0175] A determination unit 602, configured to determine first control information of the vehicle and an expected pitch angle of the vehicle according to first driving information; wherein, the first control information is used to determine a torque distribution ratio.

[0176] A first control unit 603, configured to control the vehicle to travel according to the torque distribution ratio determined by the first control information, and obtain second driving information of the vehicle in real time; wherein, the second driving information is used to indicate a motion state of the vehicle body.

[0177] A second control unit 604, configured to, after determining an actual pitch angle of the vehicle according to the second driving information, control the vehicle to travel according to the expected pitch angle and the actual pitch angle.

[0178] Optionally, the first driving information includes a control torque of the vehicle; the determination unit 602 is configured to:

[0179] Perform calculation processing on the control torque according to a first prediction model to obtain a predicted pitch angle of the vehicle;

[0180] Determine a torque distribution ratio of the control torque of the vehicle according to the predicted pitch angle of the vehicle and a driving state of the vehicle.

[0181] Optionally, the driving state of the vehicle includes a driving type and driving parameters; the determination unit 602 is configured to:

[0182] Determine a driving ratio corresponding to each side drive of the vehicle according to the predicted pitch angle, the driving type, and the driving parameters, to obtain first control information; or,

[0183] Obtain a preset ratio distribution table; wherein, the preset ratio distribution table includes a mapping relationship between a predicted pitch angle and a preset adjustment ratio; determine a driving ratio corresponding to each side drive of the vehicle according to the preset ratio distribution table and the driving parameters, to obtain first control information.

[0184] Optionally, the first control information includes a driving ratio; the first control unit 603 is configured to:

[0185] Determine a torque distribution ratio corresponding to front-wheel drive and / or rear-wheel drive of the vehicle according to the driving ratio included in the first control information;

[0186] Adjust the control torque of the vehicle according to the torque distribution ratio corresponding to front-wheel drive and / or rear-wheel drive, to control the vehicle to travel.

[0187] Optionally, the first driving information includes vehicle driving mode information, vehicle attribute information, and vehicle driving parameter information; the determination unit 602 is configured to:

[0188] Determine the target pitching moment corresponding to the vehicle according to the vehicle driving mode information;

[0189] Determine the desired pitching angle of the vehicle according to the target pitching moment, vehicle attribute information, vehicle driving parameter information, and the second prediction model.

[0190] Optionally, the second control unit 604 is configured to:

[0191] Determine the pitching angle difference between the desired pitching angle and the actual pitching angle control;

[0192] If the pitching angle difference meets the feedback control requirements, control the vehicle driving according to the pitching angle difference.

[0193] Optionally, the second control unit 604 is configured to:

[0194] Determine the second control information of the vehicle according to the pitching angle difference; wherein, the second control information is used to indicate the stiffness adjustment information and / or damping adjustment information;

[0195] Control the vehicle driving according to the stiffness adjustment information and / or damping adjustment information.

[0196] The vehicle control device provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, which will not be elaborated here in this embodiment.

[0197] Figure 7 It is a schematic structural diagram of an electronic device provided in an embodiment of the present application. As Figure 7 shown, the electronic device 70 provided in this embodiment includes: at least one processor 701 and a memory 702. Optionally, the electronic device 70 further includes a communication component 703. Among them, the processor 701, the memory 702, and the communication component 703 are connected through a bus 704.

[0198] In a specific implementation process, at least one processor 701 executes the computer execution instructions stored in the memory 702, so that at least one processor 701 executes the above method.

[0199] The specific implementation process of the processor 701 can refer to the above method embodiment, and its implementation principle and technical effect are similar, which will not be elaborated here in this embodiment.

[0200] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU for short), or other general-purpose processors, digital signal processors (DSP for short), application specific integrated circuits (ASIC for short), etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the invention can be directly implemented by the execution of the hardware processor, or implemented by the combination of hardware and software modules in the processor.

[0201] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0202] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience in representation, the buses in the drawings of this application are not limited to only one bus or one type of bus.

[0203] This application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0204] This application also provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the processor executes the computer-executable instructions, the above method is implemented.

[0205] The above-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk or an optical disc. The readable storage medium can be any available medium accessible by a general-purpose or special-purpose computer.

[0206] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in a device.

[0207] The division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Additionally, the couplings or direct couplings or communication connections shown or discussed among each other can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0208] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0209] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0210] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing an electronic device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks or optical discs that can store program codes.

[0211] Those of ordinary skill in the art will understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments; and the foregoing storage medium includes: various media such as ROM, RAM, magnetic disk, or optical disk that can store program code.

[0212] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention, which follow the general principles of the present invention and include known common knowledge or conventional technical means in the technical field not disclosed in the present invention. It is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A vehicle control method, characterized in that, The method includes: Obtaining first driving information of the vehicle; wherein, the first driving information is used to indicate the current driving state of the vehicle; Determining first control information of the vehicle and a desired pitch angle of the vehicle according to the first driving information; wherein, the first control information is used to determine a torque distribution ratio; Controlling the vehicle to travel according to the torque distribution ratio determined by the first control information, and obtaining second driving information of the vehicle in real time; wherein, the second driving information is used to indicate the motion state of the vehicle body; After determining the actual pitch angle of the vehicle according to the second driving information, controlling the vehicle to travel according to the desired pitch angle and the actual pitch angle.

2. The method according to claim 1, wherein The first driving information includes a control torque of the vehicle; determining the first control information of the vehicle according to the first driving information includes: Calculating and processing the control torque according to a first prediction model to obtain a predicted pitch angle of the vehicle; Determining a torque distribution ratio of the control torque of the vehicle according to the predicted pitch angle of the vehicle and the driving state of the vehicle.

3. The method according to claim 2, wherein The driving state of the vehicle includes a driving type and driving parameters; Determining a torque distribution ratio of the control torque of the vehicle according to the predicted pitch angle of the vehicle and the driving state of the vehicle includes: Determining a driving ratio corresponding to each side drive of the vehicle according to the predicted pitch angle, the driving type, and the driving parameters to obtain the first control information; or, Obtaining a preset ratio distribution table; wherein, the preset ratio distribution table includes a mapping relationship between a predicted pitch angle and a preset adjustment ratio; determining a driving ratio corresponding to each side drive of the vehicle according to the preset ratio distribution table and the driving parameters to obtain the first control information.

4. The method according to claim 1, wherein The first control information includes a driving ratio; controlling the vehicle to travel according to the torque distribution ratio determined by the first control information includes: Determining a torque distribution ratio corresponding to the front-wheel drive and / or the rear-wheel drive of the vehicle according to the driving ratio included in the first control information; Adjusting the control torque of the vehicle according to the torque distribution ratio corresponding to the front-wheel drive and / or the rear-wheel drive to control the vehicle to travel.

5. The method according to claim 1, wherein The first driving information includes vehicle driving mode information, vehicle attribute information, and vehicle driving parameter information; Determining the desired pitch angle of the vehicle according to the first driving information includes: Determining a target pitch torque corresponding to the vehicle according to the vehicle driving mode information; Determining the desired pitch angle of the vehicle according to the target pitch torque, the vehicle attribute information, the vehicle driving parameter information, and a second prediction model.

6. The method according to any one of claims 1-5, characterized in that, Controlling the vehicle to travel according to the desired pitch angle and the actual pitch angle includes: Determining a pitch angle difference between the desired pitch angle and the actual pitch angle control; If the pitch angle difference meets the feedback control requirement, controlling the vehicle to travel according to the pitch angle difference.

7. The method according to claim 6, wherein Controlling the vehicle to travel according to the pitch angle difference includes: Determine the second control information of the vehicle according to the pitch angle difference; wherein, the second control information is used to indicate the stiffness adjustment information and / or the damping adjustment information; Control the vehicle to travel according to the stiffness adjustment information and / or the damping adjustment information.

8. A vehicle control device, characterized in that, Comprising: An acquisition unit, configured to acquire the first driving information of the vehicle; wherein, the first driving information is used to indicate the current driving state of the vehicle; A determination unit, configured to determine the first control information of the vehicle and the desired pitch angle of the vehicle according to the first driving information; wherein, the first control information is used to determine the torque distribution ratio; A first control unit, configured to control the vehicle to travel according to the torque distribution ratio determined by the first control information, and acquire the second driving information of the vehicle in real time; wherein, the second driving information is used to indicate the motion state of the vehicle body; A second control unit, configured to control the vehicle to travel according to the desired pitch angle and the actual pitch angle after determining the actual pitch angle of the vehicle according to the second driving information.

9. An electronic device, characterized in that, Comprising: A memory, a processor; The memory stores computer execution instructions; The processor executes the computer execution instructions stored in the memory, so that the processor executes the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, Computer execution instructions are stored in the computer-readable storage medium, and when the computer execution instructions are executed by the processor, they are used to implement the method according to any one of claims 1-7.

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