Vehicle control method and device and vehicle

Abstract

The embodiment of the invention discloses a vehicle control method and device and a vehicle. The method comprises the steps that in response to a vehicle entering a drifting mode, whether the speed of the vehicle and the steering wheel angle meet corresponding conditions or not is determined; if the speed and the steering wheel turning angle both meet the corresponding conditions, the current rear wheel lateral adhesive force of the vehicle is obtained based on the steering wheel turning angle; acquiring a limit vehicle body yawing moment corresponding to the vehicle; based on the limit vehicle body yawing moment and the rear wheel lateral adhesive force, a rear wheel lateral adhesive force difference value is obtained; and on the basis of the first mapping relation and the rear wheel lateral adhesive force difference value, the target value of the main suspension force of the vehicle is obtained, the main suspension force is controlled to reach the target value, and the rear wheel lateral adhesive force is changed through the main suspension force reaching the target value. By means of the mode, the lateral adhesive force of the rear wheels is changed through the suspension main power reaching the target value, a vehicle can easily reach the state that the lateral force needed by the rear wheels is larger than the lateral adhesive force limit capable of being provided by the ground, and the drifting technical threshold is lowered.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and more specifically, to a vehicle control method, device, and vehicle. Background Art

[0002] With the development of vehicle intelligence, the safety performance, ride comfort, handling performance, entertainment performance, etc. of vehicles have been improved. For example, people can obtain a sense of satisfaction from driving a vehicle through drifting. The realization of vehicle drifting requires the accurate coordination of the accelerator, brake, and steering wheel, as well as the precise control of the vehicle state. Therefore, vehicle drifting is a skill that accumulates through long-term training by drivers and has a very high threshold for ordinary drivers. Summary of the Invention

[0003] In view of the above problems, the present application provides a vehicle control method, device, and vehicle to improve the above problems.

[0004] In a first aspect, the present application provides a vehicle control method, the method including: in response to the vehicle entering a drift mode, confirming whether the speed and steering wheel angle of the vehicle meet corresponding conditions; if both the speed and the steering wheel angle meet the corresponding conditions, obtaining the current lateral adhesion force of the rear wheels of the vehicle based on the steering wheel angle; obtaining the limit body yaw moment corresponding to the vehicle; obtaining a difference in lateral adhesion force of the rear wheels based on the limit body yaw moment and the lateral adhesion force of the rear wheels; obtaining a target value of the active suspension force of the vehicle based on a first mapping relationship and the difference in lateral adhesion force of the rear wheels, and controlling the active suspension force to reach the target value, so as to change the lateral adhesion force of the rear wheels by the active suspension force reaching the target value, the first mapping relationship being a mapping relationship between the difference in lateral adhesion force of the rear wheels and the active suspension force of the vehicle, and the first mapping relationship being used to determine the active suspension force that enables the vehicle to reach a drift state during the process of changing the lateral adhesion force of the rear wheels.

[0005] In a second aspect, the present application provides a vehicle control device, the device comprising: a condition confirmation unit configured to confirm whether the speed and the steering wheel angle of the vehicle meet corresponding conditions in response to the vehicle entering a drift mode; a rear-wheel lateral adhesion acquisition unit configured to, if both the speed and the steering wheel angle meet the corresponding conditions, obtain the current rear-wheel lateral adhesion of the vehicle based on the steering wheel angle; a suspension active force acquisition unit configured to obtain the limit body yaw moment corresponding to the vehicle; obtain a rear-wheel lateral adhesion difference based on the limit body yaw moment and the rear-wheel lateral adhesion; obtain a target value of the suspension active force of the vehicle based on a first mapping relationship and the rear-wheel lateral adhesion difference, and control the suspension active force to reach the target value, so as to change the rear-wheel lateral adhesion by means of the suspension active force reaching the target value, the first mapping relationship being a mapping relationship between the rear-wheel lateral adhesion difference and the suspension active force of the vehicle, and the first mapping relationship being used to determine the suspension active force that causes the vehicle to reach a drift state during the process of changing the rear-wheel lateral adhesion.

[0006] In a third aspect, the present application provides a vehicle, comprising one or more processors and a memory; one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the method described above.

[0007] In a fourth aspect, the present application provides a computer-readable storage medium, in which program code is stored, and wherein the method described above is executed when the program code runs.

[0008] A vehicle control method, device, vehicle, and storage medium provided by the present application, in response to the vehicle entering the drift mode, confirm whether the speed and steering wheel angle of the vehicle meet the corresponding conditions. If both the speed and the steering wheel angle meet the corresponding conditions, obtain the current lateral adhesion force of the rear wheels of the vehicle based on the steering wheel angle, obtain the limit body yaw moment corresponding to the vehicle, based on the limit body yaw moment and the lateral adhesion force of the rear wheels, obtain the difference in the lateral adhesion force of the rear wheels, based on the first mapping relationship and the difference in the lateral adhesion force of the rear wheels, obtain the target value of the active suspension force of the vehicle, and control the active suspension force to reach the target value, so as to change the lateral adhesion force of the rear wheels by the active suspension force reaching the target value. By the above method, after the vehicle enters the drift mode and it is confirmed that the speed and steering wheel angle of the vehicle meet the corresponding conditions, the current lateral adhesion force of the rear wheels of the vehicle can be obtained based on the steering wheel angle, and based on the limit body yaw moment and the lateral adhesion force of the rear wheels, the difference in the lateral adhesion force of the rear wheels can be obtained. Thus, based on the first mapping relationship and the difference in the lateral adhesion force of the rear wheels, the target value of the active suspension force of the vehicle can be obtained, so as to change the lateral adhesion force of the rear wheels by the active suspension force reaching the target value, making it easier for the vehicle to reach a state where the lateral force required by the rear tires is greater than the lateral adhesion force limit provided by the ground, assisting the driver to make the vehicle reach the drift state, thereby reducing the driver's operation accuracy and the difficulty of controlling the vehicle state, and lowering the technical threshold of vehicle drifting. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0010] Figure 1 The flowchart of a vehicle control method proposed in an embodiment of the present application is shown;

[0011] Figure 2 The schematic diagram showing the relationship between the slip ratio / slide ratio and the road adhesion coefficient proposed by the present application is shown;

[0012] Figure 3 The schematic diagram showing the change of the lateral adhesion force of the rear wheels proposed by the present application is shown;

[0013] Figure 4 The flowchart of a vehicle control method proposed in another embodiment of the present application is shown;

[0014] Figure 5 The schematic diagram showing the vehicle control method after the vehicle reaches the drift state proposed by the present application is shown;

[0015] Figure 6 The structural block diagram of a vehicle control device proposed in an embodiment of the present application is shown;

[0016] Figure 7 The structural block diagram of a vehicle proposed in the present application is shown. Detailed implementation manners

[0017] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0018] In an embodiment of the present application, the inventor proposes a vehicle control method, device, and vehicle. When the vehicle enters the drift mode, it is confirmed whether the speed and steering wheel angle of the vehicle meet the corresponding conditions. If both the speed and the steering wheel angle meet the corresponding conditions, the current lateral adhesion force of the rear wheels of the vehicle is obtained based on the steering wheel angle, the limit body yaw moment corresponding to the vehicle is obtained, the difference between the lateral adhesion forces of the rear wheels is obtained based on the limit body yaw moment and the lateral adhesion force of the rear wheels, the target value of the active suspension force of the vehicle is obtained based on the first mapping relationship and the difference between the lateral adhesion forces of the rear wheels, and the active suspension force is controlled to reach the target value, so as to change the lateral adhesion force of the rear wheels by the active suspension force reaching the target value. By the above method, after the vehicle enters the drift mode and it is confirmed that the speed and steering wheel angle of the vehicle meet the corresponding conditions, the current lateral adhesion force of the rear wheels of the vehicle can be obtained based on the steering wheel angle, and the difference between the lateral adhesion forces of the rear wheels can be obtained based on the limit body yaw moment and the lateral adhesion force of the rear wheels. Therefore, the target value of the active suspension force of the vehicle can be obtained based on the first mapping relationship and the difference between the lateral adhesion forces of the rear wheels, so as to change the lateral adhesion force of the rear wheels by the active suspension force reaching the target value, making it easier for the vehicle to reach a state where the required lateral force of the rear tires is greater than the lateral adhesion force limit provided by the ground, so as to assist the driver in making the vehicle reach the drift state, thereby reducing the operation accuracy of the driver and the difficulty of controlling the vehicle state, and reducing the technical threshold of vehicle drifting.

[0019] Please refer to Figure 1 , a vehicle control method provided by an embodiment of the present application, the method includes:

[0020] S110: When the vehicle enters the drift mode, confirm whether the speed and steering wheel angle of the vehicle meet the corresponding conditions.

[0021] As a way, in response to the vehicle entering the drift mode, the speed and steering wheel angle of the vehicle can be obtained in real time, and the speed and steering wheel angle of the vehicle obtained in real time are respectively compared with a speed threshold and a steering wheel angle threshold, and based on the comparison results, it is confirmed whether the speed and steering wheel angle of the vehicle meet the corresponding conditions.

[0022] Optionally, the speed of the vehicle can be first compared with the speed threshold. If the speed is greater than or equal to the speed threshold, the steering wheel angle of the vehicle can be compared with the steering wheel angle threshold. If the steering wheel angle is greater than or equal to the steering wheel angle threshold, it can be confirmed that both the speed and steering wheel angle of the vehicle meet the corresponding conditions. If the speed is less than the speed threshold, a first prompt message can be sent to the user to prompt the user to accelerate until the speed of the vehicle is greater than or equal to the speed threshold; then the steering wheel angle of the vehicle is compared with the steering wheel angle threshold. If the steering wheel angle is less than the steering wheel angle threshold, a second prompt message can be sent to the user to prompt the user to adjust the steering wheel angle until the steering wheel angle is greater than or equal to the steering wheel angle threshold.

[0023] In the embodiments of the present application, by first determining whether the speed meets the corresponding conditions, and when the speed does not meet the corresponding conditions, by prompting the user to accelerate, and after the speed meets the corresponding conditions, then confirming whether the steering wheel angle meets the corresponding conditions, the safety of the vehicle can be improved, and accidents such as vehicle rollover caused by the steering wheel angle meeting the corresponding conditions first and then the speed not reaching or not reaching the corresponding conditions in time can be avoided. Moreover, by judging the speed and steering wheel angle in two steps, the operation difficulty of the user can be reduced, and the situation of the user being in a hurry and even making mistakes due to insufficient operation experience can be avoided.

[0024] At the same time, it should be noted that since the vehicle control method provided in the present application is only to assist the user in vehicle drifting, during the period of confirming whether the speed and steering wheel angle of the vehicle meet the corresponding conditions, if the speed and steering wheel angle of the user change in a direction that does not meet the corresponding conditions (for example, the vehicle speed becomes lower, the steering wheel angle becomes smaller, etc.), it can be confirmed whether the user exits the drift mode in the form of voice or text (displayed on the vehicle central control screen), etc. If the feedback information of the user is to confirm exiting the drift mode, the vehicle can exit the drift mode and no longer continue to confirm whether the speed and steering wheel angle of the vehicle meet the corresponding conditions, so as to fully respect the user's wishes and improve the user experience.

[0025] Optionally, speed thresholds and steering wheel angles under different working conditions can be calibrated in advance based on the vehicle's gross weight (including passengers, etc.), wheelbase, tire type, steering system ratio, etc., and the calibration results can be associated and stored at a specified location, so as to obtain the speed threshold and steering wheel angle threshold under the current working condition based on the current working condition and the calibration results. Exemplarily, the speed threshold when there is 1 occupant in the vehicle can be less than the speed threshold when there are 2 occupants in the vehicle.

[0026] Optionally, the user can interact with the vehicle to control the vehicle to enter the drift mode.

[0027] Among them, there can be various ways for the user to interact with the vehicle. For example, the user can control the vehicle to enter the drift mode through voice; for another example, the user can press a key or button representing the drift mode in the vehicle to control the vehicle to enter the drift mode.

[0028] Optionally, the vehicle can be equipped with data acquisition devices or components, such as sensors, cameras, etc., so as to obtain the vehicle's speed and steering wheel angle in real time.

[0029] S120: If both the speed and the steering wheel angle meet the corresponding conditions, obtain the current lateral adhesion of the vehicle's rear wheels based on the steering wheel angle.

[0030] As a way, the front wheel angle of the vehicle can be obtained based on the steering wheel angle; based on the front wheel angle and the tire lateral force equation, the current lateral adhesion of the vehicle's rear wheels can be obtained, and the tire lateral force equation can be an equation for analyzing the lateral forces of the vehicle's front and rear wheels.

[0031] Among them, during the vehicle's driving process, the adhesion of the ground to the tire can be related to both the tire longitudinal force and the lateral force (adhesion^2 = longitudinal force^2 + lateral force^2). Since when the vehicle drifts, the vehicle's front wheels can grip the ground (i.e., no wheel spin) and the rear wheels spin (i.e., the wheels skid and the vehicle's tail can swing up), so for the front wheels, the adhesion is still the resultant force of the longitudinal force and the lateral force, while for the rear wheels, due to wheel spin, the adhesion can be approximately equal to the longitudinal force. Therefore, vehicle drift can be understood as a game between the lateral force of the rear wheels and the limit of the lateral adhesion of the rear wheels. When the lateral force of the vehicle's rear wheels is greater than the limit of the lateral adhesion of the rear wheels that the ground can provide, the vehicle can drift. Therefore, when no drift occurs, the lateral force of the vehicle's rear wheels can be equated to the lateral adhesion of the rear wheels, so as to obtain the current lateral adhesion of the vehicle's rear wheels.

[0032] Optionally, there can be a preset steering ratio relationship between the front wheel angle and the steering wheel angle. Based on this preset steering ratio relationship, the front wheel angle of the vehicle can be obtained. Exemplarily, the preset steering ratio relationship can be 1:9.

[0033] Optionally, the tire side force equation can be:

[0034]

[0035] where F yf can represent the front wheel side force; c f can represent the front wheel tire cornering stiffness and can be a constant; α f can represent the front wheel tire slip angle; F yr can represent the rear wheel side force; c r can represent the rear wheel tire cornering stiffness and can be a constant; α r can represent the rear wheel tire slip angle.

[0036] Among them:

[0037] α f = δ f - β - l f γ / v x

[0038] α r = - β + l r γ / v x

[0039] Among them, δ f can represent the front wheel steering angle; β can represent the center of mass slip angle; l f can represent the distance from the vehicle center of mass to the front axle; γ can represent the yaw rate; v x can represent the longitudinal speed of the vehicle; l r can represent the distance from the vehicle center of mass to the rear axle.

[0040] Optionally, the longitudinal speed of the vehicle can be obtained based on the vehicle speed, and the center of mass slip angle, yaw rate, etc. can be obtained based on the vehicle steering wheel angle.

[0041] It should be noted that although it can be seen from the tire side force equation that the rear wheel side force has no direct relationship with the front wheel steering angle, since the vehicle is an integrated whole, when the front wheel steering angle changes, due to inertia, it will also affect the rear wheel side force. Therefore, here it is necessary to obtain the current rear wheel lateral adhesion force based on the front wheel steering angle and the tire side force equation.

[0042] S130: Obtain the limit body yaw moment corresponding to the vehicle.

[0043] Among them, the limit body yaw moment can refer to the body yaw moment obtained based on the vehicle yaw limit table, and the yaw limit table can be obtained through vehicle model experiment calibration.

[0044] As a way, the limit body yaw moment corresponding to the vehicle can be pre-stored at a specified position to obtain the limit body yaw moment corresponding to the vehicle from the specified position.

[0045] S140: Obtain a rear-wheel lateral adhesion force difference based on the limit body yaw moment and the rear-wheel lateral adhesion force.

[0046] As a way, a body yaw moment corresponding to the rear-wheel lateral adhesion force can be obtained based on the rear-wheel lateral adhesion force and a second mapping relationship, and the second mapping relationship can represent the mapping relationship between the rear-wheel lateral adhesion force and the body yaw moment; based on the body yaw moment and the limit body yaw moment, a yaw moment difference can be obtained; based on the yaw moment difference and the second mapping relationship, a rear-wheel lateral adhesion force difference can be obtained.

[0047] Among them, the second mapping relationship can be:

[0048]

[0049] Among them, I z can represent the moment of inertia; γ can represent the yaw angular velocity; γ d can represent the yaw angular velocity; can represent the yaw angular acceleration; l r can represent the distance from the vehicle's center of mass to the rear axle; F yr can represent the rear-wheel lateral force; l f can represent the distance from the vehicle's center of mass to the front axle; F yf can represent the front-wheel lateral force; M B can represent the body yaw moment; K can represent the gain that makes the error (γ - γ d ) tend to zero, and K can be a positive number.

[0050] Optionally, a reference value of the vehicle's current yaw angular velocity can be obtained based on the steering wheel angle; based on the reference value of the yaw angular velocity and a third mapping relationship, a second mapping relationship can be constructed, and the third mapping relationship can represent the mapping relationship between the vehicle's steering wheel angle and the rear-wheel lateral adhesion force.

[0051] Optionally, the current front-wheel angle of the vehicle can be obtained based on a preset steering ratio relationship between the front-wheel angle and the steering wheel angle and the steering wheel angle, and the reference value of the vehicle's current yaw angular velocity can be obtained based on the current front-wheel angle. Among them, the calculation formula of the reference value of the yaw angular velocity can be:

[0052]

[0053] Among them, c f can represent the cornering stiffness of the front-wheel tire and can be a constant; c rcan represent the cornering stiffness of the rear wheel tire and can be a constant; δ f can represent the front wheel steering angle; l f can represent the distance from the vehicle's center of mass to the front axle; v x can represent the longitudinal speed of the vehicle; l r can represent the distance from the vehicle's center of mass to the rear axle.

[0054] Optionally, based on a preset steering ratio relationship and a reference mapping relationship between the front wheel steering angle and the steering wheel angle, a third mapping relationship is constructed. The reference mapping relationship can be a mapping relationship between the front wheel steering angle of the vehicle and the lateral adhesion force of the rear wheel.

[0055] Optionally, based on a planar two-wheeled vehicle dynamics model and a tire lateral force equation, a reference mapping relationship is constructed.

[0056] Among them, the planar two-wheeled vehicle dynamics model can be:

[0057]

[0058] Among them, can represent the angular velocity of the center of mass side slip; γ can represent the yaw angular velocity; F yf can represent the lateral force of the front wheel; F yr can represent the lateral force of the rear wheel; I z can represent the moment of inertia; l f can represent the distance from the vehicle's center of mass to the front axle; l r can represent the distance from the vehicle's center of mass to the rear axle; M B can represent the yaw moment of the vehicle body.

[0059] Optionally, the planar two-wheeled vehicle dynamics model and the tire lateral force equation can be jointly solved to obtain the formula corresponding to the reference mapping relationship. Based on the preset steering ratio relationship between the front wheel steering angle and the steering wheel angle and the formula corresponding to the reference mapping relationship, the formula corresponding to the third mapping relationship is obtained. Thus, based on the yaw angular velocity reference value and the third mapping relationship, a second mapping relationship is constructed.

[0060] S150: Based on the first mapping relationship and the difference in the lateral adhesion force of the rear wheel, obtain the target value of the active suspension force of the vehicle, and control the active suspension force to reach the target value, so as to change the lateral adhesion force of the rear wheel through the active suspension force reaching the target value. The first mapping relationship is the mapping relationship between the difference in the lateral adhesion force of the rear wheel and the active suspension force of the vehicle, and the first mapping relationship is used to determine the active suspension force that enables the vehicle to reach the drifting state during the process of changing the lateral adhesion force of the rear wheel.

[0061] Among them, the active suspension force can refer to the active force provided by the active suspension system to reduce the pressure of the wheels on the ground, thereby lowering the threshold for the vehicle to reach the drifting state.

[0062] As a way, the target value of the active suspension force of the vehicle can be obtained based on the first mapping relationship and the difference in lateral adhesion of the rear wheels, so as to change the lateral adhesion of the rear wheels through the active suspension force reaching the target value, and further make the vehicle reach the drifting state.

[0063] Optionally, the first mapping relationship can be obtained based on the relationship between road excitation and body movement in the 1 / 4 active suspension system, and the relationship between road excitation and body movement in the 1 / 4 active suspension system can be:

[0064]

[0065] Among them, m1 can represent the sprung mass; can represent the vertical acceleration of the sprung mass; can represent the vertical velocity of the sprung mass; x1 can represent the vertical displacement of the sprung mass; k1 can represent the spring stiffness; c1 can represent the damping coefficient; F1 can represent the reference active suspension force; m2 can represent the unsprung mass; can represent the vertical acceleration of the unsprung mass; can represent the vertical velocity of the unsprung mass; x2 can represent the vertical displacement of the unsprung mass; 2 can represent the equivalent spring stiffness of the tire; q can represent the road excitation input, and the road excitation input can characterize the road conditions, for example, the undulation degree of the road surface, etc.; F2 can represent the active suspension force. Among them, k2(x2 - q) can represent the dynamic load of the tire, that is, the pressure of the tire on the ground.

[0066] Optionally, after obtaining the difference in lateral adhesion of the rear wheels, it can be based on Figure 2 the relationship between slip ratio / slip rate and ground adhesion coefficient shown, obtain the ground adhesion coefficient at this time, and then based on the difference in lateral adhesion of the rear wheels and the ground adhesion coefficient, obtain the dynamic load of the tire (the difference in lateral adhesion of the rear wheels = the ground adhesion coefficient × the dynamic load of the tire), and further the active suspension force can be obtained based on the dynamic load of the tire and the relationship between road excitation and body movement in the 1 / 4 active suspension system.

[0067] In the embodiments of the present application, as Figure 3As shown, after determining that both the speed and the steering wheel angle meet the corresponding conditions, a reference mapping relationship can be constructed based on the vehicle's attribute information, speed, steering wheel angle, planar two-wheel vehicle dynamics model, and tire lateral force equation. Then, based on the preset steering ratio relationship between the front wheel angle and the steering wheel angle and the reference mapping relationship, a third mapping relationship can be constructed. Next, based on the steering wheel angle, the reference value of the vehicle's current yaw rate can be obtained. Based on the reference value of the yaw rate and the third mapping relationship, a second mapping relationship can be obtained, that is, the calculation formula for the vehicle body yaw moment can be obtained. And based on the calculation formula for the vehicle body yaw moment and the rear wheel lateral adhesion force, the vehicle body yaw moment corresponding to the rear wheel lateral adhesion force can be obtained. Since the vehicle drifting process can be equivalent to a process in which the front wheel adhesion force remains unchanged and the rear wheel adhesion force, that is, the road surface adhesion force, changes, therefore, after obtaining the limit vehicle body yaw moment corresponding to the vehicle, based on the vehicle body yaw moment and the limit vehicle body yaw moment, the yaw moment difference can be obtained. Furthermore, based on the yaw moment difference and the calculation formula for the vehicle body yaw moment, the rear wheel lateral adhesion force difference can be obtained. After obtaining the rear wheel lateral adhesion force difference, the road surface adhesion coefficient can be obtained. Then, based on the road surface adhesion coefficient and the rear wheel lateral adhesion force difference, k2(x2 - q) in the first mapping relationship can be obtained, so as to determine the active suspension force that still needs to be provided to make the vehicle reach the drifting state based on the first mapping relationship.

[0068] In the embodiment of the present application, by introducing an active suspension system to change the rear wheel lateral adhesion force, the vehicle can more easily reach the limit state, and then reach the drifting state, so that the user does not need to operate the steering wheel or the accelerator / brake pedal to a precise position to achieve drifting.

[0069] A vehicle control method provided in this embodiment, in response to the vehicle entering the drift mode, confirms whether the speed and steering wheel angle of the vehicle meet the corresponding conditions. If both the speed and the steering wheel angle meet the corresponding conditions, based on the steering wheel angle, obtain the current lateral adhesion force of the rear wheels of the vehicle, obtain the limit body yaw moment corresponding to the vehicle, based on the limit body yaw moment and the lateral adhesion force of the rear wheels, obtain the difference in the lateral adhesion force of the rear wheels, based on the first mapping relationship and the difference in the lateral adhesion force of the rear wheels, obtain the target value of the active suspension force of the vehicle, and control the active suspension force to reach the target value, so as to change the lateral adhesion force of the rear wheels by the active suspension force reaching the target value. By the above method, after the vehicle enters the drift mode and it is confirmed that the speed and steering wheel angle of the vehicle meet the corresponding conditions, the current lateral adhesion force of the rear wheels of the vehicle can be obtained based on the steering wheel angle, and based on the limit body yaw moment and the lateral adhesion force of the rear wheels, the difference in the lateral adhesion force of the rear wheels can be obtained. Thus, based on the first mapping relationship and the difference in the lateral adhesion force of the rear wheels, the target value of the active suspension force of the vehicle can be obtained, so as to change the lateral adhesion force of the rear wheels by the active suspension force reaching the target value, making it easier for the vehicle to reach a state where the required lateral force of the rear tires is greater than the lateral adhesion force limit provided by the ground, to assist the driver in making the vehicle reach the drift state, thereby reducing the driver's operation precision and the difficulty of controlling the vehicle state, and lowering the technical threshold for vehicle drifting.

[0070] Please refer to Figure 4 , a vehicle control method provided in an embodiment of the present application, the method includes:

[0071] S210: In response to the vehicle entering the drift mode, confirm whether the speed and steering wheel angle of the vehicle meet the corresponding conditions.

[0072] S220: If both the speed and the steering wheel angle meet the corresponding conditions, based on the steering wheel angle, obtain the current lateral adhesion force of the rear wheels of the vehicle.

[0073] S230: Obtain the limit body yaw moment corresponding to the vehicle.

[0074] S240: Based on the limit body yaw moment and the lateral adhesion force of the rear wheels, obtain the difference in the lateral adhesion force of the rear wheels.

[0075] S250: Obtain the target value of the active suspension force of the vehicle based on the first mapping relationship and the difference in the lateral adhesion force of the rear wheels, and control the active suspension force to reach the target value, so as to change the lateral adhesion force of the rear wheels through the active suspension force reaching the target value. The first mapping relationship is the mapping relationship between the difference in the lateral adhesion force of the rear wheels and the active suspension force of the vehicle, and the first mapping relationship is used to determine the active suspension force that enables the vehicle to reach the drifting state during the process of changing the lateral adhesion force of the rear wheels.

[0076] S260: Determine whether the speed and steering wheel angle of the vehicle after entering the drifting state meet the corresponding conditions.

[0077] As a way, in order to continue to maintain the drifting state of the vehicle, it is possible to continue to obtain the speed and steering wheel angle of the vehicle after entering the drifting state, so as to determine whether the speed and steering wheel angle meet the corresponding conditions based on step S110.

[0078] S270: If the speed and steering wheel angle of the vehicle after entering the drifting state both meet the corresponding conditions, obtain the updated lateral adhesion force of the rear wheels of the vehicle based on the steering wheel angle of the vehicle after entering the drifting state.

[0079] As a way, if the speed and steering wheel angle of the vehicle after entering the drifting state both meet the corresponding conditions, the updated lateral adhesion force of the rear wheels of the vehicle can be obtained based on the steering wheel angle of the vehicle after entering the drifting state.

[0080] In the embodiments of the present application, when the speed and / or steering wheel angle of the vehicle after entering the drifting state do not meet the corresponding conditions, there can be various vehicle control methods.

[0081] Among them, as a way, if the speed and / or steering wheel angle of the vehicle after entering the drifting state do not meet the corresponding conditions, corresponding prompt information can be sent to help the user control the vehicle to meet the corresponding conditions. After the speed and steering wheel angle after entering the drifting state both meet the corresponding conditions, the updated lateral adhesion force of the rear wheels of the vehicle is obtained based on the steering wheel angle of the vehicle after entering the drifting state. And if after sending the corresponding prompt information a specified number of times, the corresponding conditions are still not met, it is possible to confirm whether the user exits the drifting mode in the form of voice or text (displayed on the vehicle center control screen), etc. If the feedback information of the user is to confirm exiting the drifting mode, the vehicle can exit the drifting mode and no longer continue to confirm whether the speed and steering wheel angle of the vehicle after entering the drifting state meet the corresponding conditions, so as to fully respect the user's will and improve the user experience.

[0082] As another way, such as Figure 5As shown, if the speed and / or steering wheel angle after the vehicle enters the drifting state do not meet the corresponding conditions based on steps S11 and S12, it may indicate that the user has completed vehicle drifting. In this case, the drifting mode can be directly exited without further relevant calculations.

[0083] Optionally, it can be determined which of the above two methods to use based on the speed after the vehicle enters the drifting state. When the speed after the vehicle enters the drifting state is less than or equal to the preset value, it can be determined that the user has completed vehicle drifting, and the drifting mode can be directly exited without further relevant calculations. When the speed after the vehicle enters the drifting state is greater than the preset value, it may indicate that the vehicle is still in the drifting process, but due to reasons such as the user's operation level, the speed and / or steering wheel angle after the vehicle enters the drifting state do not meet the corresponding conditions. In this case, corresponding prompt information can be sent to help the user control the vehicle to meet the corresponding conditions, so as to continue to complete vehicle drifting.

[0084] Among them, the preset value can be a value that is difficult to continue maintaining the drifting state in the current state. For example, 5 km / h or 0 km / h, etc.

[0085] In the embodiments of the present application, it is confirmed whether the vehicle has completed drifting through the speed after the vehicle enters the drifting state, and different vehicle control methods are executed based on the confirmation result, so as to more accurately judge the user's intention and perform relevant operations in accordance with the user's intention to improve the intelligence level of human-vehicle interaction.

[0086] S280: Obtain the updated rear-wheel lateral adhesion force difference based on the ultimate body yaw moment and the updated rear-wheel lateral adhesion force.

[0087] As a method, the updated rear-wheel lateral adhesion force difference can be obtained based on the limited body yaw moment, the updated rear-wheel lateral adhesion force, and the method of step S140.

[0088] S290: Obtain the updated target value of the active suspension force of the vehicle based on the first mapping relationship and the updated rear-wheel lateral adhesion force difference, and control the active suspension force to reach the updated target value, so as to change the updated rear-wheel lateral adhesion force through the active suspension force reaching the updated target value.

[0089] As a method, the updated target value of the active suspension force of the vehicle can be obtained based on the first mapping relationship and the updated rear-wheel lateral adhesion force difference, so as to change the updated rear-wheel lateral adhesion force through the active suspension force reaching the updated target value, and further keep the vehicle in the drifting state.

[0090] Optionally, steps S260 to S290 can be repeatedly executed to enable the user to successfully complete vehicle drifting.

[0091] A vehicle control method provided in this embodiment enables, through the above - mentioned manner, that after the vehicle enters the drift mode and it is confirmed that the vehicle speed and the steering wheel angle meet the corresponding conditions, the current rear - wheel lateral adhesion force of the vehicle can be obtained based on the steering wheel angle, and based on the limit body yaw moment and the rear - wheel lateral adhesion force, the difference in rear - wheel lateral adhesion force can be obtained. Thus, based on the first mapping relationship and the difference in rear - wheel lateral adhesion force, the target value of the active suspension force of the vehicle can be obtained, so as to change the rear - wheel lateral adhesion force by the active suspension force reaching the target value, making it easier for the vehicle to reach a state where the required lateral force of the rear tire is greater than the lateral adhesion force limit provided by the ground, assisting the driver to make the vehicle reach the drift state, thereby reducing the driver's operation precision and the difficulty of controlling the vehicle state, and lowering the technical threshold of vehicle drifting. Moreover, in this embodiment, by continuously confirming whether the speed and the steering wheel angle after the vehicle enters the drift state meet the corresponding conditions, and when both the speed and the steering wheel angle after the vehicle enters the drift state meet the corresponding conditions, the calculation of updating the difference in rear - wheel lateral adhesion force is continued, and the updated rear - wheel lateral adhesion force is changed based on the active suspension force reaching the updated target value, thereby enabling the vehicle to maintain the drift state to ensure the smoothness and integrity of the entire vehicle drifting process.

[0092] Please refer to Figure 6 , a vehicle control device 600 provided in this application, the device 600 includes:

[0093] A condition confirmation unit 610, configured to confirm whether the vehicle speed and the steering wheel angle of the vehicle meet the corresponding conditions in response to the vehicle entering the drift mode;

[0094] A rear - wheel lateral adhesion force acquisition unit 620, configured to, if both the speed and the steering wheel angle meet the corresponding conditions, obtain the current rear - wheel lateral adhesion force of the vehicle based on the steering wheel angle;

[0095] An active suspension force acquisition unit 630, configured to obtain the limit body yaw moment corresponding to the vehicle; based on the limit body yaw moment and the rear - wheel lateral adhesion force, obtain the difference in rear - wheel lateral adhesion force; based on the first mapping relationship and the difference in rear - wheel lateral adhesion force, obtain the target value of the active suspension force of the vehicle, and control the active suspension force to reach the target value, so as to change the rear - wheel lateral adhesion force by the active suspension force reaching the target value. The first mapping relationship is the mapping relationship between the difference in rear - wheel lateral adhesion force and the active suspension force of the vehicle, and the first mapping relationship is used to determine the active suspension force that enables the vehicle to reach the drift state during the process of changing the rear - wheel lateral adhesion force.

[0096] As a way, the rear-wheel lateral adhesion acquisition unit 620 is specifically configured to obtain the front-wheel angle of the vehicle based on the steering wheel angle; and obtain the current rear-wheel lateral adhesion of the vehicle based on the front-wheel angle and the tire lateral force equation, where the tire lateral force equation is an equation for analyzing the front and rear wheel lateral forces of the vehicle.

[0097] As a way, the suspension active force acquisition unit 630 is specifically configured to obtain the body yaw moment corresponding to the rear-wheel lateral adhesion based on the rear-wheel lateral adhesion and the second mapping relationship, where the second mapping relationship represents the mapping relationship between the rear-wheel lateral adhesion and the body yaw moment; obtain the yaw moment difference based on the body yaw moment and the limit body yaw moment; and obtain the rear-wheel lateral adhesion difference based on the yaw moment difference and the second mapping relationship.

[0098] Optionally, the suspension active force acquisition unit 630 is specifically configured to obtain the current yaw rate reference value of the vehicle based on the steering wheel angle; and construct the second mapping relationship based on the yaw rate reference value and the third mapping relationship, where the third mapping relationship represents the mapping relationship between the steering wheel angle of the vehicle and the rear-wheel lateral adhesion.

[0099] Optionally, the suspension active force acquisition unit 630 is specifically configured to construct the third mapping relationship based on a preset steering ratio relationship between the front-wheel angle and the steering wheel angle and the reference mapping relationship, where the reference mapping relationship is the mapping relationship between the front-wheel angle of the vehicle and the rear-wheel lateral adhesion.

[0100] Optionally, the suspension active force acquisition unit 630 is specifically configured to construct the reference mapping relationship based on the planar two-wheel vehicle dynamics model and the tire lateral force equation.

[0101] Wherein, the device 600 further includes:

[0102] The drift state maintenance unit 640 is configured to determine whether the speed and the steering wheel angle after the vehicle enters the drift state meet the corresponding conditions; if both the speed and the steering wheel angle after the vehicle enters the drift state meet the corresponding conditions, obtain the updated rear-wheel lateral adhesion of the vehicle based on the steering wheel angle after the vehicle enters the drift state; obtain the updated rear-wheel lateral adhesion difference based on the limit body yaw moment and the updated rear-wheel lateral adhesion; and obtain the updated target value of the suspension active force of the vehicle based on the first mapping relationship and the updated rear-wheel lateral adhesion difference, and control the suspension active force to reach the updated target value, so as to change the updated rear-wheel lateral adhesion by the suspension active force reaching the updated target value.

[0103] Next, it will be combined with Figure 7A vehicle provided by this application will be described.

[0104] Please refer to Figure 7 , based on the above vehicle control method and device, another vehicle 100 that can execute the foregoing vehicle control method is further provided in an embodiment of this application. The vehicle 100 includes one or more (only one is shown in the figure) processors 102, a memory 104, and a data acquisition module 106 that are coupled to each other. Among them, a program that can execute the content in the foregoing embodiment is stored in the memory 104, and the processor 102 can execute the program stored in the memory 104.

[0105] Among them, the processor 102 may include one or more processing cores. The processor 102 connects various parts within the entire vehicle 100 using various interfaces and lines, and executes various functions of the vehicle 100 and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 104, and by calling data stored in the memory 104. Optionally, the processor 102 may be implemented in at least one hardware form of a network processor (Neural network Processing Unit, NPU), a digital signal processing (Digital Signal Processing, DSP), a field programmable gate array (Field-Programmable Gate Array, FPGA), and a programmable logic array (Programmable Logic Array, PLA). The processor 102 may integrate a combination of one or several of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU), a network processor (Neural network Processing Unit, NPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs, etc.; the GPU is responsible for rendering and drawing the displayed content; the NPU is responsible for processing multimedia data such as videos and images; the modem is responsible for processing wireless communications. It can be understood that the above modem may not be integrated into the processor 102 and may be implemented separately by a communication chip.

[0106] The memory 104 may include a Random Access Memory (RAM), and may also include a Read-Only Memory. The memory 104 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 104 may include a program storage area and a data storage area. Among them, the program storage area can store instructions for implementing the operating system, instructions for implementing at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the following various method embodiments, etc. The data storage area can also store data created during the use of the vehicle 100 (such as phone book, audio and video data, chat record data), etc.

[0107] The data acquisition module 106 can be used to obtain the driving state information of the vehicle 100. The data acquisition module 106 can be a lidar, a camera, a sensor, a GPS (Global Positioning System) navigation, etc.

[0108] An embodiment of the present application provides a computer-readable storage medium. Program code is stored in the computer-readable storage medium, and the program code can be called by a processor to execute the methods described in the above method embodiments.

[0109] The computer-readable storage medium can be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk or a ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has a storage space for the program code for executing any method step in the above methods. These program codes can be read out from one or more computer program products or written into these one or more computer program products. The program codes can be compressed in an appropriate form, for example.

[0110] In summary, a vehicle control method, device, and vehicle provided by the present application, in response to the vehicle entering the drift mode, confirm whether the speed and steering wheel angle of the vehicle meet the corresponding conditions. If both the speed and the steering wheel angle meet the corresponding conditions, obtain the current lateral adhesion force of the rear wheels of the vehicle based on the steering wheel angle, obtain the limit body yaw moment corresponding to the vehicle, obtain the difference in lateral adhesion force of the rear wheels based on the limit body yaw moment and the lateral adhesion force of the rear wheels, obtain the target value of the active suspension force of the vehicle based on the first mapping relationship and the difference in lateral adhesion force of the rear wheels, and control the active suspension force to reach the target value, so as to change the lateral adhesion force of the rear wheels by the active suspension force reaching the target value. By the above method, after the vehicle enters the drift mode and it is confirmed that the speed and steering wheel angle of the vehicle meet the corresponding conditions, the current lateral adhesion force of the rear wheels of the vehicle can be obtained based on the steering wheel angle, and the difference in lateral adhesion force of the rear wheels can be obtained based on the limit body yaw moment and the lateral adhesion force of the rear wheels. Therefore, the target value of the active suspension force of the vehicle can be obtained based on the first mapping relationship and the difference in lateral adhesion force of the rear wheels, so as to change the lateral adhesion force of the rear wheels by the active suspension force reaching the target value, making it easier for the vehicle to reach a state where the required lateral force of the rear tires is greater than the lateral adhesion force limit provided by the ground, assisting the driver to make the vehicle reach the drift state, thereby reducing the driver's operation precision and the difficulty of controlling the vehicle state, and lowering the technical threshold of vehicle drifting. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them; although the present application 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 for 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 application.

Claims

1. A vehicle control method, characterized in that, The method includes: In response to the vehicle entering the drift mode, confirm whether the speed and the steering wheel angle of the vehicle meet the corresponding conditions; If both the speed and the steering wheel angle meet the corresponding conditions, obtain the current lateral adhesion force of the rear wheels of the vehicle based on the steering wheel angle; Obtain the limit body yaw moment corresponding to the vehicle; Based on the limit body yaw moment and the lateral adhesion force of the rear wheels, obtain the difference in the lateral adhesion force of the rear wheels; Based on the first mapping relationship and the difference in the lateral adhesion force of the rear wheels, obtain the target value of the active suspension force of the vehicle, and control the active suspension force to reach the target value, so as to change the lateral adhesion force of the rear wheels through the active suspension force reaching the target value. The first mapping relationship is the mapping relationship between the difference in the lateral adhesion force of the rear wheels and the active suspension force of the vehicle, and the first mapping relationship is used to determine the active suspension force that enables the vehicle to reach the drift state during the process of changing the lateral adhesion force of the rear wheels.

2. The method according to claim 1, wherein The obtaining the difference in the lateral adhesion force of the rear wheels based on the limit body yaw moment and the lateral adhesion force of the rear wheels includes: Based on the lateral adhesion force of the rear wheels and the second mapping relationship, obtain the body yaw moment corresponding to the lateral adhesion force of the rear wheels. The second mapping relationship represents the mapping relationship between the lateral adhesion force of the rear wheels and the body yaw moment; Based on the body yaw moment and the limit body yaw moment, obtain the difference in the yaw moment; Based on the difference in the yaw moment and the second mapping relationship, obtain the difference in the lateral adhesion force of the rear wheels.

3. The method according to claim 2, characterized in that, Before the obtaining the body yaw moment corresponding to the lateral adhesion force of the rear wheels based on the lateral adhesion force of the rear wheels and the second mapping relationship, further include: Based on the steering wheel angle, obtain the current reference value of the yaw angular velocity of the vehicle; Based on the reference value of the yaw angular velocity and the third mapping relationship, construct the second mapping relationship. The third mapping relationship represents the mapping relationship between the steering wheel angle of the vehicle and the lateral adhesion force of the rear wheels.

4. The method according to claim 3, characterized in that Before the constructing the second mapping relationship based on the reference value of the yaw angular velocity and the third mapping relationship, further include: Based on the preset steering ratio relationship between the front wheel angle and the steering wheel angle and the reference mapping relationship, construct the third mapping relationship. The reference mapping relationship is the mapping relationship between the front wheel angle of the vehicle and the lateral adhesion force of the rear wheels.

5. The method according to claim 4, wherein Before the constructing the third mapping relationship based on the preset steering ratio relationship between the front wheel angle and the steering wheel angle and the reference mapping relationship, further include: Based on the planar two-wheel vehicle dynamics model and the tire lateral force equation, construct the reference mapping relationship.

6. The method according to claim 1, wherein The obtaining the current lateral adhesion force of the rear wheels of the vehicle based on the steering wheel angle includes: Based on the steering wheel angle, obtain the front wheel angle of the vehicle; Based on the front wheel angle and the tire lateral force equation, obtain the current lateral adhesion force of the rear wheels of the vehicle. The tire lateral force equation is an equation for analyzing the lateral forces of the front and rear wheels of the vehicle.

7. The method according to claim 1, wherein After obtaining the target value of the active suspension force of the vehicle based on the first mapping relationship and the lateral adhesion force difference of the rear wheels, and controlling the active suspension force to reach the target value to change the lateral adhesion force of the rear wheels by the active suspension force reaching the target value, it further includes: Determining whether the speed and steering wheel angle of the vehicle after entering the drift state meet the corresponding conditions; If both the speed and steering wheel angle of the vehicle after entering the drift state meet the corresponding conditions, obtaining the updated lateral adhesion force of the rear wheels of the vehicle based on the steering wheel angle after the vehicle enters the drift state; Based on the limit body yaw moment and the updated lateral adhesion force of the rear wheels, obtaining the updated lateral adhesion force difference of the rear wheels; Based on the first mapping relationship and the updated lateral adhesion force difference, obtaining the updated target value of the active suspension force of the vehicle, and controlling the active suspension force to reach the updated target value to change the updated lateral adhesion force of the rear wheels by the active suspension force reaching the updated target value.

8. A vehicle control device, characterized in that, The device includes: A condition confirmation unit, configured to confirm whether the speed and steering wheel angle of the vehicle meet the corresponding conditions in response to the vehicle entering the drift mode; A rear-wheel lateral adhesion force acquisition unit, configured to, if both the speed and the steering wheel angle meet the corresponding conditions, obtain the current lateral adhesion force of the rear wheels of the vehicle based on the steering wheel angle; An active suspension force acquisition unit, configured to obtain the limit body yaw moment corresponding to the vehicle; based on the limit body yaw moment and the lateral adhesion force of the rear wheels, obtaining the lateral adhesion force difference of the rear wheels; based on the first mapping relationship and the lateral adhesion force difference of the rear wheels, obtaining the target value of the active suspension force of the vehicle, and controlling the active suspension force to reach the target value to change the lateral adhesion force of the rear wheels by the active suspension force reaching the target value, where the first mapping relationship is the mapping relationship between the lateral adhesion force difference of the rear wheels and the active suspension force of the vehicle, and the first mapping relationship is used to determine the active suspension force that enables the vehicle to reach the drift state during the process of changing the lateral adhesion force of the rear wheels.

9. A vehicle, characterized in that, Comprising one or more processors and a memory; One or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs are configured to execute the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, Program code is stored in the computer-readable storage medium, and when the program code runs, it executes the method according to any one of claims 1-7.

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