Vehicle control method and device, vehicle, medium and product

Abstract

The invention discloses a vehicle control method and device, a vehicle, a medium and a product. The vehicle control method comprises the steps that relative position information between the vehicle and a target obstacle is obtained; based on the relative position information, first control signals are determined and output to the multiple wheels respectively; the first control signal is used for controlling the rotation directions corresponding to the wheels so as to control the posture of the vehicle to rotate; and under the condition that the posture of the vehicle rotates until the relative position between the vehicle and the target obstacle reaches the target relative position, the vehicle is controlled to pass through the target obstacle.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and particularly to a vehicle control method, device, vehicle, medium, and product. Background Art

[0002] When a user is driving a vehicle, in some usage scenarios, the user needs to drive the vehicle over obstacles with a certain height difference, such as road shoulders, steps, steep slopes, etc. This kind of up-step operation has certain requirements for the user's driving skills, experience, and operations. If the user drives carelessly, it may cause problems such as the vehicle chassis being scratched and damaged by the obstacle, or the vehicle rushing out of control. Therefore, improving the stability and safety of the vehicle during the process of passing through such obstacles is an urgent problem to be solved. Summary of the Invention

[0003] One of the purposes of this application is to provide a vehicle control method to solve the problem of insufficient safety and stability in the current vehicle up-step process, which relies on the user's operation; the second purpose is to provide a vehicle control device; the third purpose is to provide a vehicle; the fourth purpose is to provide a computer-readable storage medium; the fifth purpose is to provide a computer program product.

[0004] To achieve the above purposes, this application provides a vehicle control method, and the technical solution adopted is as follows: Obtain the relative position information between the vehicle and the target obstacle; Based on the relative position information, determine and output first control signals to multiple wheels respectively; the first control signals are used to control the respective rotation directions of the multiple wheels to control the rotation of the vehicle's attitude; When the attitude of the vehicle rotates to a situation where the relative position between the vehicle and the target obstacle reaches the target relative position, control the vehicle to pass through the target obstacle.

[0005] According to the above technical means, first, obtain the relative position information between the vehicle and the target obstacle, and based on the relative position information, send first control signals to each wheel to control the respective rotation directions of the multiple wheels, thereby controlling the rotation of the vehicle's attitude. In this way, the space required for the vehicle to adjust its attitude is reduced, and the usage scenario is expanded; second, when the attitude of the vehicle rotates to a situation where the relative position between the vehicle and the target obstacle meets the target relative position, control the vehicle to pass through the target obstacle. In this way, controlling the vehicle to pass through the target obstacle when the target relative position is reached can reduce the lateral pressure and avoid tire blowout or wheel hub scratching caused by uneven force during the process of the wheel passing through the obstacle, improving the safety and stability during the process of passing through the target obstacle.

[0006] Further, based on the relative position information, determine and output first control signals to multiple wheels respectively, including: based on the relative position information, determine the target state angle of the vehicle; based on the target state angle of the vehicle, determine the rotation information of the vehicle; based on the rotation information of the vehicle, determine the first control signal corresponding to each wheel respectively, and output it to the corresponding wheel.

[0007] According to the above technical means, based on the relative position information between the vehicle and the target obstacle, determine the target state angle of the vehicle, and further based on the target state angle, determine the rotation information of the vehicle. By sending first control signals to multiple wheels of the vehicle respectively, the vehicle is rotated to the target state angle. Thus, when the occupied space of the vehicle is small, the vehicle can reach the target state angle with the smallest rotation angle, improving the efficiency of the vehicle adjusting to the target state angle.

[0008] Further, the first control signal corresponding to each wheel includes one or more of the following: The first control signal corresponding to the first wheel, and the first control signal corresponding to the first wheel is used to control the first wheel to rotate forward; The first control signal corresponding to the second wheel, and the first control signal corresponding to the second wheel is used to control the second wheel to rotate backward; The first control signal corresponding to the third wheel, and the first control signal corresponding to the third wheel is used to control the third wheel to brake; Wherein, both the first wheel and the second wheel are arranged on the front side of the vehicle, or both are arranged on the rear side of the vehicle.

[0009] According to the above technical means, through the first control signal corresponding to each wheel, control the vehicle to rotate perpendicular to the target obstacle. In this way, through this left-right differential control strategy of the vehicle, the vehicle can rotate in a small space, making this method can be flexibly applied to various scenarios with narrow roads.

[0010] Further, controlling the vehicle to pass through the target obstacle includes: updating the relative position information, obtaining the updated relative position information; based on the updated relative position information, determining the relative distance between each wheel and the target obstacle; based on the relative distance between each wheel and the target obstacle, determining and outputting second control signals to multiple wheels respectively; the second control signal is used to control the torque corresponding to each of the multiple wheels to control the vehicle to pass through the target obstacle.

[0011] According to the above technical means, by sending second control signals to each wheel respectively, control the torque of each of the multiple wheels during the process of passing through the target obstacle, so as to improve the smoothness and safety of the vehicle during the process of passing through the target obstacle.

[0012] Further, based on the relative distances between each wheel and the target obstacle, determine and output second control signals to the multiple wheels respectively, including: when the first distance is greater than the second distance, determine and output the second control signal corresponding to the first wheel and the second control signal corresponding to the second wheel; the second control signal corresponding to the first wheel is used to control the first wheel to output torque, and the second control signal corresponding to the second wheel is used to control the second wheel to output torque; when the first distance is less than the second distance, determine and output the second control signal corresponding to the third wheel and the second control signal corresponding to the fourth wheel; the second control signal corresponding to the third wheel is used to control the third wheel to output torque, and the second control signal corresponding to the fourth wheel is used to control the fourth wheel to output torque; Wherein, the first distance is the distance between the first wheel and the target obstacle, and / or the distance between the second wheel and the target obstacle, and the second distance is the distance between the third wheel and the target obstacle, and / or the distance between the fourth wheel and the target obstacle.

[0013] According to the above technical means, during the process of the vehicle passing over the target obstacle, dynamically allocate torque to the target obstacle, avoid the vehicle from slipping and being unable to climb over the ridge, adjust the output of each wheel through dynamic torque, assist the vehicle to climb over the ridge, and improve the smoothness of the vehicle climbing over the ridge.

[0014] Further, before controlling the vehicle to pass over the target obstacle, the method further includes: obtaining the height of the target obstacle; based on the height of the target obstacle, determining the target height of the suspension; outputting a third control signal to the suspension, and the third control signal is used to control the suspension to adjust to the target height.

[0015] According to the above technical means, based on the height of the target obstacle, determine the target height of the suspension, and by sending a third control signal to the suspension, make the suspension adjust to the target height. In this way, when the height of the target obstacle is relatively low, the suspension of the vehicle can be controlled to adaptively make small adjustments, saving the energy consumption of the vehicle.

[0016] Further, when the height of the target obstacle is greater than the first preset height and less than the maximum height of the suspension, adjust the height of the suspension to the maximum height.

[0017] According to the above technical means, when the height of the target obstacle is greater than the first preset height, adjust the suspension of the vehicle to the maximum height, reduce the risk of damaging the chassis, and improve the safety of the vehicle passing over the target obstacle.

[0018] Further, obtain the target vehicle speed; Based on the target vehicle speed, determine and output fourth control signals to the multiple wheels respectively, and the fourth control signals are used to control the torque of the multiple wheels to increase at a first change rate.

[0019] According to the above technical means, during the process of the vehicle passing through the target obstacle, the vehicle speed is controlled in a closed loop at the target vehicle speed, and the torque of the wheels providing driving force is increased at a first change rate to improve the stability of the vehicle during the process of going over the obstacle and reduce the risks of the vehicle surging forward and skidding.

[0020] A vehicle control device includes: An acquisition unit for acquiring the relative position information between the vehicle and the target obstacle; A control unit for determining and respectively outputting first control signals to a plurality of wheels based on the relative position information; the first control signals are used to control the respective rotation directions of the plurality of wheels to control the rotation of the vehicle's attitude; The control unit is further configured to control the vehicle to pass through the target obstacle when the relative position between the vehicle and the target obstacle reaches the target relative position after the rotation of the vehicle's attitude.

[0021] A vehicle includes a plurality of wheels, a visual perception module, and the aforementioned vehicle control device, and the visual perception module and the plurality of wheels are both connected to the vehicle control device; wherein: The visual perception module is used to acquire the relative position information between the vehicle and the target obstacle; The vehicle control device is configured to determine and respectively output first control signals to a plurality of wheels based on the relative position information, and control the vehicle to pass through the target obstacle when the relative position between the vehicle and the target obstacle reaches the target relative position after the rotation of the vehicle's attitude; The plurality of wheels are used to control the respective rotation directions of the plurality of wheels based on the first control signals to control the rotation of the vehicle's attitude.

[0022] Furthermore, the vehicle further includes a suspension, and the suspension is connected to the vehicle control device; wherein: The visual perception module is further used to acquire the height of the target obstacle; The vehicle control device is further configured to determine the target height of the suspension based on the height of the target obstacle and output a third control signal to the suspension; The suspension is used to adjust to the target height based on the third control signal.

[0023] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements any one of the above methods.

[0024] A computer program product includes a computer program or instruction, and when the computer program or instruction is executed by a processor, it implements any one of the above methods.

[0025] Advantages of this application: (1) Obtain the relative position information between the vehicle and the target obstacle, and based on the relative position information, send a first control signal to each wheel to control the rotation direction of each of the multiple wheels, thereby controlling the rotation of the vehicle's attitude. In this way, the space required for the vehicle to adjust its attitude is reduced, and the usage scenario is expanded.

[0026] (2) Rotate the vehicle's attitude until the relative position between the vehicle and the target obstacle meets the target relative position, and then control the vehicle to pass through the target obstacle. In this way, controlling the vehicle to pass through the target obstacle when the target relative position is reached can reduce the lateral pressure and avoid tire blowout or wheel hub scratching caused by uneven force during the process of passing through the obstacle, improving the safety and stability during the process of passing through the target obstacle. Description of the Drawings

[0027] Figure 1 Flow chart of a vehicle control method provided by an embodiment of the present application Figure 1 ; Figure 2 State diagram of a vehicle provided by an embodiment of the present application Figure 1 ; Figure 3 State diagram of a vehicle provided by an embodiment of the present application Figure 2 ; Figure 4 State diagram of a vehicle provided by an embodiment of the present application Figure 3 ; Figure 5 State diagram of a vehicle provided by an embodiment of the present application Figure 4 ; Figure 6 State diagram of a vehicle provided by an embodiment of the present application Figure 5 ; Figure 7 State diagram of a vehicle provided by an embodiment of the present application Figure 6 ; Figure 8 State diagram of a vehicle provided by an embodiment of the present application Figure 7 ; Figure 9 Structural schematic diagram of a vehicle control device provided by an embodiment of the present application; Figure 10 Structural schematic diagram of a vehicle provided by an embodiment of the present application Figure 1 ; Figure 11 Structural schematic diagram of a vehicle provided by an embodiment of the present application Figure 2 ; Figure 12 Flow chart of a vehicle control method provided by an embodiment of the present applicationFigure 2 。 Detailed implementation manners

[0028] The following will illustrate the implementation manners of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, rather than for limiting the protection scope of the present application.

[0029] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner. Therefore, only the components related to the present application are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0030] In the following description, "some embodiments" are involved, which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0031] In the following description, the terms "first / second / third" only distinguish similar objects and do not represent a specific order for the objects. It can be understood that "first / second / third" can be interchanged with a specific order or sequence when allowed, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0033] The following will introduce the related technologies of the present application.

[0034] Currently, when users park outdoors, there are some scenarios where there is a need to drive onto a curb, such as scenarios where one needs to drive from a road onto a sidewalk, a parking lot shoulder, or cross a step, or scenarios where one needs to borrow the road shoulder when encountering a narrow road and needing to avoid road obstacles.

[0035] In these scenarios, the user needs to drive the vehicle up a slope or step. The user needs to control the vehicle to approach the obstacle at a relatively low speed and increase the throttle when approaching the obstacle, so that the vehicle accumulates a certain speed and inertia, and the inertia of the vehicle helps the vehicle pass over the obstacle. At the same time, it is necessary to pay attention not to step on the throttle too much to avoid the vehicle getting out of control due to excessive power. This process of driving up the slope or step has certain requirements for the user's driving skills and the user's mastery of the vehicle's performance. During this process, if the contact area between the wheels and the road shoulder is small when the user controls the vehicle to drive up the slope or step, the vehicle is likely to skid. In order to increase the passing rate when driving up the slope or step, the user may accelerate in advance and rely on inertia to rush onto the road shoulder, but this will not only increase the risk of damaging the tires, but also may cause the vehicle to get out of control due to excessive power.

[0036] Based on this, the embodiments of the present application provide a vehicle control method, device, vehicle, medium and product. First, obtain the relative position information between the vehicle and the target obstacle, and based on the relative position information, send a first control signal to each wheel to control the rotation direction of each of the multiple wheels, and then control the vehicle's attitude to rotate. In this way, the space required for the vehicle to adjust its attitude is reduced, and the usage scenarios are expanded. Second, when the vehicle's attitude rotates to a situation where the relative position between the vehicle and the target obstacle meets the target relative position, control the vehicle to pass over the target obstacle. In this way, controlling the vehicle to pass over the target obstacle when reaching the target relative position can reduce the lateral pressure and avoid tire blowout or wheel hub scratching caused by uneven force during the process of the vehicle passing over the obstacle, and improve the safety and stability during the process of passing over the target obstacle.

[0037] 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.

[0038] In an embodiment of the present application, Figure 1 is a schematic flowchart of a vehicle control method provided by an embodiment of the present application Figure 1 . As Figure 1 shown, this method can be applied to a vehicle, and this method may include: S101, obtain the relative position information between the vehicle and the target obstacle.

[0039] Among them, the target obstacle may include an obstacle with a certain height difference, a certain length (for example, in a long strip shape), and a relatively small slope from the highest point to the lowest point, that is, a relatively steep obstacle. For example, it may be a road shoulder (curb), a step, a road embankment, a ridge, etc.

[0040] In the embodiments of the present application, the relative position information between the vehicle and the target obstacle can be understood to include information such as the shortest distance between the vehicle and the target obstacle, and the included angle (approach angle) between the vehicle and the long side of the target obstacle. For example Figure 2As shown, the relative position information includes the angle between the vehicle (in the direction of the arrow) and the long side direction of the obstacle 201 when the vehicle 202 approaches the target obstacle 201, the wheel of the vehicle 202 that is closest to the obstacle 201, and the corresponding minimum distance, etc.

[0041] It should be noted that the relative position information between the vehicle and the target obstacle can be obtained by a visual perception module provided on the vehicle and sent to the vehicle control device through a Controller Area Network (CAN). Among them, the vehicle control device can be a hardware device carrying the software unit of the embodiment of the present application, including software methods and hardware devices for implementing the corresponding functions of the embodiment of the present application. The hardware device can be, for example, a Vehicle Control Unit (VCU), or a Microcontroller Unit (MCU), or other hardware devices with functions such as computing, processing, scheduling, and control. Specific limitations are not made here.

[0042] Among them, the visual perception module can include devices such as lidar, ultrasonic radar, millimeter-wave radar, cameras, etc. The visual perception module can be set at positions such as the roof of the vehicle, the rear taillights of the vehicle, the hood of the vehicle, the front headlights of the vehicle, etc., and can identify the target obstacle through high-precision mapping or visual recognition, and calculate and determine the relative position information between the vehicle and the target obstacle based on the images or other information collected by the above devices.

[0043] S102, based on the relative position information, determine and output first control signals to multiple wheels respectively.

[0044] Among them, the first control signal is used to control the rotation direction of each of the multiple wheels corresponding to it to control the rotation of the vehicle's attitude.

[0045] In the embodiment of the present application, after the vehicle control device obtains the relative position information between the vehicle and the target obstacle, it can determine the adjustments that need to be made in terms of the vehicle's attitude, the distance between the vehicle and the obstacle, etc. for the vehicle to be adjusted from the current position to the target position based on the relative position information, thereby determining multiple first control signals and sending each first control signal to the corresponding wheel. Among them, each first control signal corresponds to a wheel and is used to control the rotation direction of the corresponding wheel.

[0046] It should be noted that the vehicle in the embodiment of the present application can have a distributed electric drive structure, with drive motors distributed inside or near each wheel, and can independently control each wheel through the first control signal according to different control requirements.

[0047] It should be noted that the rotation direction of the wheel may include positive rotation and negative rotation, and the first control signal may also be used to control parameters such as the rotation speed and rotation time of the wheel.

[0048] It should also be noted that the posture of the vehicle can be understood as the angle or direction of the straight line formed by the front wheels of the vehicle and the rear wheels on the same side on the preset coordinate axis, as well as the angle of each wheel.

[0049] In an embodiment of the present application, the vehicle control device controls the rotation directions of multiple wheels of the vehicle separately through a first control signal. For example, the two wheels on the same side of the vehicle rotate in opposite directions. In this way, the vehicle can rotate clockwise or counterclockwise with one of the wheels as the geometric center, thereby allowing the vehicle to rotate with a smaller turning radius, changing the posture of the vehicle, which is close to the effect of turning around in place or zero-radius turning.

[0050] S103 , when the posture of the vehicle rotates until the relative position between the vehicle and the target obstacle reaches the target relative position, controlling the vehicle to pass through the target obstacle.

[0051] It should be noted that the visual perception module can obtain surrounding environmental information, including information about road bumps and spatial information. In this embodiment of the present application, the target relative position can be determined based on the space available during the current vehicle rotation process (before and after the vehicle passes the bump). If there is sufficient space, the target relative position can be understood as the angle between the straight line formed by the vehicle's front wheels and the rear wheels on the same side and the long side of the target obstacle being perpendicular or nearly perpendicular. Alternatively, if there is insufficient space, the target relative position can be understood as the angle between the vehicle and the target obstacle being closest to perpendicular in the space before the bump, or if the space after the bump can accommodate the vehicle's diagonal approach. In this case, the angle between the vehicle and the target obstacle at the target relative position is the angle between the straight line formed by the vehicle's front wheels and the rear wheels on the same side and the long side of the target obstacle. This angle is the optimal angle for passing the bump (or the target obstacle) determined based on a combination of factors such as the vehicle's perceived environment and parking position.

[0052] It should also be noted that, when the long side of the target obstacle is not straight but has some twists and turns, the long side of the target obstacle can be approximately equal to the general direction so that the vehicle is perpendicular to the general direction.

[0053] It should be noted that different vehicle postures correspond to different directions, such as Figure 3 As shown, the direction in this posture is the direction pointed by the arrow, which can be understood as the direction of the vehicle or the direction of travel, such as Figure 3, when the vehicle is moving forward, it is the direction forward of the perpendicular line to the connection line of the two front wheels; or when the vehicle is moving backward, it is the direction backward of the perpendicular line to the connection line of the two rear wheels. Among them, the attitude of the vehicle is perpendicular to the target obstacle 201. When the target obstacle 201 is Figure 3 a long and steep-slope obstacle as shown, it can be understood that the vehicle is perpendicular to the long side direction of the target obstacle. At this time, the distances between the two front wheels of the vehicle and the target obstacle are approximately equal.

[0054] In the embodiment of the present application, during the process that the vehicle control device controls the rotation of multiple wheels based on the first control signal, thereby changing the attitude of the vehicle, the visual perception module obtains the relative position information between the vehicle and the target obstacle in real time or at preset time intervals, and sends it to the vehicle control device, so that the vehicle control device determines whether the relative position between the vehicle and the target obstacle meets the target relative position. After meeting the target relative position, the vehicle control device stops outputting the first control signal to the multiple wheels, and further makes the vehicle pass the target obstacle through other control signals.

[0055] It should also be noted that when the target relative position reached between the attitude of the vehicle and the target obstacle is perpendicular, when the vehicle passes the target obstacle, if the target obstacle has a right-angle edge, such as a road shoulder, the contact surface between the wheel and the obstacle edge is a perpendicular tangent line, and the contact surface is uniform. The force direction of the wheel is consistent with the rolling direction of the wheel, avoiding the severe friction between the tire wall and the edge of the target obstacle when the vehicle climbs the slope obliquely, which may cause tire burst or wheel hub scratch. Moreover, climbing the slope vertically can also increase the height of the target obstacle that the vehicle can pass through and reduce the power requirement when the vehicle passes the target obstacle.

[0056] In the embodiment of the present application, the relative position between the vehicle and the target obstacle reaches the target relative position, which means that the included angle between the connection line between the front and rear wheels of the vehicle and the long side of the target obstacle meets the angle corresponding to the target relative position.

[0057] In the embodiment of the present application, the vehicle control device rotates the attitude of the vehicle to make the relative position between the vehicle and the target obstacle reach the target relative position by controlling the chassis hydraulic braking and cooperating with the left and right electric drive differential torque function, ensuring that the vehicle can maintain a certain attitude and pass smoothly when passing the target obstacle. Further, it is controlled based on the relevant algorithms of autonomous driving, or based on the relevant methods in the following embodiments, or the user takes over the control actively to make the vehicle pass the target obstacle.

[0058] Among them, the vehicle passing the target obstacle includes all wheels of the vehicle passing the target obstacle.

[0059] Thus, in the embodiments of the present application, first, the relative position information between the vehicle and the target obstacle is obtained, and based on the relative position information, a first control signal is sent to each wheel to control the rotation direction of each of the multiple wheels, thereby controlling the rotation of the vehicle's attitude. In this way, the space required for the vehicle to adjust its attitude is reduced, and the usage scenario is expanded; second, when the relative position between the vehicle's attitude and the target obstacle satisfies the target relative position, the vehicle is controlled to pass through the target obstacle. In this way, controlling the vehicle to pass through the target obstacle when the target relative position is reached can reduce the lateral pressure and avoid tire blowout or wheel hub scratching caused by uneven force during the process of the vehicle passing through the obstacle, improving the safety and stability during the process of passing through the target obstacle.

[0060] In some embodiments, for step S102, determining and respectively outputting a first control signal to multiple wheels based on the relative position information includes: S301, determining the target state angle of the vehicle based on the relative position information.

[0061] In the embodiments of the present application, the target state angle can be understood as the angle of the vehicle's attitude when the relative position between the vehicle and the target obstacle reaches the target relative position. This angle can be the starting angle with reference to the preset 0-degree direction, and the angle deviated from the starting angle.

[0062] In the embodiments of the present application, after the vehicle control device obtains the relative position information between the vehicle and the target obstacle, it determines the target state angle of the vehicle according to the relative position, distance, etc. between the target obstacle and the vehicle's attitude.

[0063] S302, determining the rotation information of the vehicle based on the target state angle of the vehicle.

[0064] In the embodiments of the present application, the rotation information of the vehicle can be understood as the minimum angle that the angle of the vehicle's attitude needs to rotate to reach the target state angle, and can also include the distance and direction of a small adjustment to the vehicle's position when the vehicle is too close or too far from the target obstacle.

[0065] It should be noted that after the vehicle control device determines the target state angle of the vehicle, it calculates and determines the difference between the current angle of the vehicle's attitude determined by the visual perception module and the target state angle, as well as other parameters such as the distance that the vehicle needs to adjust, as the rotation information of the vehicle.

[0066] S303, determining the first control signal corresponding to each wheel based on the rotation information of the vehicle, and outputting it to the corresponding wheel.

[0067] In an embodiment of the present application, after determining the rotation information of the vehicle, the vehicle control device determines first control signals corresponding to each wheel based on the rotation information of the vehicle. Each first control signal is used to control the corresponding wheel to rotate at a certain rotational speed, in a certain rotational direction, and for a certain period of time, so that the rotational direction of the vehicle can be rotated to the target state angle.

[0068] It should be noted that during the process of the vehicle rotating to the target state angle, the first control signal can be used to control the wheel to rotate, or it can also control the wheel to stop. Through the coordinated cooperation of each wheel, the attitude of the vehicle rotates.

[0069] It should also be noted that in some embodiments, the vehicle control device can also determine the rotation direction of the vehicle based on the current angle of the vehicle's attitude and the position of the obstacle, and control the attitude of the vehicle to rotate through the first control signal. During the rotation process, the visual perception system is used to detect in real time whether the vehicle meets the target relative position with the target obstacle, and stop outputting the first control signal when the target relative position is met.

[0070] In this way, in the embodiment of the present application, based on the relative position information between the vehicle and the target obstacle, the target state angle of the vehicle is determined, and further based on the target state angle, the rotation information of the vehicle is determined. By sending first control signals to multiple wheels of the vehicle respectively, the vehicle is rotated to the target state angle. Thus, when the occupied space of the vehicle is small, the vehicle can reach the target state angle with the minimum rotation angle, improving the efficiency of the vehicle adjusting to the target state angle.

[0071] In some embodiments, the first control signal corresponding to each wheel includes one or more of the following: The first control signal corresponding to the first wheel, which is used to control the first wheel to rotate forward; The first control signal corresponding to the second wheel, which is used to control the second wheel to rotate negatively; The first control signal corresponding to the third wheel, which is used to control the third wheel to brake; Among them, both the first wheel and the second wheel are arranged on the front side of the vehicle or both are arranged on the rear side of the vehicle.

[0072] In the embodiment of the present application, the relative position relationship between the vehicle 202 and the target obstacle 201 is as Figure 4In the shown situation, the driving direction of vehicle 202 is forward. The target obstacle 201 has a certain angle with vehicle 202 near the front wheels of vehicle 202, and the distance from the right front wheel is less than the distance from the left front wheel. In this case, the first wheel can be the left rear wheel 2021 of the vehicle, the second wheel can be the right rear wheel 2022 of the vehicle. Both the first wheel and the second wheel are arranged at the rear side of the vehicle. The third wheel (the wheel marked in solid black) can be the right front wheel 2023, and the fourth wheel can be the left front wheel 2024. Both the third wheel and the fourth wheel are arranged at the front side of the vehicle. The vehicle control device controls the third wheel to brake by clamping the third wheel with the first control signal of the third wheel through hydraulic braking. Additionally, the vehicle control device makes the first wheel rotate in the positive direction (or can be called rotating at a positive rotational speed) in the direction indicated by the arrow beside the left rear wheel 2021 of the vehicle through the first control signal corresponding to the first wheel. The vehicle control device makes the second wheel rotate in the negative direction (or can be called rotating at a negative rotational speed) in the direction indicated by the arrow beside the right rear wheel 2022 of the vehicle through the first control signal corresponding to the second wheel, so as to generate a rotational torque around the third wheel for the vehicle, and the vehicle tail rotates around the third wheel, making the vehicle rotate clockwise in the direction indicated by Figure 4 the central black arrow until vehicle 202 rotates to a target relative position with the target obstacle 201, and controls vehicle 202 to pass through the target obstacle 201.

[0073] Alternatively, in the relative position relationship between vehicle 202 and the target obstacle 201 as shown in Figure 5 In this situation, the driving direction of vehicle 202 is backward. The target obstacle 201 has a certain angle with vehicle 202 near the rear wheels of vehicle 202, and the distance from the right rear wheel is less than the distance from the left rear wheel. In this case, the first wheel can be the left front wheel 2024, the second wheel can be the right front wheel 2023. Both the first wheel and the second wheel are arranged at the front side of the vehicle. The third wheel (the wheel marked in solid black) can be the left rear wheel 2021 of the vehicle, and the fourth wheel can be the right rear wheel 2022 of the vehicle. Both the third wheel and the fourth wheel are arranged at the rear side of the vehicle. The vehicle control device makes the third wheel clamped through the first control signal corresponding to the third wheel, makes the first wheel rotate in the positive direction in the direction indicated by the arrow beside the left front wheel 2024 of the vehicle through the first control signal corresponding to the first wheel, and makes the second wheel rotate in the negative direction in the direction indicated by the arrow beside the right front wheel 2023 of the vehicle through the second control signal corresponding to the second wheel, so as to generate a rotational torque around the third wheel for the vehicle, and makes the vehicle rotate counterclockwise around the third wheel (i.e., Figure 5 rotate in the direction indicated by the central arrow) until vehicle 202 rotates to a target relative position with the target obstacle 201, and controls vehicle 202 to pass through the target obstacle 201.

[0074] It should be noted that when the relative position relationship between the target obstacle 201 and the vehicle 202 is in other situations, the corresponding relationship between the first wheel to the fourth wheel and the wheels of the vehicle is determined accordingly, so that the vehicle rotates clockwise or counterclockwise around the third wheel. For example, when the target obstacle is near the left front wheel of the vehicle, the third wheel is the left front wheel of the vehicle, the first wheel is the right rear wheel of the vehicle, the second wheel is the left rear wheel of the vehicle, and the vehicle control device controls the left front wheel to clamp tightly through the corresponding first control signal, the left rear electric drive controls the left rear wheel to rotate at a certain negative speed, and the right rear electric drive rotates at a certain positive speed, generating a rotational torque around the left front wheel, and the rear of the vehicle rotates around the left front wheel until the vehicle reaches the target relative position with the target obstacle.

[0075] It should also be noted that the wheel closest to the obstacle can be used as the third wheel, and the wheel on the same side as the third wheel can be used as the fourth wheel (it can be the front side or the rear side of the vehicle), the first wheel and the second wheel are arranged on the other side of the vehicle (it can be the front side or the rear side of the vehicle, and is not on the same front side or rear side as the third wheel and the fourth wheel), and the corresponding relationship between the four wheels of the vehicle and the first wheel to the fourth wheel is determined according to the direction in which the vehicle needs to rotate. Among them, the fourth wheel is a driven wheel, and the first control signal corresponding to the fourth wheel may not set a torque and speed for the fourth wheel, so that the fourth wheel rotates following the rotation of the vehicle.

[0076] In the embodiment of the present application, the first control signal corresponding to each wheel may include the first control signal corresponding to the third wheel, the first control signal corresponding to the first wheel, and the first control signal corresponding to the second wheel; or, it may include the first control signal corresponding to the third wheel and the first control signal corresponding to the first wheel. In this case, the second wheel and the fourth wheel are used as driven wheels, and the rotation rate of the vehicle may be lower than the rotation rate of the vehicle when controlling the rotation of the first wheel and the second wheel at the same time; or, it may include the first control signal corresponding to the third wheel and the first control signal corresponding to the second wheel.

[0077] It should also be noted that the above torque distribution scheme during the vehicle's up - slope process is applicable to any relative position situation between the vehicle and the target obstacle. Exemplarily, for the situation where there is a certain angle (slanting up - slope) between the vehicle and the target obstacle and one of the front wheels of the vehicle goes up the slope first, the torque can be distributed to the two rear wheels first until both front wheels go up the slope, and then the torque is distributed to the two front wheels; or, in the situation where one of the rear wheels of the vehicle goes up the slope first, the torque can be distributed to the two front wheels first until both rear wheels go up the slope, and then the torque is distributed to the two rear wheels.

[0078] Thus, in the embodiment of the present application, through the first control signal corresponding to each wheel, the vehicle is controlled to rotate to a target relative position with respect to the target obstacle. In this way, through this left-right differential control strategy of the vehicle, the vehicle can achieve rotation in a small space, enabling this method to be flexibly applied to various scenarios with narrow road surfaces.

[0079] In another embodiment of the present application, for step S103, controlling the vehicle to pass the target obstacle may include: S401, updating the relative position information to obtain the updated relative position information.

[0080] In the embodiment of the present application, after the vehicle rotates to a target relative position with respect to the target obstacle, the visual perception module can obtain the relative position information between the current vehicle and the target obstacle, which may include information such as the distance and angle between the vehicle and the target obstacle, and send this latest relative position information to the vehicle control device. The vehicle control device updates the relative position information it stores to obtain the updated relative position information.

[0081] S402, based on the updated relative position information, determining the relative distance between each wheel and the target obstacle.

[0082] In the embodiment of the present application, based on the updated relative position information, the vehicle control device determines the position of the target obstacle and the relative distance between the target obstacle and each wheel.

[0083] It should be noted that when the vehicle and the target obstacle reach the target relative position, the distance between the left front wheel of the vehicle and the target obstacle is approximately equal to the distance between the right front wheel and the target obstacle, and the distance between the left rear wheel of the vehicle and the target obstacle is approximately equal to the distance between the right rear wheel and the target obstacle. Therefore, the distance between the left front wheel and / or the right front wheel and the target obstacle, and the distance between the left rear wheel and / or the right rear wheel and the target obstacle can be determined.

[0084] S403, based on the relative distance between each wheel and the target obstacle, determining and respectively outputting second control signals to multiple wheels.

[0085] Among them, the second control signal is used to control the torque corresponding to each of the multiple wheels to control the vehicle to pass the target obstacle.

[0086] In the embodiment of the present application, based on the distance between the left front wheel and / or the right front wheel and the target obstacle, and the distance between the left rear wheel and / or the right rear wheel and the target obstacle, it is determined whether the target obstacle is closer to the front wheels of the vehicle or closer to the rear wheels of the vehicle currently. Combining the attitude of the vehicle, it is determined whether it is the front wheels or the rear wheels of the vehicle that first pass through the target obstacle during the process of the vehicle passing through the target obstacle. For example, if the target obstacle is closer to the front wheels of the vehicle and the driving direction of the vehicle is forward, it can be determined that the two front wheels of the vehicle first pass through the target obstacle; or, if the target obstacle is closer to the rear wheels of the vehicle and the driving direction of the vehicle is backward, it can be determined that the two rear wheels of the vehicle first pass through the target obstacle.

[0087] In the embodiment of the present application, when the vehicle passes through the target obstacle, by sending second control signals to each wheel respectively, dynamic torque distribution is performed on each wheel. For example, a smaller torque or no torque is allocated to the wheels passing through the obstacle, and a larger torque is allocated to the wheels in contact with the ground, so that the vehicle can pass through the target obstacle smoothly.

[0088] Thus, in the embodiment of the present application, by sending second control signals to each wheel respectively, the torque of each of the multiple wheels during the process of passing through the target obstacle is controlled to improve the smoothness and safety of the vehicle during the process of passing through the target obstacle.

[0089] In some embodiments, for step S403, based on the relative distance between each wheel and the target obstacle, determining and respectively outputting second control signals to the multiple wheels may include: In the case where the first distance is greater than the second distance, determine and output the second control signal corresponding to the first wheel and the second control signal corresponding to the second wheel; the second control signal corresponding to the first wheel is used to control the first wheel to output torque, and the second control signal corresponding to the second wheel is used to control the second wheel to output torque.

[0090] In some embodiments, in the case where the first distance is less than the second distance, determine and output the second control signal corresponding to the third wheel and the second control signal corresponding to the fourth wheel; the second control signal corresponding to the third wheel is used to control the third wheel to output torque, and the second control signal corresponding to the fourth wheel is used to control the fourth wheel to output torque.

[0091] Wherein, the first distance is the distance between the first wheel and the target obstacle, and / or the distance between the second wheel and the target obstacle, and the second distance is the distance between the third wheel and the target obstacle, and / or the distance between the fourth wheel and the target obstacle.

[0092] In an embodiment of the present application, the first wheel may be the left rear wheel 2021, the second wheel may be the right rear wheel 2022, the third wheel may be the right front wheel 2023, and the fourth wheel may be the left front wheel 2024. It should be noted that this is only an optional corresponding manner for the first to fourth wheels and the respective wheels of the vehicle. The first to fourth wheels may also be other wheels of the vehicle.

[0093] As Figure 6 shown, when the driving direction of the vehicle is forward, and the distance (the first distance) between the two front wheels (the first wheel and / or the second wheel) and the target obstacle 201 is less than the distance (the second distance) between the two rear wheels (the third wheel and / or the fourth wheel) and the target obstacle 201, the two front wheels of the vehicle pass the target obstacle first. Before the two front wheels completely pass the target obstacle, the vehicle control device outputs second control signals to the two rear wheels (the third wheel and the fourth wheel, that is, the two wheels marked in solid black) respectively, distributes output torques to the third wheel and the fourth wheel, so that the third wheel (the left rear wheel 2021) and the fourth wheel (the right rear wheel 2022) rotate in the directions indicated by the arrows as Figure 6 shown, and controls the third wheel and the fourth wheel to provide torques that can overcome the target obstacle for the first wheel and the second wheel until the first wheel and the second wheel pass the target obstacle.

[0094] Further, as Figure 7 shown, after the two front wheels (including the first wheel and the second wheel) of the vehicle pass the target obstacle and gradually move away from the target obstacle, the first distance gradually increases and the second distance gradually decreases. When the first distance is greater than the second distance, the vehicle control device distributes torques to the first wheel and the second wheel (the two front wheels) respectively by sending second control signals, that is, to the first wheel (the left front wheel 2024) and the second wheel (the right front wheel 2023), which are the two wheels marked in solid black, to rotate in the directions indicated by the arrows as Figure 7 shown, driving the third wheel and the fourth wheel to pass the target obstacle by the first wheel and the second wheel.

[0095] It should be noted that in other cases, such as when the relative position relationship between the vehicle and the target obstacle is as Figure 8 shown, the first distance is greater than the second distance. Torques can be first distributed to the first wheel and the second wheel (the two front wheels) by the second control signal. After the first wheel and the second wheel complete climbing the obstacle, when the first distance is less than or equal to the second distance, the vehicle control device distributes torques to the third wheel and the fourth wheel by the second control signal to pass the target obstacle by the third wheel and the fourth wheel.

[0096] That is to say, during the process of the vehicle passing through the target obstacle, the vehicle control device distributes torque to the wheels that are not in the state of passing through the target obstacle to avoid slipping.

[0097] In this way, in the embodiment of the present application, during the process of the vehicle passing through the target obstacle, torque is dynamically distributed to the target obstacle to prevent the vehicle from being unable to climb over the obstacle due to slipping. By dynamically adjusting the output of each wheel through torque, it assists the vehicle to climb over the obstacle and improves the smoothness of the vehicle climbing over the obstacle.

[0098] In another embodiment of the present application, for step S103, before controlling the vehicle to pass through the target obstacle, the method may further include: S501, obtaining the height of the target obstacle.

[0099] In the embodiment of the present application, the visual perception module can calculate and determine the height of the target obstacle based on the data obtained by the camera and various radars. Among them, the height of the highest part in the section where the vehicle needs to pass through the target obstacle is used as the height of the target obstacle.

[0100] S502, determining the target height of the suspension based on the height of the target obstacle.

[0101] In the embodiment of the present application, the vehicle control device can compare the height of the target obstacle with the maximum height of the suspension. When the height of the target obstacle is much smaller than the maximum height of the suspension, for example, when the height of the target obstacle is less than the first preset height, the vehicle control device can determine the target height of the suspension according to the height of the target obstacle.

[0102] Among them, for example, the first preset height can be 50% - 80% of the maximum height of the suspension. In addition, when the types of vehicles are different, the maximum height of the suspension is also correspondingly different. For example, for a sedan-type vehicle, the maximum height of the suspension is between 12 cm and 20 cm; for an SUV-type vehicle, the maximum height of the suspension is above 20 cm.

[0103] It should be noted that the target height of the suspension determined by the vehicle control device can be higher than the height of the target obstacle, and the height difference can be determined according to the preset setting. The height difference needs to ensure that during the process of the vehicle passing through the target obstacle, the chassis of the vehicle will not scrape against the target obstacle due to the change in the angle of the vehicle chassis relative to the target obstacle.

[0104] S5, outputting a third control signal to the suspension, and the third control signal is used to control the suspension to adjust to the target height.

[0105] In the embodiment of the present application, after determining the target height of the suspension, the vehicle control device sends a third control signal to the suspension before any wheel of the vehicle passes through the target obstacle. Based on the third control signal, the suspension adaptively adjusts the height and adjusts the height to the target height.

[0106] It should be noted that after rotating the vehicle to the target relative position with the target obstacle based on the method in the foregoing embodiment, the suspension is adjusted to the target height based on the third control signal. Further, based on the method in the foregoing embodiment, the vehicle is controlled to pass through the target obstacle by means of dynamic torque distribution.

[0107] It should also be noted that during the process of the vehicle going over a curb, the third control signal can be updated based on the information of the curb obtained by the visual perception system in real time. The third control signal respectively controls the lengths of the springs at different positions of the suspension, so that the height of the suspension at different positions of the vehicle adapts to the change in the distance between the suspension and the curb during the process of the vehicle going over the curb. Exemplarily, when the front wheel of the vehicle passes over the curb and the current suspension is not at the maximum height, the distance between the curb and the suspension at the front side of the vehicle gradually decreases. Based on the third control signal, the suspension at the front side of the vehicle is further adjusted upward to increase the distance from the curb, and is adjusted back to a suitable height after the front wheel passes. Or, when the rear wheel of the vehicle passes over the curb, the distance between the curb and the suspension at the rear side of the vehicle gradually decreases, and the suspension at the rear side is further adjusted upward adaptively, and is adjusted back to a suitable height after the rear wheel passes.

[0108] In this way, in the embodiment of the present application, based on the height of the target obstacle, the target height of the suspension is determined, and by sending a third control signal to the suspension, the suspension is adjusted to the target height. In this way, when the height of the target obstacle is relatively low, the suspension of the vehicle can be adaptively adjusted in a small range, saving the energy consumption of the vehicle.

[0109] In some embodiments, the method further includes: In the case where the height of the target obstacle is greater than the first preset height and less than the maximum height of the suspension, the height of the suspension is adjusted to the maximum height.

[0110] It should be noted that the maximum height of the suspension can be understood as the maximum height that the suspension can extend. When the suspension is at the maximum height, due to the dynamic changes of the vehicle when passing through the target obstacle, the chassis of the vehicle may not be parallel to the target obstacle. Therefore, the maximum height of the suspension is greater than the height of the target obstacle that can be passed, and the difference between the two is determined based on the actual situation.

[0111] In an embodiment of the present application, when the vehicle control device determines that the height of the target obstacle is greater than the first preset height and less than the height of the target obstacle that the suspension can pass through when it is at the maximum height, in order to avoid bottoming out, the suspension height can be directly increased to the maximum height through the third control signal.

[0112] It should also be noted that when the vehicle control device determines that the height of the target obstacle is higher than the height of the target obstacle that the suspension can pass through when it is at the maximum height, it determines that there may be a risk of bottoming out for the vehicle and issues an alarm to the user.

[0113] In this way, in an embodiment of the present application, when the height of the target obstacle is greater than the first preset height, the suspension of the vehicle is adjusted to the maximum height, reducing the risk of damaging the chassis and improving the safety of the vehicle passing through the target obstacle.

[0114] In another embodiment of the present application, S601, obtain the target vehicle speed.

[0115] In an embodiment of the present application, the target vehicle speed can be understood as the vehicle speed during the process of the vehicle passing through the target obstacle. During the process of the vehicle passing through the target obstacle, performing closed-loop control on the vehicle speed based on the target vehicle speed can enable the vehicle to stably pass through the target obstacle.

[0116] S602, based on the target vehicle speed, determine and output fourth control signals to multiple wheels respectively, where the fourth control signals are used to control the torque of the multiple wheels to increase at a first change rate.

[0117] In an embodiment of the present application, the vehicle control device obtains the current vehicle speed of the vehicle in real time through the provided vehicle speed sensor and other relevant sensors, compares the current vehicle speed with the target vehicle speed, generates fourth control signals corresponding to each component including wheels, engines, etc., and sends them to the corresponding components, so that the wheels dynamically increase or decrease the torque output, thereby enabling the vehicle to maintain the target vehicle speed during the process of passing through the target obstacle.

[0118] In an embodiment of the present application, during the process of the vehicle passing through the target obstacle, in combination with the dynamic torque distribution method in the foregoing embodiment, the vehicle control device can control the torque of the corresponding wheels to increase at a first change rate (which can be represented by K0). Exemplarily, when the two front wheels of the vehicle pass through the target obstacle, control the torque of the two rear wheels to increase by K0; when the two rear wheels of the vehicle pass through the target obstacle, control the torque of the two front wheels to increase by K0.

[0119] It should also be noted that during the process of the vehicle passing through the target obstacle, if wheel slippage is detected, the target vehicle speed can be controlled to decrease, and the vehicle can be controlled to perform closed-loop control at a lower target vehicle speed. Reducing the vehicle speed can reduce the requirement for the friction force of the tires, enabling the friction force between the driving wheels and the ground to reach balance again, thereby enabling the vehicle to pass through the target obstacle smoothly.

[0120] Among them, the vehicle control device can determine that a wheel has slipped by detecting the change rate of the wheel speed. When the speed of a certain wheel increases sharply within a short period of time, or the speeds of the four wheels should maintain a relatively stable proportional relationship. If the speed of a certain wheel suddenly becomes much faster than that of other wheels, it indicates that the wheel may have slipped.

[0121] In this way, in the embodiment of the present application, during the process of the vehicle passing through the target obstacle, the vehicle is controlled to perform vehicle speed closed-loop at the target vehicle speed, and the torque of the driving wheels is controlled to increase at the first change rate, improving the stability of the vehicle during the process of going over the obstacle and reducing the risks of the vehicle surging forward and slipping.

[0122] It should also be noted that for the method in the above embodiments, any one or several of the embodiments can be selected and integrated into the vehicle control device as the function of assisting in going over the obstacle. When the user drives the vehicle close to the target obstacle and determines that it is necessary to pass through the target obstacle, the user can activate this function through software, and the hazard warning light of the vehicle lights up. Based on the method in the foregoing embodiments, including controlling the vehicle to rotate, adjusting the suspension, dynamic torque distribution, etc., the vehicle is controlled to pass through the target obstacle, and after the vehicle completely passes through the target obstacle, the user is prompted that going over the obstacle has been completed and the user is requested to take over the vehicle.

[0123] Among them, during the process of the vehicle automatically going over the obstacle by the vehicle control, the user can interrupt the process of automatic going over the obstacle and take over the vehicle at any time based on the judgment of the actual situation.

[0124] Based on the above embodiments, the embodiment of the present application further provides a vehicle control device. Figure 9 As shown in the schematic diagram of the composition structure of a vehicle control device provided by the embodiment of the present application, Figure 9 as shown, the vehicle control device 90 includes: An acquisition unit 901, configured to acquire the relative position information between the vehicle and the target obstacle; A control unit 902, configured to determine and output first control signals to multiple wheels respectively based on the relative position information; the first control signals are used to control the rotation directions corresponding to the multiple wheels respectively to control the rotation of the vehicle's attitude; The control unit 902 is further configured to control the vehicle to pass through the target obstacle when the relative position between the vehicle and the target obstacle reaches the target relative position after the rotation of the vehicle's attitude.

[0125] In some embodiments, the control unit 902 is further configured to determine the target state angle of the vehicle based on the relative position information; determine the rotation information of the vehicle based on the target state angle of the vehicle; determine the first control signal corresponding to each wheel based on the rotation information of the vehicle, and output the first control signal to the corresponding wheel.

[0126] In some embodiments, the control unit 902 is further configured to determine the first control signal corresponding to the first wheel, where the first control signal corresponding to the first wheel is used to control the first wheel to rotate forward; determine the first control signal corresponding to the second wheel, where the first control signal corresponding to the second wheel is used to control the second wheel to rotate backward; determine the first control signal corresponding to the third wheel, where the first control signal corresponding to the third wheel is used to control the third wheel to brake; wherein, both the first wheel and the second wheel are disposed on the front side of the vehicle or both are disposed on the rear side of the vehicle.

[0127] In some embodiments, the control unit 902 is further configured to update the relative position information to obtain the updated relative position information; determine the relative distance between each wheel and the target obstacle based on the updated relative position information; determine and output the second control signal to each of the plurality of wheels based on the relative distance between each wheel and the target obstacle; the second control signal is used to control the torque corresponding to each of the plurality of wheels to control the vehicle to pass over the target obstacle.

[0128] In some embodiments, the control unit 902 is further configured to determine and output the second control signal corresponding to the first wheel and the second control signal corresponding to the second wheel when the first distance is greater than the second distance; the second control signal corresponding to the first wheel is used to control the first wheel to output torque, and the second control signal corresponding to the second wheel is used to control the second wheel to output torque; determine and output the second control signal corresponding to the third wheel and the second control signal corresponding to the fourth wheel when the first distance is less than the second distance; the second control signal corresponding to the third wheel is used to control the third wheel to output torque, and the second control signal corresponding to the fourth wheel is used to control the fourth wheel to output torque; wherein, the first distance is the distance between the first wheel and the target obstacle and / or the distance between the second wheel and the target obstacle, and the second distance is the distance between the third wheel and the target obstacle and / or the distance between the fourth wheel and the target obstacle.

[0129] In some embodiments, the control unit 902 is further configured to obtain the height of the target obstacle; determine the target height of the suspension based on the height of the target obstacle; output a third control signal to the suspension, and the third control signal is used to control the suspension to adjust to the target height.

[0130] In some embodiments, the control unit 902 is further configured to adjust the height of the suspension to the maximum height when the height of the target obstacle is greater than the first preset height and less than the maximum height of the suspension.

[0131] In some embodiments, the control unit 902 is further configured to obtain a target vehicle speed; based on the target vehicle speed, determine and output fourth control signals to the plurality of wheels respectively, where the fourth control signals are used to control the torque of the plurality of wheels to increase at a first change rate.

[0132] It should be noted that in the embodiments of the present application, if the above method is implemented in the form of software function modules and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present application essentially or the part that contributes to the related technology can be embodied in the form of a software product. The software product is stored in a storage medium and includes several instructions for causing an electronic device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods of the embodiments of the present application. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disc that can store program codes. In this way, the embodiments of the present application are not limited to any specific combination of hardware and software.

[0133] In another embodiment of the present application, as Figure 10 shown, a vehicle 100 is provided. The vehicle includes a plurality of wheels 1001, a visual perception module 1002, and the vehicle control device 1003 in the foregoing embodiments. The visual perception module 1002 and the plurality of wheels 1001 are both connected to the vehicle control device 1003; wherein: The visual perception module 1002 is configured to obtain relative position information between the vehicle and the target obstacle; The vehicle control device 1003 is configured to determine and output first control signals to the plurality of wheels respectively based on the relative position information, and control the vehicle to pass through the target obstacle when the attitude of the vehicle rotates until the relative position between the vehicle and the target obstacle reaches a target relative position; The plurality of wheels 1001 are configured to control the respective rotation directions of the plurality of wheels based on the first control signals to control the attitude of the vehicle to rotate.

[0134] In some embodiments, as Figure 11 shown, the vehicle further includes a suspension 1004, and the suspension 1004 is connected to the vehicle control device 1003; wherein: The visual perception module 1002 is further configured to obtain the height of the target obstacle; The vehicle control device 1003 is further configured to determine a target height of the suspension based on the height of the target obstacle, and output a third control signal to the suspension; The suspension 1004 is configured to adjust to the target height based on the third control signal.

[0135] In some embodiments, the vehicle control device 1003 is further configured to determine a target state angle of the vehicle based on the relative position information; determine rotation information of the vehicle based on the target state angle of the vehicle; determine first control signals corresponding to the respective wheels based on the rotation information of the vehicle, and output the first control signals to the corresponding wheels.

[0136] In some embodiments, the first control signals corresponding to the respective wheels include one or more of the following: the first control signal corresponding to the first wheel, which is used to control the first wheel to rotate forward; the first control signal corresponding to the second wheel, which is used to control the second wheel to rotate backward; the first control signal corresponding to the third wheel, which is used to control the third wheel to brake; wherein, both the first wheel and the second wheel are disposed on the front side of the vehicle, or both are disposed on the rear side of the vehicle.

[0137] In some embodiments, the vehicle control device 1003 is further configured to update the relative position information, obtain the updated relative position information; determine the relative distances between the respective wheels and the target obstacle based on the updated relative position information; determine and output second control signals to the multiple wheels respectively based on the relative distances between the respective wheels and the target obstacle; The multiple wheels 1001 are further configured to control the torques corresponding to the multiple wheels respectively based on the second control signals to control the vehicle to pass over the target obstacle.

[0138] In some embodiments, the vehicle control device 1003 is further configured to determine and output the second control signal corresponding to the first wheel and the second control signal corresponding to the second wheel when the first distance is greater than the second distance; and determine and output the second control signal corresponding to the third wheel and the second control signal corresponding to the fourth wheel when the first distance is less than the second distance; The first wheel is configured to output torque based on the second control signal corresponding to the first wheel; The second wheel is configured to output torque based on the second control signal corresponding to the second wheel; The third wheel is configured to output torque based on the second control signal corresponding to the third wheel; The fourth wheel is configured to output torque based on the second control signal corresponding to the fourth wheel; Wherein, the first distance is the distance between the first wheel and the target obstacle, and / or the distance between the second wheel and the target obstacle, and the second distance is the distance between the third wheel and the target obstacle, and / or the distance between the fourth wheel and the target obstacle.

[0139] In some embodiments, the vehicle control device 1003 is further configured to adjust the height of the suspension to the maximum height when the height of the target obstacle is greater than the first preset height and less than the maximum height of the suspension.

[0140] In some embodiments, the vehicle control device 1003 is further configured to obtain a target vehicle speed; based on the target vehicle speed, determine and output fourth control signals to the multiple wheels respectively; The multiple wheels 1001 are further configured to control the torque of the multiple wheels to increase at a first change rate based on the fourth control signal.

[0141] Next, in combination with specific application scenarios, the measurement method provided by the embodiments of the present application will be elaborated in detail.

[0142] Currently, when a user parks outdoors and has a need to drive onto a curb, or encounters a narrow road and needs to avoid road surface obstacles, the user needs to borrow the curb. When the vehicle drives onto the curb, the contact surface between the wheel and the curb is small, and it is easy to slip. The user may need to accelerate in advance and rely on inertia to drive onto the curb, but this will increase the risk of damaging the tires. Moreover, when driving onto the curb, due to the excessive height of the curb, there is a risk of hitting the bottom of the vehicle.

[0143] In the embodiments of the present application, when the vehicle drives onto the curb and the wheel slips and cannot drive onto the curb, the method in the embodiments of the present application is adopted to adjust the body posture and dynamic torque output, and assist the vehicle to maintain a certain posture, so that the vehicle can drive onto the curb smoothly.

[0144] It should be noted that driving onto the curb can be understood as passing through the target obstacle, and the two can be equivalent or replaced.

[0145] In the embodiments of the present application, by combining the visual perception module and the distributed electric drive, the body posture and the suspension height before driving onto the curb are adjusted. Moreover, it is determined whether the front wheels or the rear wheels drive onto the curb. If the front wheels drive onto the curb, in order to avoid slipping, the driving torque is distributed to the rear wheels; similarly, if the rear wheels drive onto the curb, the driving torque is distributed to the front wheels. During the process of driving onto the curb, a vehicle speed closed-loop is performed at a certain target vehicle speed to achieve stable driving onto the curb.

[0146] The vehicle control method provided by the embodiments of the present application has the following three characteristic points: 1. Based on the visual perception module, including high-precision mapping using lidar or visual recognition of road curbs by cameras, determine the relative position of the vehicle with respect to the road curb, and adjust the vehicle's attitude to reach the target relative position with the road curb (illustrated by the vertical case below), so that the front of the tire contacts the road curb, avoiding damage to the side of the tire.

[0147] 2. Adjust the suspension height to the maximum to reduce the risk of bottoming out.

[0148] 3. When going up a vertical curb, through dynamic torque distribution, improve the stability and safety of the vehicle when going up the curb.

[0149] In this way, when the vehicle goes up the curb, assist the user to go up the curb smoothly, reducing the risks of tire blowout, vehicle lunging forward, and bottoming out.

[0150] As Figure 12 shown, the flow of the vehicle control method in the embodiment of the present application is as follows: S1201, Start.

[0151] S1202, The user activates the assist function for going up the curb.

[0152] When the user determines that the vehicle needs to go up the curb, the user activates the assist function for going up the curb through a soft switch.

[0153] S1203, The visual perception module determines whether the height of the target obstacle meets the requirement for going up the curb.

[0154] Among them, the visual perception module includes a height visual perception unit to determine the relative position of the vehicle with respect to the road curb. When the requirement for going up the curb is met, that is, the height of the road curb allows the vehicle to pass after the suspension is adjusted, execute step S1204, and adjust the attitude of the vehicle to be perpendicular to the road curb through the cooperation of chassis hydraulic braking and the unique left and right rear electric drive differential torque function of the distributed electric drive.

[0155] If it is determined that the height of the road curb still cannot be passed after the suspension of the vehicle is adjusted to the maximum height, then execute step S1211.

[0156] S1204, Adjust the suspension height to the maximum.

[0157] Furthermore, the height visual perception unit of the perception system estimates the height of the road curb and determines whether there is a risk of the vehicle bottoming out. If there is no risk of bottoming out, adjust the suspension height to the maximum.

[0158] S1205, The visual perception module calculates the angle that the vehicle needs to adjust.

[0159] It should be noted that the angle that the vehicle needs to adjust can be understood as the rotation information of the vehicle, which can be calculated and determined by the visual perception module or can be calculated and determined by the vehicle control device.

[0160] S1206. Activate the left - right differential torque control strategy for the distributed electric drive on the left and right, and adjust the vehicle body posture according to the angle calculated by the visual perception module.

[0161] S1207. Determine which wheel climbs onto the curb first.

[0162] S1208. If the front wheel climbs onto the curb first, distribute the torque to the rear wheels; if the rear wheel climbs onto the curb first, distribute the torque to the front wheels.

[0163] In the embodiment of the present application, in combination with the curb position recognized by the height visual perception system, when the front wheel climbs onto the curb, the torque is distributed to the rear wheels, and when the rear wheel climbs onto the curb, the torque is distributed to the front wheels.

[0164] During the process of climbing onto the curb, the vehicle control device, or VCU (Vehicle Control Unit), performs a vehicle speed closed - loop at a certain target vehicle speed to maintain the stable forward movement of the vehicle.

[0165] S1209. After the front wheel or the rear wheel has completed climbing onto the curb, distribute the torque to the wheel that has completed climbing onto the curb.

[0166] S1210. The process of climbing onto the curb is completed.

[0167] In the embodiment of the present application, after both the front and rear wheels have passed the curb, the in - vehicle computer prompts the driver that the climbing - onto - the - curb process is completed and asks the driver to take over the vehicle.

[0168] S1211. Exit the assisted curb - climbing.

[0169] In the embodiment of the present application, for the above - mentioned process, the software implementation method includes: In the visual perception module, after the radar or camera included in the visual perception module recognizes the position of the vehicle body relative to the curb, the visual perception module sends the current state of the vehicle and the angle of the required target state to the vehicle control device (or VCU).

[0170] Further, the VCU controls the vehicle to activate the left - right differential torque control strategy: clamp the left front or right front wheel by hydraulic braking. If it rotates clockwise, clamp the right front wheel, the right rear electric drive rotates at a certain negative speed, and the left rear electric drive rotates at a certain positive speed, generating a rotational torque around the right front wheel, and the vehicle tail rotates around the right front wheel (as shown in Figure 4 ), until the vehicle body is perpendicular to the curb (see Figure 3 ); similarly: if it rotates counterclockwise, clamp the left front wheel, the left rear electric drive rotates at a certain negative speed, and the right rear electric drive rotates at a certain positive speed, generating a rotational torque around the left front wheel, and the vehicle tail rotates around the left front wheel until the vehicle body is perpendicular to the curb.

[0171] It should be noted that after the suspension height adjustment is completed, the vision system determines whether the front wheels or the rear wheels go up the step first, and sends this signal to the VCU. If the front wheels go up the step first, the VCU distributes the torque to the rear wheels (see Figure 6 ), and after the front wheels complete going up the step, the VCU distributes the torque to the rear wheels again (see Figure 7 ), to complete a smooth ascent onto the step ( Figure 8 ); Similarly, if the rear wheels go up the step first, the VCU distributes the torque to the front wheels, and after the rear wheels complete going up the step, the VCU distributes the torque to the rear wheels again to complete a smooth ascent onto the step.

[0172] Among them, during the process of going up the step, the vehicle performs a vehicle speed closed-loop at a certain target vehicle speed, and controls the torque increase at the first change rate (slope K0). The torque increase or decrease is dynamically adjusted through the vehicle speed closed-loop to maintain the vehicle speed stability; during this process, if it is found that the driving wheels are slipping, the target closed-loop vehicle speed is reduced.

[0173] This application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above method is implemented. The computer-readable storage medium can be transient or non-transient.

[0174] This application also provides a computer program product. The computer program product includes a computer program or instructions. When the computer program or instructions are executed by a processor, some or all of the steps in the above method are implemented. The computer program product can be specifically implemented in a manner of hardware, software, or a combination thereof. In an optional embodiment, the computer program product is specifically embodied as a computer storage medium. In another optional embodiment, the computer program product is specifically embodied as a software product, such as a Software Development Kit (SDK), etc.

[0175] It should be noted that in this application, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including that element.

[0176] In several embodiments provided by this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, 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 can be integrated into another system, or some features can be ignored, or not executed. In addition, the couplings, direct couplings, or communication connections between the displayed or discussed components can be through some interfaces. The indirect couplings or communication connections of devices or units can be electrical, mechanical, or other forms.

[0177] The units described above as separate components may or may not be physically separated. The components displayed as units may or may not be physical units; 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. In addition, in each embodiment of this application, each functional unit can be fully integrated in a processing unit, or each unit can be separately used as a unit, or two or more units can be integrated in one unit; the above integrated units can be implemented in the form of hardware, or in the form of hardware plus software functional units.

[0178] The above embodiments are only preferred embodiments given to fully illustrate this application, and the protection scope of this application is not limited thereto. Equivalent substitutions or transformations made by those skilled in the art of this technology on the basis of this application are all within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: Obtaining the relative position information between the vehicle and the target obstacle; Based on the relative position information, determining and respectively outputting first control signals to a plurality of wheels; the first control signals are used to control the respective rotation directions of the plurality of wheels to control the rotation of the vehicle's attitude; When the attitude of the vehicle rotates to the relative position between the vehicle and the target obstacle reaches the target relative position, controlling the vehicle to pass through the target obstacle.

2. The method according to claim 1, characterized in that, The determining and respectively outputting first control signals to a plurality of wheels based on the relative position information includes: Based on the relative position information, determining the target state angle of the vehicle; Based on the target state angle of the vehicle, determining the rotation information of the vehicle; Based on the rotation information of the vehicle, determining the first control signals corresponding to the respective wheels and outputting them to the corresponding wheels.

3. The method according to claim 2, wherein The first control signals corresponding to the respective wheels include one or more of the following: The first control signal corresponding to the first wheel, and the first control signal corresponding to the first wheel is used to control the first wheel to rotate forward; The first control signal corresponding to the second wheel, and the first control signal corresponding to the second wheel is used to control the second wheel to rotate backward; The first control signal corresponding to the third wheel, and the first control signal corresponding to the third wheel is used to control the third wheel to brake; Wherein, both the first wheel and the second wheel are arranged on the front side of the vehicle or both are arranged on the rear side of the vehicle.

4. The method according to claim 1, characterized in that The controlling the vehicle to pass through the target obstacle includes: Updating the relative position information to obtain the updated relative position information; Based on the updated relative position information, determining the relative distances between the respective wheels and the target obstacle; Based on the relative distances between the respective wheels and the target obstacle, determining and respectively outputting second control signals to a plurality of wheels; the second control signals are used to control the respective torques of the plurality of wheels to control the vehicle to pass through the target obstacle.

5. The method according to claim 4, wherein The determining and respectively outputting second control signals to a plurality of wheels based on the relative distances between the respective wheels and the target obstacle includes: When the first distance is greater than the second distance, determining and outputting the second control signal corresponding to the first wheel and the second control signal corresponding to the second wheel; the second control signal corresponding to the first wheel is used to control the first wheel to output torque, and the second control signal corresponding to the second wheel is used to control the second wheel to output torque; When the first distance is less than the second distance, determining and outputting the second control signal corresponding to the third wheel and the second control signal corresponding to the fourth wheel; the second control signal corresponding to the third wheel is used to control the third wheel to output torque, and the second control signal corresponding to the fourth wheel is used to control the fourth wheel to output torque; Wherein, the first distance is the distance between the first wheel and the target obstacle and / or the distance between the second wheel and the target obstacle, and the second distance is the distance between the third wheel and the target obstacle and / or the distance between the fourth wheel and the target obstacle.

6. The method according to claim 1, characterized in that, Before controlling the vehicle to pass through the target obstacle, the method further includes: Obtaining the height of the target obstacle; Determining a target height of the suspension based on the height of the target obstacle; Outputting a third control signal to the suspension, where the third control signal is used to control the suspension to adjust to the target height.

7. The method according to claim 6, wherein The method further includes: When the height of the target obstacle is greater than a first preset height and less than the maximum height of the suspension, adjusting the height of the suspension to the maximum height.

8. The method according to any one of claims 1-7, characterized in that, The method further includes: Obtaining a target vehicle speed; Based on the target vehicle speed, determining and respectively outputting a fourth control signal to a plurality of wheels, where the fourth control signal is used to control the torque of the plurality of wheels to increase at a first change rate.

9. A vehicle control device, characterized in that, The vehicle control device includes: An obtaining unit, configured to obtain relative position information between the vehicle and a target obstacle; A control unit, configured to determine and respectively output a first control signal to a plurality of wheels based on the relative position information; the first control signal is used to control the rotation direction corresponding to each of the plurality of wheels to control the attitude of the vehicle to rotate; The control unit is further configured to control the vehicle to pass through the target obstacle when the attitude of the vehicle rotates to a relative position between the vehicle and the target obstacle reaches a target relative position.

10. A vehicle, characterized in that, The vehicle includes a plurality of wheels, a visual perception module, and the vehicle control device as claimed in claim 9, where the visual perception module and the plurality of wheels are both connected to the vehicle control device; wherein: The visual perception module is configured to obtain relative position information between the vehicle and a target obstacle; The vehicle control device is configured to determine and respectively output a first control signal to a plurality of wheels based on the relative position information, and control the vehicle to pass through the target obstacle when the attitude of the vehicle rotates to a relative position between the vehicle and the target obstacle reaches a target relative position; The plurality of wheels are configured to control the rotation direction corresponding to each of the plurality of wheels based on the first control signal to control the attitude of the vehicle to rotate.

11. The vehicle according to claim 10, characterized in that, The vehicle further includes a suspension, and the suspension is connected to the vehicle control device; wherein: The visual perception module is further configured to obtain the height of the target obstacle; The vehicle control device is further configured to determine a target height of the suspension based on the height of the target obstacle, and output a third control signal to the suspension; The suspension is configured to adjust to the target height based on the third control signal.

12. A computer-readable storage medium, characterized in that, A computer program is stored thereon, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

13. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instruction is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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