Vehicle control method, vehicle controller, vehicle and storage medium

Abstract

The invention discloses a vehicle control method, a vehicle controller, a vehicle and a storage medium. According to the invention, the vehicle can be controlled to execute the target action corresponding to the electronic equipment based on the attitude data of the electronic equipment communicating with the vehicle. The attitude data of the electronic equipment can be collected in real time. Thus, the vehicle can be dynamically controlled to execute the corresponding target action according to the posture data, collected in real time, of the electronic equipment, for example, follow-up control over the vehicle following the electronic equipment can be achieved, and therefore the linkage control effect between the vehicle and the electronic equipment is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and in particular, to a vehicle control method, a vehicle controller, a vehicle, and a storage medium. Background Art

[0002] A vehicle actuator is a device for controlling the movement and functions of a vehicle. Generally, a vehicle control system generates corresponding command signals through the input operations of a driver, drives the vehicle actuator to perform corresponding actions, and realizes the control of the vehicle movement and functions. With the continuous development and application of the Internet of Everything technology, the linkage between different objects and different devices has become more and more extensive, and how to improve the linkage control between a vehicle and other devices to enrich the control functions of the vehicle is the direction that the industry has been working hard on. Summary of the Invention

[0003] Embodiments of the present application provide a vehicle control method, a vehicle controller, a vehicle, and a storage medium, which improve the linkage control effect between the vehicle and an electronic device to at least partially solve the above technical problems.

[0004] To achieve the above object, according to the first aspect of the present application, there is provided a vehicle control method, including:

[0005] Obtaining attitude data of an electronic device communicating with the vehicle;

[0006] Controlling the vehicle to perform a target action corresponding to the electronic device according to the attitude data.

[0007] According to the second aspect of the present application, there is provided a vehicle controller, including:

[0008] A memory and a processor, wherein a computer program is stored in the memory; when the computer program is executed by the processor, the above vehicle control method is implemented

[0009] According to the third aspect of the present application, there is provided a vehicle, including:

[0010] The above vehicle controller.

[0011] According to the fourth aspect of the present application, there is provided a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above vehicle control method is implemented.

[0012] According to the fifth aspect of the present application, there is provided a computer program product, which includes a computer program, and when the computer program is executed by a processor, the above vehicle control method is implemented.

[0013] In summary, the present application can control a vehicle to perform a target action corresponding to an electronic device based on the attitude data of the electronic device communicating with the vehicle. The attitude data of the electronic device can be collected in real time. In this way, the vehicle can be dynamically controlled to perform corresponding target actions according to the attitude data of the electronic device collected in real time. For example, a follow-up control for the vehicle to follow the electronic device can be realized, thereby improving the linkage control effect between the vehicle and the electronic device.

[0014] Other features and advantages of the present application will be described in detail in the following specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative efforts.

[0016] In order to more fully understand the present application and its beneficial effects, the following will be described in conjunction with the drawings, where the same reference numerals in the following description represent the same parts.

[0017] Figure 1 FIG. is a schematic diagram of an application scenario of a vehicle control method provided in an embodiment of the present application;

[0018] Figure 2 FIG. is a schematic diagram of a three-axis coordinate system of an electronic device provided in an embodiment of the present application;

[0019] Figure 3 FIG. is a schematic diagram of a three-axis coordinate system of a vehicle provided in an embodiment of the present application;

[0020] Figure 4 FIG. is a flowchart of a vehicle control method provided in an embodiment of the present application;

[0021] Figure 5 FIG. is a structural block diagram of a vehicle controller provided in an embodiment of the present application;

[0022] Figure 6 FIG. is a structural block diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] 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. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present application.

[0024] In the description of the present application, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined. In the present application, the term "exemplary" is used to mean "serving as an example, illustration, or description". Any embodiment described as "exemplary" in the present application is not necessarily construed as being more preferred or having more advantages than other embodiments. For the purpose of enabling any person skilled in the art to implement and use the present application, the following description is given. In the following description, details are set forth for the purpose of explanation. It should be understood that those skilled in the art can recognize that the present application can be implemented without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid unnecessary details from obscuring the description of the present application. Therefore, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed in the present application.

[0025] Figure 1 It is a schematic diagram of an application scenario for a vehicle control method provided in an embodiment of the present application. As Figure 1 shown, this application scenario provides a vehicle, which may include a vehicle controller 1 and an actuator 3. The vehicle may be communicatively connected to an electronic device 2. For example, the vehicle and the electronic device 2 may communicate in the same local area network, or the communication connection between the vehicle and the electronic device 2 may be achieved through a hotspot, Bluetooth, etc.

[0026] In the embodiment of the present application, the vehicle controller 1 is used to receive the attitude data sent by the electronic device 2. Among them, the electronic device 2 may include, but is not limited to, mobile terminal devices such as a computer, a tablet computer, a smart phone, and a smart watch. The electronic device 2 may also be internally provided with an acceleration sensor for collecting the acceleration of the electronic device and a gyroscope for collecting the angular velocity of the electronic device. Therefore, the attitude data of the electronic device 2 may include, but is not limited to, acceleration data and gyroscope data. For example, the attitude data may be three-axis acceleration data and three-axis gyroscope data.

[0027] Then, the vehicle controller 1 can generate control parameters based on the attitude data, and the control parameters are used to enable the actuator 3 to output the actuating force for controlling the vehicle to perform the target action. The attitude data of the electronic device 2 is the data obtained based on the coordinate system defined by the electronic device 2. Therefore, the vehicle controller 1 can first convert the attitude data of the electronic device 2 from the coordinate system defined by the electronic device 2 to the coordinate system defined by the vehicle.

[0028] Please refer to Figure 2 and Figure 3 , Figure 2 which is a schematic diagram of the three-axis coordinate system of an electronic device provided in an embodiment of the present application, Figure 3 and which is a schematic diagram of the three-axis coordinate system of a vehicle provided in an embodiment of the present application. The following takes Figure 2 the coordinate system of the electronic device described above and Figure 3 the coordinate system of the vehicle shown in

[0029] as an example where both are three-axis coordinate systems for illustration. Figure 2 As shown in Figure 3 , in the three-axis coordinate system of the electronic device, the direction parallel to the electronic device and upward is the positive y-axis direction, the direction parallel to the electronic device and to the right is the positive x-axis direction, and the direction perpendicular to the plane of the electronic device and upward is the positive z-axis direction. The application program of the electronic device can define the three-axis coordinate system according to the orientations of the above x-axis, y-axis, and z-axis. However, the three-axis coordinate system of the electronic device is not the same as the three-axis coordinate system of the vehicle. Therefore, conversion is required to accurately reflect the effect of the vehicle actuating following the attitude data of the electronic device. As shown in Figure 2 and Figure 3 , it can be seen that the three-axis coordinate systems of the electronic device and the vehicle are not the same. Therefore, in the application program of the electronic device, the y-axis coordinate system of the electronic device can be set as the x-axis coordinate system of the vehicle, the reverse direction of the x-axis coordinate system of the electronic device can be set as the y-axis coordinate system of the vehicle, and the z-axis coordinate system does not need to be processed. The acceleration data and the gyroscope data can both be converted and calculated according to this coordinate system.

[0030] In the embodiment of the present application, the actuator 3 is a device that generates an actuating force based on the control parameters sent by the vehicle controller 1 to control the movement of the vehicle. For example, the actuator 3 can perform the target action corresponding to the electronic device 2 based on the control parameters sent by the vehicle controller 1. Among them, the target action may include, but is not limited to, the roll action, pitch action, and vertical movement of the vehicle.

[0031] The actuator 3 may include, but is not limited to, an electromagnetic actuator and a hydraulic pump actuator. Taking the actuator 3 as an electromagnetic actuator as an example, the electromagnetic actuator can be arranged on the suspension of the vehicle, and the magnitude of the driving force applied to the suspension is calculated based on the control parameters. Then, by applying the driving force to the suspension, the vehicle moves according to the requirements of the electronic device 2. For example, roll, pitch, and vertical movements can be performed. In one example, multiple actuators 3 can be respectively arranged on different suspensions of the vehicle, and each actuator 3 respectively controls the actuation of the corresponding suspension. In another example, one actuator 3 can also be arranged to simultaneously control the actuation of multiple suspensions of the vehicle.

[0032] It should be understood that Figure 1 、 Figure 2 and Figure 3 the application scenarios shown are only adaptable. According to the implementation requirements, other application scenarios can also be configured. The vehicle control method according to the embodiments of the present application will be described in detail below with reference to the accompanying drawings. Although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown in the drawings.

[0033] Figure 4 is a schematic flowchart of a vehicle control method provided in the embodiments of the present application. As Figure 4 shown, the vehicle control method may include steps such as 401 - 402, which will be introduced in detail below.

[0034] Step 401: Obtain the attitude data of the electronic device communicating with the vehicle.

[0035] Step 402: Control the vehicle to perform a target action corresponding to the electronic device according to the attitude data.

[0036] In the embodiments of the present application, the attitude data of the electronic device refers to the direction and attitude information of the electronic device in space. For example, it may include the three-axis acceleration data and three-axis gyroscope data of the electronic device. The embodiments of the present application can match the operations of the user on the electronic device with the target actions that the user expects the vehicle to perform. In this way, the user can hold the electronic device and perform operations, so that the electronic device rotates, tilts, etc. according to the user's expectations. The vehicle controller only needs to obtain the attitude data of the electronic device to determine the target action that the user expects the vehicle to perform. Therefore, controlling the target action of the vehicle according to the attitude data of the electronic device can improve the efficiency of vehicle control.

[0037] In addition, embodiments of the present application can control a vehicle to perform a target action corresponding to an electronic device based on the attitude data of the electronic device communicating with the vehicle. The attitude data of the electronic device can be collected in real time. In this way, the vehicle can be dynamically controlled to perform corresponding target actions according to the attitude data of the electronic device collected in real time, so as to achieve the "follow-up" effect of the vehicle and the electronic device, and improve the linkage control effect between the vehicle and the electronic device.

[0038] In practical applications, sometimes it is not necessary for the vehicle to act according to the attitude data of the electronic device. Therefore, embodiments of the present application can execute the function of the vehicle acting according to the attitude data of the electronic device when the target function of the electronic device is turned on. Among them, as an example, the target function can refer to the follow-up function of controlling the actuation of the vehicle based on the attitude data of the electronic device.

[0039] Specifically, in response to a target function activation request sent by the electronic device, the vehicle controller can first detect whether the vehicle state meets the conditions for activating the target function. If the conditions for activating the target function are met, the step of obtaining the attitude data of the electronic device communicating with the vehicle is entered. If the conditions for activating the target function are not met, a prompt message can be sent to the electronic device.

[0040] In one example, the target function activation request refers to the electronic device requesting the vehicle controller to activate the target function. For example, it can be set that the user presses and holds the function switch on the electronic device for t seconds to trigger the target function activation request. The vehicle controller can then detect whether the current vehicle state meets the conditions for activating the target function. For example, if the vehicle is currently in motion and cannot perform target actions of roll, pitch, or vertical movement, it is determined that the current vehicle state does not meet the conditions for activating the target function. At this time, the vehicle controller can give corresponding prompts to the electronic device and / or the vehicle's display screen, indicating that the target function activation fails. On the contrary, if it is determined that the current vehicle state meets the conditions for activating the target function, after t seconds, the electronic device can send a function switch signal and the attitude data of the electronic device to the vehicle controller through communication methods such as the vehicle's in-vehicle hotspot.

[0041] As an example, the vehicle controller can forward the function switch signal to the vehicle's intelligent access network, and the intelligent access network can then forward the function switch signal to the chassis network through the body domain controller. The chassis network can return a corresponding function status signal to the electronic device. For example, if the function status signal returns a "closed" status signal to the electronic device, it indicates that the target function activation fails. If the function status signal returns an "open" status signal to the electronic device, it indicates that the target function activation is successful. Then, the vehicle controller can control the vehicle to perform corresponding target actions based on the collected attitude data of the electronic device.

[0042] In this way, by setting the enabling condition of the target function of the electronic device, the target function of controlling the vehicle based on the attitude data can be turned off without the vehicle actuating according to the attitude data of the electronic device, thereby improving the safety of vehicle control.

[0043] In step 402, the vehicle controller may first calculate the control parameters for controlling the actuator of the vehicle according to the attitude data. Then, according to the control parameters, the actuator is controlled to output the actuating force for controlling the vehicle to perform the target action.

[0044] In the embodiment of the present application, the attitude data may include three-axis acceleration data and three-axis gyroscope data. Among them, the three-axis acceleration data can be obtained through the average acceleration value of the first three-axis acceleration value and two second three-axis acceleration values. Wherein, the first three-axis acceleration value is the three-axis acceleration value of the electronic device sampled in the current sampling period. The second three-axis acceleration value is the two three-axis acceleration values of the electronic device sampled in the two sampling periods before the current sampling period. After obtaining the first three-axis acceleration value and the two second three-axis acceleration values, the first three-axis acceleration value and the average acceleration value of the two second three-axis acceleration values can be used as the three-axis acceleration data. The three-axis gyroscope data may include the roll angle velocity of the roll angle rotating around the y-axis of the three-axis coordinate system of the electronic device, the pitch angle velocity of the pitch angle rotating around the x-axis of the three-axis coordinate system of the electronic device, and the yaw angle velocity of the yaw angle rotating around the z-axis of the three-axis coordinate system of the electronic device. After receiving the attitude data of the electronic device, the vehicle controller may reverse the roll angle velocity in the three-axis gyroscope data of the electronic device, reverse the y-direction acceleration, and then calculate the control parameters.

[0045] The control parameters of the actuator usually involve aspects such as attitude angle, displacement, feedforward force, feedback force, and damping force. Among them, the attitude angle refers to the rotation angle relative to the three-axis coordinate system. Displacement refers to the position change of the suspension of the vehicle controlled by the actuator in space. The feedforward force is the force applied by the actuator to the suspension that is pre-calculated or estimated to achieve the desired response. The feedback force is the force calculated according to the error signal for correcting the response or implementing closed-loop control, and the feedback force is calculated based on the feedback data of the suspension. The damping force refers to the damping force acting on the actuator and the suspension that is proportional to the speed.

[0046] Based on this, in the embodiment of the present application, the control parameters can be calculated through the following steps. First, calculate the control parameters for controlling the actuator of the vehicle according to the attitude data. Then, according to the control parameters, control the actuator to output the actuating force for controlling the vehicle to perform the target action.

[0047] In one example, the attitude angles of the electronic device can be calculated based on the three-axis acceleration data and the three-axis gyroscope data. Then, the control parameters of the vehicle actuator can be calculated based on the attitude angles.

[0048] The calculation process of the attitude angles of the electronic device can include the following steps. First, based on the three-axis acceleration data, the first attitude angle of the electronic device is calculated. The first attitude angle refers to the attitude angle calculated based on the acceleration of the electronic device. Then, based on the three-axis gyroscope data, the second attitude angle of the electronic device is calculated. The second attitude angle refers to the attitude angle calculated based on the angular velocity of the electronic device. Finally, the first attitude angle and the second attitude angle are fused to obtain the attitude angle of the electronic device. In one example, the attitude angles of the electronic device can include the pitch angle and the roll angle. The following takes the pitch angle and the roll angle as examples to elaborate on the calculation process.

[0049] Specifically, for the calculation of the first attitude angle, the initial attitude angle of the electronic device can be obtained based on the three-axis acceleration data first. Then, a first-order low-pass filtering process is performed on the initial attitude angle to obtain the first attitude angle. The initial attitude angle can include the initial pitch angle and the initial roll angle. The first attitude angle can include the first pitch angle and the first roll angle.

[0050] Among them, the initial pitch angle can be calculated by formula (1), and the initial roll angle can be calculated by formula (2):

[0051]

[0052]

[0053] Among them, A x is the acceleration in the x direction, A y is the acceleration in the y direction, A z is the acceleration in the z direction, θ1 is the initial pitch angle, and θ2 is the initial roll angle.

[0054] Both the first pitch angle and the first roll angle in the first attitude angle can be calculated by formula (3):

[0055]

[0056] Among them, d t is the sampling time, Δu is the time constant, x(k1) is the current sampling value, and the current sampling value includes the initial pitch angle θ1 and the initial roll angle θ2, y(k1 - 1) is the filtering output value at the previous moment, and y(k1) is the filtering output value at the current moment, that is, the first attitude angle.

[0057] For the calculation of the second attitude angle, the angular velocity signal of the electronic device can be obtained from the triaxial gyroscope data first. Then, the angular velocity signal is integrated once. After that, the integrated result is processed by a first-order high-pass filter to obtain the second attitude angle. The second attitude angle can include a second pitch angle and a second roll angle.

[0058] Both the second pitch angle and the second roll angle in the second attitude angle can be calculated by formula (4):

[0059]

[0060] where d t is the sampling time, Δu is the time constant, x(k2) is the current sampling value, and the current sampling value includes the pitch angular velocity ω1 and the roll angular velocity ω2, x(k2 - 1) is the previous sampling value, y(k2 - 1) is the filtered output value at the previous moment, and y(k2) is the filtered output value at the current moment, that is, the second attitude angle.

[0061] Finally, the first attitude angle calculated based on acceleration and the second attitude angle calculated based on angular velocity can be fused by using the complementary filter fusion method to obtain the final attitude angle relative to the electronic device. Among them, the attitude angle of the electronic device can be calculated by the fusion method of formula (5).

[0062] A total = q × y(k2)+(1 - q) × y(k1); (5)

[0063] where A total is the attitude angle of the electronic device, and the attitude angle of the electronic device can also include the final calculated values of two attitude angles, namely the pitch angle and the roll angle. y(k2) is the second attitude angle, y(k1) is the first attitude angle, and q is the weight value and 0 < q < 1.

[0064] The control parameters of the actuator can include the parameters for the actuator to control the suspension. Therefore, for the calculation of the control parameters of the actuator, the feedforward force of the actuator on the vehicle suspension can be calculated first according to the attitude angle. Then, the actuator signal of the actuator is obtained, and the feedback force and the damping force of the suspension are calculated according to the actuator signal. Finally, the parameters for the actuator to control the suspension are obtained based on the feedforward force, the feedback force, and the damping force.

[0065] Among them, for the calculation of the feedforward force of the actuator on the vehicle suspension, the suspension displacement that the actuator needs to execute can be calculated first according to the attitude angle. Then, the feedforward force of the actuator on the vehicle suspension is calculated according to the suspension displacement that the actuator needs to execute.

[0066] Among them, the calculation process of the suspension displacement required to be executed by the actuator includes the following steps. First, obtain the suspension data and wheelbase data of the vehicle. Then, calculate the suspension displacement of the vehicle based on the suspension data, wheelbase data, and attitude angle as the suspension displacement required to be executed by the actuator. The calculation of the feedforward force of the suspension includes the following steps. Obtain the front suspension stiffness parameter of the vehicle. Then, calculate the left front target action feedforward force based on the left front suspension target displacement, the front suspension stiffness parameter, and the front suspension lever ratio. The feedforward force includes the left front target action feedforward force.

[0067] The following takes the example where the actuator can control the four suspensions of the vehicle separately for expansion and description.

[0068] In the embodiment of the present application, it is assumed that the four suspensions of the vehicle are the left front suspension, the right front suspension, the left rear suspension, and the right rear suspension respectively. The calculation process of the suspension displacement required to be executed by the actuator may include the following steps. First, obtain the suspension data and wheelbase data of the vehicle. Among them, the suspension data may include the distance from the center of mass of the suspension to the front axle, the distance from the center of mass of the suspension to the rear axle, the front suspension lever ratio, the rear suspension lever ratio, and the wheelbase data includes the front axle wheelbase and the rear axle wheelbase of the vehicle. Then, calculate the suspension displacement of the vehicle based on the suspension data, wheelbase data, and attitude angle as the suspension displacement required to be executed by the actuator. Among them, the suspension displacement may include the left front suspension target displacement, the right front suspension target displacement, the left rear suspension target displacement, and the right rear suspension target displacement.

[0069] In one example, the suspension displacement required to be executed by the actuator can be calculated by formula (6):

[0070]

[0071]

[0072] Among them, l a is the distance from the center of mass to the front axle, l b is the distance from the center of mass to the rear axle, i f is the front suspension lever ratio, i r is the rear suspension lever ratio, w f is the front axle wheelbase, w r is the rear axle wheelbase, A pit,total is the pitch angle of the electronic device, A roll,total is the roll angle of the electronic device. The left front suspension target displacement H fl = A(1), the right front suspension target displacement H fr = A(2), the left rear suspension target displacement H rl = A(3), the right rear suspension target displacement H rr = A(4).

[0073] In the embodiments of the present application, the feedforward force of the actuator on the vehicle's suspension may include the left front target action feedforward force on the left front suspension, the right front target action feedforward force on the right front suspension, the left rear target action feedforward force on the left rear suspension, and the right rear target action feedforward force on the right rear suspension.

[0074] The calculation process of the feedforward force of the actuator on the vehicle's suspension may include the following steps. First, obtain the front suspension stiffness parameter and the rear suspension stiffness parameter of the vehicle. Then, calculate the left front target action feedforward force based on the left front suspension target displacement, the front suspension stiffness parameter, and the front suspension leverage ratio. Calculate the right front target action feedforward force based on the right front suspension target displacement, the front suspension stiffness parameter, and the front suspension leverage ratio. Calculate the left rear target action feedforward force based on the left rear suspension target displacement, the rear suspension stiffness parameter, and the rear suspension leverage ratio. And calculate the right rear target action feedforward force based on the right rear suspension target displacement, the rear suspension stiffness parameter, and the rear suspension leverage ratio.

[0075] In one example, the left front target action feedforward force and the right front target action feedforward force can both be calculated by formula (7), and the left rear target action feedforward force and the right rear target action feedforward force can both be calculated by formula (8):

[0076]

[0077] where F f is the left front target action feedforward force or the right front target action feedforward force, F r is the left rear target action feedforward force or the right rear target action feedforward force, H f is the left front suspension target displacement or the right front suspension target displacement, H r is the left rear suspension target displacement or the right rear suspension target displacement, k f is the front suspension stiffness parameter, k r is the rear suspension stiffness parameter. Among them, the target action feedforward force of each suspension is calculated based on the target displacement corresponding to the suspension, the suspension stiffness parameter, etc.

[0078] In the embodiments of the present application, the feedback force of the suspension includes the position feedback force and the speed feedback force, and the actuator signal includes the actual suspension displacement and the actual suspension speed. The calculation process of the feedback force of the suspension includes the calculation of the position feedback force and the speed feedback force. The calculation of the position feedback force includes: calculating the position feedback force according to the suspension displacement, the actual suspension displacement, and a preset position feedback coefficient. The calculation of the speed feedback force includes: integrating the suspension displacement to obtain the suspension speed, and calculating the speed feedback force according to the suspension speed and the actual suspension speed and a preset speed feedback coefficient. The calculation of the damping force of the suspension includes: calculating the damping force of the suspension by multiplying the actual suspension speed by a set adjustable coefficient.

[0079] In an embodiment of the present application, it is assumed that the target suspension is any one of the suspensions of a vehicle. The feedback force may include a position feedback force and a velocity feedback force. The feedback force of the suspension may first calculate the position feedback force of the target suspension according to the target suspension displacement, the actual suspension displacement of the vehicle, and a preset position feedback coefficient. Then, the velocity feedback force of the target suspension is calculated according to the target suspension velocity and the actual suspension velocity of the vehicle and the preset velocity feedback coefficient. The damping force of the suspension may be calculated by multiplying the actual suspension velocity by a set adjustable coefficient to obtain the damping force of the target suspension.

[0080] In one example, for each target suspension, its position feedback force can be calculated by formula (9), its velocity feedback force can be calculated by formula (10), and the feedback force of the actuator can be calculated by formula (11):

[0081]

[0082] Wherein, F location is the position feedback force of the target suspension, F velocity is the velocity feedback force of the target suspension, F fedback is the total feedback force of the target suspension, H is the target suspension displacement of the target suspension, H act is the actual suspension displacement of the target suspension, is the position feedback coefficient and V is the target suspension velocity of the target suspension, V act is the actual suspension velocity of the target suspension, is the velocity feedback coefficient and

[0083]

[0084] For each target suspension, its damping force can be calculated by formula (12):

[0085] F damp = k3×V act ; (12)

[0086] Wherein, F damp is the damping force of the target suspension, V act is the actual suspension velocity of the target suspension, k3 is a set adjustable coefficient and -10 < k3 < 0.

[0087] In an embodiment of the present application, the control parameter is a parameter that can synthesize the feedforward force, the feedback force, and the damping force to control the suspension by the actuator. For example, the feedforward force, the feedback force, and the damping force are multiplied by a proportionality coefficient to obtain the roll and pitch output force. It can also be the vertical target force that satisfies the vertical movement of the vehicle.

[0088] In one example, the target action may include a roll action for controlling the vehicle to roll and / or a pitch action for controlling the vehicle to pitch. Therefore, controlling the actuator to output an actuating force for controlling the vehicle to perform the target action according to the control parameter may be controlling the actuator to output a roll-pitch output force to the vehicle to control the vehicle to perform the roll action and / or control the vehicle to perform the pitch action. The roll-pitch output force may include, but is not limited to, a roll output force for controlling the vehicle to perform the roll action and a pitch output force for controlling the vehicle to perform the pitch action.

[0089] In another example, the target action may further include controlling the vehicle to perform a vertical movement. The control parameter of the actuator includes a vertical target force. Therefore, the vertical target force can be obtained based on the three-axis acceleration data. The actuator is controlled to output the vertical target force to the vehicle to control the vehicle to perform the vertical movement. Specifically, the vertical displacement can be obtained based on the z-axis acceleration data in the three-axis acceleration data. Then, the vertical target force is obtained based on the vertical displacement. The actuator is then controlled to output the vertical target force to the vehicle to control the vehicle to perform the vertical movement.

[0090] Taking the total actuating force including the roll-pitch output force and the vertical target force as an example. The received z-axis acceleration data can be integrated once, and the z-axis acceleration is obtained after a first-order high-pass filter; then it is integrated twice, and the vertical displacement is obtained after a first-order high-pass filter. Multiplying the displacement by a gain value gives the target force required for vertical actuation. The roll-pitch output force plus the vertical target force, plus the limit force of the actuator (i.e., the limit force is output according to the real-time feedback of the actuator position), and finally the actuating force F total is limited and output. For example, the corresponding total actuating force is output for each target suspension, and the functional state signal of the target suspension can also be output. The functional state signal refers to a signal indicating the state of the target suspension, which can be an electrical signal, a digital signal, or other forms of signals, etc., for characterizing the state information of the target suspension. The total actuating force can be calculated by formula (13):

[0091] F total = k4 × (F fedfor + F fedback + F damp ) + F z + F lim ; (13)

[0092] where, F total is the total actuating force of the actuator, F fedfor is the feedforward force of the actuator on the target suspension, F fedback is the feedback force of the target suspension, F damp is the damping force of the target suspension, F z is the vertical target force of the actuator on the target suspension, Flim is the limiting force of the actuator, k4 is an adjustable parameter and 0 < k4 < 1.

[0093] It should be noted that in the embodiments of the present application, controlling the vehicle to perform a target action can be not only the roll action, pitch action, vertical movement, etc. exemplified in the above embodiments, but also the forward movement, backward movement, lateral movement, yaw movement, etc. of the vehicle.

[0094] Figure 5 This is a structural block diagram of a vehicle controller 1 provided in the embodiments of the present application. As Figure 5 shown, the vehicle controller 1 may include a memory 501 and a processor 502. The memory 501 is configured to store a computer program. When the computer program is executed by the processor 502, the above-mentioned vehicle control method is implemented.

[0095] Figure 6 This is a structural block diagram of a vehicle provided in the embodiments of the present application. As Figure 6 shown, the vehicle may include the above-mentioned vehicle controller 1.

[0096] The vehicle in the embodiments of the present application may be a fuel vehicle, a plug-in hybrid vehicle or a new energy vehicle, etc., and the present application does not make specific limitations thereto.

[0097] The embodiments of the present application further provide a computer-readable storage medium, on which instructions are stored, and when the instructions are executed by a processor, the processor is configured to execute the above-mentioned vehicle control method.

[0098] Since the computer programs stored in the vehicle controller, the vehicle and the computer-readable storage medium can execute the steps in any one of the vehicle control methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the vehicle control methods provided in the embodiments of the present application can be realized. For details, see the previous embodiments and will not be elaborated here.

[0099] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0100] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, as well as the combination of flows and / or blocks in the flowchart and / or block diagram. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices generate means for implementing the functions specified in one or more of the flows Figure 1 or more flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0101] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in one or more of the flows Figure 1 or more flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0102] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more of the flows Figure 1 or more flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0103] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0104] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of computer-readable media.

[0105] A computer-readable medium includes both permanent and non-permanent, removable and non-removable media, and can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of a computer's storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic tape disk storage or other magnetic storage devices, or any other non-transitory medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer-readable medium does not include transitory computer-readable media, such as modulated communication signals and carrier waves.

[0106] It should also be noted that the term "comprising," "including," or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements that are inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0107] The above are only the preferred embodiments of this application and do not impose any formal restrictions on this application. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this application without departing from the content of the technical solution of this application still fall within the scope of the technical solution of this application.

Claims

1. A vehicle control method, characterized in that, Including: Obtaining the attitude data of an electronic device communicating with a vehicle; Controlling the vehicle to perform a target action corresponding to the electronic device according to the attitude data.

2. The vehicle control method according to claim 1, characterized in that, The controlling the vehicle to perform an action corresponding to the electronic device according to the attitude data includes: Calculating control parameters for controlling an actuator of the vehicle according to the attitude data; Controlling the actuator to output an actuating force for controlling the vehicle to perform the target action according to the control parameters.

3. The vehicle control method according to claim 2, wherein The attitude data includes triaxial acceleration data and triaxial gyroscope data; The calculating control parameters for controlling an actuator of the vehicle according to the attitude data includes: Calculating the attitude angle of the electronic device according to the triaxial acceleration data and the triaxial gyroscope data; Calculating the control parameters of the actuator of the vehicle according to the attitude angle.

4. The vehicle control method according to claim 3, wherein The calculating the attitude angle of the electronic device according to the triaxial acceleration data and the triaxial gyroscope data includes: Calculating a first attitude angle of the electronic device according to the triaxial acceleration data; Calculating a second attitude angle of the electronic device according to the triaxial gyroscope data; Fusing the first attitude angle and the second attitude angle to obtain the attitude angle of the electronic device.

5. The vehicle control method according to claim 4, wherein The calculating a first attitude angle of the electronic device according to the triaxial acceleration data includes: Obtaining an initial attitude angle of the electronic device according to the triaxial acceleration data; Performing a first-order low-pass filtering process on the initial attitude angle to obtain the first attitude angle.

6. The vehicle control method according to claim 4, wherein The calculating a second attitude angle of the electronic device according to the triaxial gyroscope data includes: Obtaining an angular velocity signal of the electronic device from the triaxial gyroscope data; Performing a first integration on the angular velocity signal, and then performing a first-order high-pass filtering process on the integrated result to obtain the second attitude angle.

7. The vehicle control method according to claim 3, wherein The control parameters of the actuator include parameters for controlling a suspension of the vehicle; The calculating the control parameters of the actuator of the vehicle according to the attitude angle includes: Calculating a feedforward force of the actuator on the suspension of the vehicle according to the attitude angle; Obtaining an actuator signal of the actuator, and calculating a feedback force of the suspension and a damping force of the suspension according to the actuator signal; Obtaining the parameters for controlling the suspension by the actuator according to the feedforward force, the feedback force, and the damping force.

8. The vehicle control method according to claim 7, wherein The calculating a feedforward force of the actuator on the suspension of the vehicle according to the attitude angle includes: Calculating a suspension displacement required to be executed by the actuator according to the attitude angle; Calculating the feedforward force of the actuator on the suspension of the vehicle according to the suspension displacement required to be executed by the actuator.

9. The vehicle control method according to claim 8, characterized in that The calculating a suspension displacement required to be executed by the actuator according to the attitude angle includes: Obtaining suspension data and wheelbase data of the vehicle, Calculating a suspension displacement of the vehicle as the suspension displacement required to be executed by the actuator according to the suspension data, the wheelbase data, and the attitude angle.

10. The vehicle control method according to claim 9, wherein, The suspension displacement includes the left front suspension target displacement, the suspension data includes the front suspension leverage ratio, and calculating the feedforward force of the actuator on the vehicle's suspension based on the suspension displacement that the actuator needs to execute includes: Obtain the front suspension stiffness parameter of the vehicle; Calculate the left front target action feedforward force according to the left front suspension target displacement, the front suspension stiffness parameter, and the front suspension leverage ratio, and the feedforward force includes the left front target action feedforward force.

11. The vehicle control method according to claim 9, characterized in that, The suspension displacement includes the right front suspension target displacement, the suspension data includes the front suspension leverage ratio, and calculating the feedforward force of the actuator on the vehicle's suspension based on the suspension displacement that the actuator needs to execute includes: Obtain the front suspension stiffness parameter of the vehicle; Calculate the right front target action feedforward force according to the right front suspension target displacement, the front suspension stiffness parameter, and the front suspension leverage ratio, and the feedforward force includes the left front target action feedforward force.

12. The vehicle control method according to claim 9, wherein The suspension displacement includes the left rear suspension target displacement, the suspension data includes the rear suspension leverage ratio, and calculating the feedforward force of the actuator on the vehicle's suspension based on the suspension displacement that the actuator needs to execute includes: Obtain the rear suspension stiffness parameter of the vehicle; Calculate the left rear target action feedforward force according to the left rear suspension target displacement, the rear suspension stiffness parameter, and the rear suspension leverage ratio, and the feedforward force includes the left rear target action feedforward force.

13. The vehicle control method according to claim 9, characterized in that, The suspension displacement includes the right rear suspension target displacement, the suspension data includes the rear suspension leverage ratio, and calculating the feedforward force of the actuator on the vehicle's suspension based on the suspension displacement that the actuator needs to execute includes: Obtain the rear suspension stiffness parameter of the vehicle; Calculate the right rear target action feedforward force according to the right rear suspension target displacement, the rear suspension stiffness parameter, and the rear suspension leverage ratio, and the feedforward force includes the right rear target action feedforward force.

14. The vehicle control method according to claim 8, wherein, The feedback force of the suspension includes the position feedback force, the actuator signal includes the actual suspension displacement, and calculating the feedback force of the suspension based on the actuator signal includes: Calculate the position feedback force according to the suspension displacement, the actual suspension displacement, and a preset position feedback coefficient.

15. The vehicle control method according to claim 8, wherein, The feedback force of the suspension includes the velocity feedback force, the actuator signal includes the actual suspension velocity, and calculating the feedback force of the suspension based on the actuator signal includes: Integrate the suspension displacement to obtain the suspension velocity; Calculate the velocity feedback force according to the suspension velocity, the actual suspension velocity, and a preset velocity feedback coefficient.

16. The vehicle control method according to claim 8, wherein The actuator signal includes the actual suspension velocity, and calculating the damping force of the suspension based on the actuator signal includes: Calculate the damping force of the suspension by multiplying the actual suspension velocity by a set adjustable coefficient.

17. The vehicle control method according to claim 7, wherein Obtaining the parameter for the actuator to control the suspension based on the feedforward force, the feedback force, and the damping force includes: Synthesize the feedforward force, the feedback force, and the damping force to obtain the parameter for the actuator to control the suspension.

18. The vehicle control method according to any one of claims 2-17, characterized in that, The target actions include a roll action for controlling the vehicle to roll and / or a pitch action for controlling the vehicle to pitch; Controlling the actuator to output an actuating force for controlling the vehicle to perform the target action according to the control parameter includes: Controlling the actuator to output a roll and pitch output force to the vehicle according to the control parameter, so as to control the vehicle to perform the roll action and / or the pitch action.

19. The vehicle control method according to any one of claims 2-17, characterized in that, The attitude data includes triaxial acceleration data, and the control parameter of the actuator includes a vertical target force; Calculating the control parameter of the actuator for controlling the vehicle according to the attitude data includes: Obtaining the vertical target force according to the triaxial acceleration data.

20. The vehicle control method according to claim 19, wherein, Controlling the actuator to output an actuating force for controlling the vehicle to perform the target action according to the control parameter includes: Controlling the actuator to output the vertical target force to the vehicle, so as to control the vehicle to perform a vertical movement.

21. The vehicle control method according to claim 19, wherein Obtaining the vertical target force according to the triaxial acceleration data includes: Obtaining a vertical displacement according to the z-axis acceleration data in the triaxial acceleration data; Obtaining the vertical target force according to the vertical displacement.

22. The vehicle control method according to any one of claims 1-17, characterized in that, The attitude data includes triaxial acceleration data, and controlling the vehicle to perform a target action corresponding to the electronic device according to the attitude data includes: Controlling the vehicle to perform a target action corresponding to the electronic device according to the triaxial acceleration data.

23. The vehicle control method according to claim 22, wherein The vehicle control method further includes: Obtaining a first triaxial acceleration value of the electronic device obtained in the current sampling period, and two second triaxial acceleration values of the electronic device obtained in two sampling periods before the current sampling period; Taking the first triaxial acceleration value and the average acceleration value of the two second triaxial acceleration values as the triaxial acceleration data.

24. The vehicle control method according to any one of claims 1-17, characterized in that, Before obtaining the attitude data of the electronic device communicating with the vehicle, it further includes: Responding to a target function activation request sent by the electronic device.

25. A vehicle controller, characterized in that, Including: A memory and a processor, where a computer program is stored in the memory; when the computer program is executed by the processor, the vehicle control method according to any one of claims 1-24 is implemented.

26. A vehicle, characterized in that, Including: The vehicle controller according to claim 25.

27. The vehicle according to claim 26, wherein, It further includes an actuator communicating with the vehicle controller.

28. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 24 is implemented.

29. A computer program product, characterized in that, The computer program product includes a computer program, and when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 24 is implemented.

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