Vehicle control method, vehicle control device, vehicle and storage medium

Abstract

The invention provides a vehicle control method, a vehicle control device, a vehicle and a storage medium, and is applied to the field of vehicles. The method comprises the following steps: when a vehicle is in a snowfield mode and an energy recovery demand is detected, obtaining the type of a road surface where the vehicle is located; if the road surface type is the target road surface type, determining a target torque of a rear axle of the vehicle based on the transverse acceleration of the vehicle and an adhesion coefficient corresponding to the target road surface type; and controlling the vehicle to perform energy recovery based on the target torque. According to the method, when the vehicle is in the snowfield mode, the safety of the vehicle is ensured, and meanwhile, the energy consumption of the vehicle is reduced.

Description

Technical Field

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

[0002] With the improvement of living standards, the number of vehicles in the country is increasing. New energy vehicles are powered by electricity. During braking or coasting, the vehicle's kinetic energy is converted into heat through friction and consumed, resulting in a large amount of energy being wasted.

[0003] In the prior art, when a vehicle is in snow mode, energy is regenerated at a relatively low intensity when the accelerator pedal is released. However, the intensity of the regeneration cannot be adjusted according to the vehicle's actual needs. Therefore, when the vehicle is in snow mode, how to reduce energy consumption while ensuring safety becomes a pressing issue. Summary of the Invention

[0004] The present application provides a vehicle control method, a vehicle control device, a vehicle and a storage medium. The method can reduce the energy consumption of the vehicle while ensuring the safety of the vehicle when the vehicle is in snow mode.

[0005] In a first aspect, a vehicle control method is provided, the method comprising:

[0006] When the vehicle is in a snow mode and energy recovery demand is detected, obtaining a type of road surface on which the vehicle is located;

[0007] If the road surface type is a target road surface type, determining a target torque for the rear axle of the vehicle based on the lateral acceleration of the vehicle and an adhesion coefficient corresponding to the target road surface type;

[0008] Based on the target torque, the vehicle is controlled to perform energy recovery.

[0009] The above technical solution, when the vehicle is in snow mode and a need for energy recovery is detected, obtains the road type on which the vehicle is located. When the road type is the target road type, the target torque for the vehicle's rear axle is determined based on the vehicle's lateral acceleration and the adhesion coefficient corresponding to the target road type. The vehicle is then controlled to perform energy recovery based on the target torque. Compared to the prior art method of recovering energy in snow mode with a weaker energy recovery intensity, the present application first determines the road type on which the vehicle is located in snow mode and, when the road type is the target road type, determines the target torque for the vehicle's rear axle based on the vehicle's lateral acceleration and the adhesion coefficient corresponding to the road type. This allows the target torque for the vehicle's rear axle to be dynamically adjusted based on the road type, ensuring vehicle safety. Furthermore, by determining the target torque for the vehicle's rear axle, i.e., the maximum torque, based on the vehicle's lateral acceleration and the adhesion coefficient corresponding to the target road type, the target torque for the vehicle's rear axle can be precisely adjusted, achieving efficient energy recovery while ensuring vehicle safety, thereby reducing vehicle energy consumption in snow mode.

[0010] In conjunction with the first aspect, in certain possible implementations, determining the target torque of the rear axle of the vehicle based on the lateral acceleration of the vehicle and the adhesion coefficient corresponding to the target road surface type includes:

[0011] determining a target driving force of the vehicle based on the lateral acceleration and the adhesion coefficient;

[0012] The target torque is determined as the product of the target driving force and the tire radius of the vehicle.

[0013] The above technical solution determines the target driving force of the vehicle through the vehicle's lateral acceleration and adhesion coefficient, and determines the target torque as the product of the target driving force and the vehicle's tire radius; determines the maximum available longitudinal traction (target driving force) through the lateral acceleration and adhesion coefficient to ensure the safety of the vehicle's driving, and on this basis, determines the target torque as the product of the target driving force and the vehicle's tire radius, which can improve energy utilization efficiency while ensuring the safety of the vehicle.

[0014] In combination with the first aspect and the above implementations, in some possible implementations, determining the target driving force of the vehicle based on the lateral acceleration and the adhesion coefficient includes:

[0015] determining a rear axle lateral force based on the rear axle mass of the vehicle and the lateral acceleration;

[0016] determining rear axle friction based on the rear axle mass and the adhesion coefficient;

[0017] A target driving force of the vehicle is determined based on the rear axle lateral force and the rear axle friction force.

[0018] The above technical solution determines the rear axle lateral force based on the rear axle mass and lateral acceleration of the vehicle, and determines the rear axle friction based on the rear axle mass and adhesion coefficient, and then determines the target driving force of the vehicle based on the rear axle lateral force and the rear axle friction. By determining the maximum target driving force through the rear axle lateral force and the rear axle friction, it is possible to effectively avoid the situation where the tires break through the limit of the road surface, ensure that the vehicle's energy recovery reaches the maximum value, ensure the stability of the vehicle, effectively improve the vehicle's endurance, and thereby reduce the vehicle's energy consumption.

[0019] In combination with the first aspect and the above implementations, in some possible implementations, the target road surface type includes a snow type and an ice type, and the method further includes:

[0020] If the road type is the snow type, determining a first preset adhesion coefficient as the adhesion coefficient;

[0021] If the road surface type indicates the ice surface type, a second preset adhesion coefficient is determined as the adhesion coefficient, and the second preset adhesion coefficient is smaller than the first preset adhesion coefficient.

[0022] In the above technical solution, when the road surface type is snow type, the first preset adhesion coefficient is determined as the adhesion coefficient; when the road surface type indicates ice type, the second preset adhesion coefficient is determined as the adhesion coefficient; since the second preset adhesion coefficient is smaller than the first preset adhesion coefficient, the energy recovery intensity of the vehicle is dynamically adjusted through the adhesion coefficients corresponding to different road surface types, thereby improving the energy recovery capability of the vehicle while ensuring vehicle safety.

[0023] In combination with the first aspect and the above implementations, in some possible implementations, the method further includes: obtaining a current ambient temperature of the vehicle;

[0024] The determining the target torque of the rear axle of the vehicle based on the lateral acceleration of the vehicle and the adhesion coefficient corresponding to the target road surface type includes:

[0025] If the current ambient temperature is lower than a preset ambient temperature, a target torque of the rear axle of the vehicle is determined based on the lateral acceleration of the vehicle and the adhesion coefficient corresponding to the target road surface type.

[0026] The above technical solution determines the target torque of the vehicle's rear axle based on the road type on which the vehicle is located when the current ambient temperature is lower than the preset ambient temperature and the road type on which the vehicle is located is the target road type; when the current ambient temperature is relatively low, the road surface on which the vehicle is located will affect the vehicle's driving. Determining the target torque of the vehicle's rear axle based on the road type on which the vehicle is located can improve the vehicle's energy recovery efficiency on different road types.

[0027] In combination with the first aspect and the above implementation manner, in some possible implementation manners, obtaining the current ambient temperature of the vehicle includes:

[0028] Obtaining the outside temperature of the vehicle and the lowest predicted temperature of the vehicle's location on that day;

[0029] The smaller temperature between the vehicle outside temperature and the lowest predicted temperature is determined as the current ambient temperature.

[0030] The above technical solution obtains the vehicle's outdoor temperature and the lowest predicted temperature for the day, and determines the smaller of the two temperatures as the current ambient temperature. By combining the real-time acquired outdoor temperature with the predicted temperature to determine the current ambient temperature, the accuracy of the current ambient temperature during vehicle driving can be ensured, and the vehicle recovery intensity can be determined based on the current ambient temperature, which can ensure the matching of the current vehicle recovery intensity with the vehicle driving environment, thereby ensuring the safety of the vehicle.

[0031] In combination with the first aspect and the above implementation manner, in some possible implementation manners, the method further includes:

[0032] If the road surface type is a non-target road surface type, the target torque of the rear axle of the vehicle is determined based on a preset maximum deceleration.

[0033] In the above technical solution, when the road surface type is a non-target road surface type, the target torque of the vehicle's rear axle is determined based on the preset maximum deceleration; the non-target road surface type is a road surface type that will not affect adhesion. When the road surface type is a non-target road surface type, it is determined that the road surface on which the vehicle is located will not affect the vehicle's driving. The energy recovery intensity of the vehicle is adjusted by the vehicle's deceleration, which can reduce the energy consumption of the vehicle in snow mode.

[0034] In addition, when the vehicle is on a non-target road type (non-icy or snowy road), the vehicle's deceleration will be more obvious, avoiding sudden acceleration or deceleration of the vehicle, thereby improving the driving experience and improving the vehicle's energy efficiency while improving the vehicle's safety.

[0035] In a second aspect, a vehicle control device is provided, the device comprising:

[0036] an acquisition module, configured to acquire a type of road surface on which the vehicle is located when the vehicle is in a snow mode and an energy recovery demand is detected;

[0037] a determination module configured to determine, if the road surface type is a target road surface type, a target torque on the rear axle of the vehicle based on the lateral acceleration of the vehicle and an adhesion coefficient corresponding to the target road surface type;

[0038] A control module is configured to control the vehicle to perform energy recovery based on the target torque.

[0039] In conjunction with the second aspect, in some possible implementations, the determining module is specifically configured to:

[0040] determining a target driving force of the vehicle based on the lateral acceleration and the adhesion coefficient;

[0041] The target torque is determined as the product of the target driving force and the tire radius of the vehicle.

[0042] In combination with the second aspect and the above implementation, in some possible implementations, the determination module is specifically configured to:

[0043] determining a rear axle lateral force based on the rear axle mass of the vehicle and the lateral acceleration;

[0044] determining rear axle friction based on the rear axle mass and the adhesion coefficient;

[0045] A target driving force of the vehicle is determined based on the rear axle lateral force and the rear axle friction force.

[0046] In combination with the second aspect and the above implementations, in some possible implementations, the target road surface type includes a snow type and an ice type, and the determination module is specifically configured to:

[0047] If the road type is the snow type, determining a first preset adhesion coefficient as the adhesion coefficient;

[0048] If the road surface type indicates the ice surface type, a second preset adhesion coefficient is determined as the adhesion coefficient, and the second preset adhesion coefficient is smaller than the first preset adhesion coefficient.

[0049] In combination with the second aspect and the above implementation, in some possible implementations, the acquisition module is specifically configured to:

[0050] Obtaining the current ambient temperature of the vehicle;

[0051] The determining module is specifically configured to:

[0052] If the current ambient temperature is lower than a preset ambient temperature, a target torque of the rear axle of the vehicle is determined based on the lateral acceleration of the vehicle and the adhesion coefficient corresponding to the target road surface type.

[0053] In combination with the second aspect and the above implementation, in some possible implementations, the acquisition module is specifically configured to:

[0054] Obtaining the outside temperature of the vehicle and the lowest predicted temperature of the vehicle's location on that day;

[0055] The smaller temperature between the vehicle outside temperature and the lowest predicted temperature is determined as the current ambient temperature.

[0056] In combination with the second aspect and the above implementation, in some possible implementations, the determination module is specifically configured to:

[0057] If the road surface type is a non-target road surface type, the target torque of the rear axle of the vehicle is determined based on a preset maximum deceleration.

[0058] In a third aspect, a vehicle is provided, comprising a memory and a processor, wherein the memory is used to store executable program code; the processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0059] In a fourth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0060] In a fifth aspect, a computer program product is provided, which includes: computer program code, which, when running on a computer, enables the computer to execute the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 This is a schematic diagram of a scenario of a vehicle control method provided by an embodiment of the present application;

[0062] Figure 2 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0063] Figure 3 is a schematic flow chart of another vehicle control method provided in an embodiment of the present application;

[0064] Figure 4 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0065] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0066] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0067] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0068] Figure 1 This is a scenario diagram of a vehicle control method provided in an embodiment of the present application.

[0069] For example, Figure 1 As shown, the vehicle 100 is driving on an ice-covered road with the snow mode turned on. In order to avoid instability caused by rear wheel locking when the vehicle 100 recovers energy on the ice-covered road, energy recovery will not be performed to ensure the safety of the vehicle 100.

[0070] In related technologies, to ensure vehicle safety, energy recovery is not performed when the vehicle is in snow mode. Alternatively, when the accelerator pedal is released, the energy recovery intensity is significantly reduced (recovering energy at an extremely low energy recovery intensity). While these approaches ensure driving safety, the vehicle's energy recovery efficiency in snow mode is significantly reduced, increasing energy consumption.

[0071] It is understandable that when the vehicle is in snow mode but is driving on a non-icy or snowy road, the energy recovery system has an extremely low preset energy recovery intensity, resulting in an insignificant vehicle deceleration effect, affecting the driving experience and energy utilization efficiency.

[0072] In view of this, the present application provides a vehicle control method, a vehicle control device, a vehicle and a storage medium. The method can reduce the energy consumption of the vehicle while ensuring the safety of the vehicle when the vehicle is in snow mode.

[0073] Figure 2 It is a schematic flow chart of a vehicle control method provided in an embodiment of the present application.

[0074] For example, Figure 2 The method shown can be executed by a vehicle controller or chip of the vehicle.

[0075] For example, Figure 2 As shown, the vehicle control method 200 includes steps S210 - S230 .

[0076] S210 , when the vehicle is in snow mode and energy recovery demand is detected, obtain the type of road surface on which the vehicle is located.

[0077] For example, snow mode is a driving mode of the vehicle. Snow mode is mainly used for icy and snowy roads or low-adhesion road conditions. It improves driving stability and safety by adjusting the vehicle's power output, control system, etc.

[0078] Optionally, the vehicle is determined to be in snow mode when it is detected that the user has activated snow mode. Alternatively, the vehicle is determined to be in snow mode when the vehicle automatically switches to snow mode. The manner in which the vehicle is in snow mode can be determined based on actual circumstances and is not specifically limited herein.

[0079] Exemplarily, detecting an energy recovery demand indicates that the vehicle is in an energy recovery state. For example, when the vehicle is coasting or braking. Specifically, when the vehicle is detected to be in a coasting state, it is determined that the vehicle has an energy recovery demand. Alternatively, when the vehicle is detected to be in a braking state, it is determined that the vehicle has an energy recovery demand.

[0080] For example, the road type on which the vehicle is traveling indicates the type of road surface on which the vehicle is traveling. The road type on which the vehicle is traveling may be muddy, snowy, or icy, and may also be asphalt or cement. The road type on which the vehicle is traveling may be determined based on actual conditions and is not specifically limited herein.

[0081] In one example, the road type on which the vehicle is located can be determined based on navigation information. For example, when the vehicle starts navigation software, the vehicle obtains a navigation route in the navigation software and determines the road type on which the vehicle is located based on the road conditions in the navigation route.

[0082] In another example, an image of the road surface outside the vehicle can be captured by sensors outside the vehicle, and then identified using a road surface recognition model to determine the road surface type on which the vehicle is located. The road surface recognition model is a recognition model trained using sample data. Specifically, a feature extraction network based on the road surface recognition model extracts features from sample images, where the sample images are annotated with the sample road surface type to which they belong. The classification network of the road surface recognition model then measures the features of the sample images to determine a predicted road surface type. A classification loss is then calculated based on the feature distance between the sample road surface type and the predicted road surface type, and the network parameters of the road surface recognition model are then adjusted based on the classification loss.

[0083] Exemplarily, when the vehicle is in snow mode and energy recovery demand is detected, the type of road surface the vehicle is on is obtained to determine the target torque of the vehicle's rear wheels based on the type of road surface the vehicle is on, and the vehicle is controlled to perform energy recovery based on the target torque of the vehicle's rear wheels.

[0084] In order to improve the safety of the vehicle and the accuracy of the vehicle's energy recovery, the energy recovery intensity can be determined according to the ambient temperature of the vehicle.

[0085] For example, when the vehicle is in snow mode and energy recovery demand is detected, the current ambient temperature of the vehicle is obtained. If the current ambient temperature is greater than or equal to the preset ambient temperature, the target torque of the vehicle's rear axle is determined based on the preset maximum deceleration; if the current ambient temperature is less than the preset ambient temperature, the type of road surface on which the vehicle is located is obtained, and the target torque of the vehicle's rear axle is determined based on the type of road surface on which the vehicle is located.

[0086] Optionally, the current ambient temperature may be a predicted current temperature or a current temperature collected in real time. The current ambient temperature may be determined based on actual conditions and is not specifically limited herein.

[0087] Optionally, the preset ambient temperature may be 5 degrees, 3 degrees, etc. The preset ambient temperature may be determined according to actual conditions and is not specifically limited here.

[0088] Optionally, the preset maximum deceleration indicates a deceleration that achieves maximum energy recovery. For example, the preset deceleration may include 2.94 m / s 2 (0.3g), 2.45m / s 2 (0.25g), 1.96m / s 2 (0.2g), the preset maximum deceleration is 2.94m / s 2 The preset maximum deceleration can be determined according to actual conditions and is not specifically limited here.

[0089] Specifically, when the vehicle is in snow mode and is detected to be in a coasting or braking state (energy recovery demand is detected), the current ambient temperature is obtained to determine whether it is less than 5 degrees Celsius (preset ambient temperature). If the current ambient temperature is less than 5 degrees Celsius, the type of road surface the vehicle is on is obtained and, based on the road surface type, the target torque for the vehicle's rear axle is determined. If the current ambient temperature is greater than or equal to 5 degrees Celsius, the target torque for the vehicle's rear axle is determined based on the preset maximum deceleration.

[0090] Exemplarily, when the current ambient temperature is greater than or equal to the preset ambient temperature, the target driving force of the vehicle is determined based on the preset maximum acceleration and deceleration and the rear axle mass of the vehicle, and the product of the target driving force of the vehicle and the tire radius of the vehicle is determined as the target torque of the rear axle of the vehicle, so as to control the vehicle to recover energy through the target torque of the rear axle of the vehicle.

[0091] The above technical solution determines the target torque of the vehicle's rear axle based on a preset maximum deceleration when the current ambient temperature is greater than or equal to a preset ambient temperature. When the current ambient temperature is high, it is determined that the road surface on which the vehicle is located is free of ice (snow accumulation), which will not affect the vehicle's driving. The vehicle's energy recovery intensity is adjusted by the vehicle's deceleration, thereby reducing the vehicle's energy consumption in snow mode. When the current ambient temperature is lower than the preset ambient temperature, the type of road surface on which the vehicle is located is obtained to determine the target torque of the vehicle's rear axle based on the road surface type. Determining the target torque of the vehicle's rear axle based on the road surface type can improve the vehicle's energy recovery efficiency on different road surface types.

[0092] To further improve the accuracy of determining the target torque for the vehicle's rear axle based on the current ambient temperature, the current ambient temperature can be determined by combining the vehicle's outside temperature with the current minimum predicted temperature. For example, if the vehicle is in Snow Mode and a need for energy recovery is detected, the vehicle's outside temperature and the predicted temperature for the day are obtained, and the current ambient temperature is determined based on these two factors.

[0093] For example, when the vehicle is in snow mode and energy recovery demand is detected, the outside temperature of the vehicle and the lowest predicted temperature of the vehicle's location on that day are obtained, and the smaller of the two temperatures is determined as the current ambient temperature.

[0094] Specifically, when the vehicle is in snow mode, if it is detected that the vehicle is in a sliding or braking state, the outside temperature is collected through a sensor outside the vehicle, and the lowest predicted temperature for the day is obtained. The smaller temperature between the outside temperature and the lowest predicted temperature is determined as the current ambient temperature.

[0095] The above technical solution obtains the vehicle's outdoor temperature and the lowest predicted temperature for the day, and determines the smaller of the two temperatures as the current ambient temperature. By combining the real-time acquired outdoor temperature with the predicted temperature to determine the current ambient temperature, the accuracy of the current ambient temperature during vehicle driving can be ensured, and the vehicle recovery intensity can be determined based on the current ambient temperature, which can ensure the matching of the current vehicle recovery intensity with the vehicle driving environment, thereby ensuring the safety of the vehicle.

[0096] S220: If the road surface type is the target road surface type, determine the target torque of the rear axle of the vehicle based on the lateral acceleration of the vehicle and the adhesion coefficient corresponding to the target road surface type.

[0097] Optionally, the target road surface type is used to indicate a low-adhesion road surface type. The target road surface type may include snow, ice, or muddy roads. The target road surface type may be determined based on actual conditions and is not specifically limited herein.

[0098] In one example, when the vehicle is in snow mode and energy recovery demand is detected, the road type on which the vehicle is located is obtained to determine whether the road type is a target road type. When the road type is the target road type, the target torque of the vehicle's rear axle is determined based on the vehicle's lateral acceleration and the adhesion coefficient corresponding to the target road type. When the road type is a non-target road type, the target torque of the vehicle's rear axle is determined based on a preset maximum deceleration.

[0099] In another example, when the vehicle is in snow mode and energy recovery demand is detected, the current ambient temperature of the vehicle is obtained to determine whether the current ambient temperature is less than a preset ambient temperature. If the current ambient temperature is less than the preset ambient temperature and the road surface type is a target road surface type, the target torque of the vehicle's rear axle is determined based on the vehicle's lateral acceleration and the adhesion coefficient corresponding to the target road surface type.

[0100] The above technical solution determines the target torque of the vehicle's rear axle based on the road type on which the vehicle is located when the current ambient temperature is lower than the preset ambient temperature and the road type on which the vehicle is located is the target road type; when the current ambient temperature is relatively low, the road surface on which the vehicle is located will affect the vehicle's driving. Determining the target torque of the vehicle's rear axle based on the road type on which the vehicle is located can improve the vehicle's energy recovery efficiency on different road types.

[0101] Exemplarily, when the road surface type is snow or ice, an adhesion coefficient corresponding to the snow or ice type is determined. Specifically, when the road surface type is snow, a first preset adhesion coefficient is determined as the adhesion coefficient; when the road surface type indicates ice, a second preset adhesion coefficient is determined as the adhesion coefficient, and the second preset adhesion coefficient is less than the first preset adhesion coefficient.

[0102] For example, when the road surface type is snow type, the adhesion coefficient is determined to be 0.2 (a first preset adhesion coefficient), and when the road surface type is ice type, the adhesion coefficient is determined to be 0.08 (a second preset adhesion coefficient).

[0103] Optionally, the first preset adhesion coefficient may be 0.15, 0.2, 0.25, etc. The first preset adhesion coefficient may be determined according to actual conditions and is not specifically limited here.

[0104] Optionally, the second preset adhesion coefficient may be 0.07, 0.08, 0.09, etc. The second preset adhesion coefficient may be determined according to actual conditions and is not specifically limited here.

[0105] It should be noted that the second preset adhesion coefficient is smaller than the first preset adhesion coefficient. For example, when the first preset adhesion coefficient is 0.2, the second preset adhesion coefficient is 0.08.

[0106] In the above technical solution, when the road surface type is snow type, the first preset adhesion coefficient is determined as the adhesion coefficient; when the road surface type indicates ice type, the second preset adhesion coefficient is determined as the adhesion coefficient; since the second preset adhesion coefficient is smaller than the first preset adhesion coefficient, the energy recovery intensity of the vehicle is dynamically adjusted through the adhesion coefficients corresponding to different road surface types, thereby improving the energy recovery capability of the vehicle while ensuring vehicle safety.

[0107] Exemplarily, when the road surface type is the target road surface type, the target driving force of the vehicle is determined based on the lateral acceleration of the vehicle and the adhesion coefficient corresponding to the target road surface type, and the product of the target driving force and the tire radius of the vehicle is determined as the target torque.

[0108] Specifically, when the road surface type is the target road surface type, the adhesion coefficient corresponding to the target road surface type is obtained, and a determination is made as to whether the vehicle is experiencing lateral acceleration. If the vehicle is experiencing lateral acceleration, a target driving force is determined based on the vehicle's lateral acceleration and the adhesion coefficient corresponding to the target road surface type. The target driving force is then multiplied by the vehicle's tire radius to determine the target torque for the vehicle's rear axle. If the vehicle is not experiencing lateral acceleration, a target driving force is determined based on the adhesion coefficient corresponding to the target road surface type, and the target torque for the vehicle's rear axle is then multiplied by the target driving force and the tire radius to determine the target torque for the vehicle's rear axle.

[0109] The above technical solution determines the target driving force of the vehicle through the vehicle's lateral acceleration and adhesion coefficient, and determines the target torque as the product of the target driving force and the vehicle's tire radius; determines the maximum available longitudinal traction (target driving force) through the lateral acceleration and adhesion coefficient to ensure the safety of the vehicle's driving, and on this basis, determines the target torque as the product of the target driving force and the vehicle's tire radius, which can improve energy utilization efficiency while ensuring the safety of the vehicle.

[0110] Exemplarily, when the road surface type is the target road surface type, the vehicle's rear axle lateral force is determined based on the vehicle's lateral acceleration and the vehicle's rear axle mass, and the vehicle's rear axle friction is determined based on the vehicle's rear axle mass and the adhesion coefficient corresponding to the target road surface type. Then, the vehicle's target driving force is determined based on the vehicle's rear axle lateral force and the vehicle's rear axle friction.

[0111] It's understood that when a vehicle is driving on icy or snowy roads, the calculation of the critical value of the vehicle's rear axle output torque requires comprehensive consideration of the tire-road adhesion coefficient, the effect of lateral acceleration on the vehicle's longitudinal traction, and the tire's mechanical characteristics. Furthermore, according to the friction circle algorithm, the combined longitudinal and lateral forces of the tire must not exceed the critical value corresponding to the adhesion coefficient.

[0112] Specifically, the normal force on the vehicle's rear axle (also known as the normal force or normal component, which refers to the force acting perpendicular to the tire surface) is m*g (m is the vehicle's rear axle mass), and the corresponding rear axle friction force is u*m*g (u is the adhesion coefficient). Based on the vehicle's rear axle mass and lateral acceleration, the vehicle's rear axle lateral force is determined to be m*b (m is the vehicle's rear axle mass, b is the vehicle's lateral acceleration). Based on the friction circle constraint, the following expression can be obtained:

[0113] F long 2 +(m*b) 2 ≤(u*m*g) 2

[0114]

[0115] Among them, F long represents the longitudinal traction, m is the rear axle mass of the vehicle, u is the adhesion coefficient, b is the lateral acceleration of the vehicle, and g is the acceleration due to gravity.

[0116] It is understandable that in order to ensure the stability of the vehicle, the combined force of the longitudinal traction and the lateral force cannot exceed the maximum adhesion corresponding to the adhesion coefficient, otherwise the vehicle's grip will be reduced and dangerous accidents may occur. Therefore, the maximum longitudinal traction is determined as the target driving force of the vehicle.

[0117] For example, the target driving force of the vehicle can be expressed as follows:

[0118]

[0119] Where F represents the target driving force of the vehicle, m is the rear axle mass, u is the adhesion coefficient, b is the lateral acceleration of the vehicle, and g is the acceleration due to gravity. It can be understood that when the vehicle has lateral acceleration, b is a non-zero value; when the vehicle does not have lateral acceleration, b is 0.

[0120] Furthermore, when determining the target driving force of the vehicle, the product of the target driving force of the vehicle and the tire radius of the vehicle is determined as the target torque. The target torque can be expressed as follows:

[0121] T=F*R

[0122] Wherein, F represents the target driving force of the vehicle, R represents the tire radius of the vehicle, and T represents the target torque of the rear axle of the vehicle.

[0123] It's understandable that controlling torque based on road surface type can effectively prevent tires from exceeding road limits, ensuring maximum energy recovery while maintaining vehicle stability and effectively improving vehicle range. For example, when the vehicle is in pure electric drive mode, range can be increased by over 10%.

[0124] The above technical solution determines the rear axle lateral force based on the rear axle mass and lateral acceleration of the vehicle, and determines the rear axle friction based on the rear axle mass and adhesion coefficient, and then determines the target driving force of the vehicle based on the rear axle lateral force and the rear axle friction. By determining the maximum target driving force through the rear axle lateral force and the rear axle friction, it is possible to effectively avoid the situation where the tires break through the limit of the road surface, ensure that the vehicle's energy recovery reaches the maximum value, ensure the stability of the vehicle, effectively improve the vehicle's endurance, and thereby reduce the vehicle's energy consumption.

[0125] For example, when the vehicle is in snow mode, if it is detected that the vehicle is in a sliding state or a braking state, the road type on which the vehicle is located is obtained. When the road type is a non-target road type, the target torque of the vehicle's rear axle is determined based on the preset maximum deceleration.

[0126] Optionally, non-target road surface types indicate road surface types that do not affect adhesion. Non-target road surface types may include dry asphalt roads, conventional roads (free of water, snow, or gravel), etc. If the target road surface types include snow and ice (i.e., icy roads), the non-target road surface types include all road surface types except snow and ice. Non-target road surface types can be determined based on actual conditions and are not specifically defined here.

[0127] Optionally, the preset maximum deceleration indicates a deceleration that achieves maximum energy recovery. For example, the preset deceleration may include 2.94 m / s 2 (0.3g), 2.45m / s 2 (0.25g), 1.96m / s 2 (0.2g), the preset maximum deceleration is 2.94m / s 2 The preset maximum deceleration can be determined according to actual conditions and is not specifically limited here.

[0128] Specifically, when the vehicle is in snow mode, if it is detected that the vehicle is in a sliding state or a braking state (energy recovery demand is detected), the type of road surface on which the vehicle is located is obtained. When the road surface type is a non-ice or snow road surface (snow or ice), the target driving force of the vehicle is determined based on the preset maximum acceleration and deceleration and the rear axle mass of the vehicle, and the product of the target driving force of the vehicle and the tire radius of the vehicle is determined as the target torque of the rear axle of the vehicle, so as to control the vehicle to perform energy recovery through the target torque of the rear axle of the vehicle.

[0129] In the above technical solution, when the road surface type is a non-target road surface type, the target torque of the vehicle's rear axle is determined based on the preset maximum deceleration; the non-target road surface type is a road surface type that will not affect adhesion. When the road surface type is a non-target road surface type, it is determined that the road surface on which the vehicle is located will not affect the vehicle's driving. The energy recovery intensity of the vehicle is adjusted by the vehicle's deceleration, which can reduce the energy consumption of the vehicle in snow mode.

[0130] In addition, when the vehicle is on a non-target road type (non-icy or snowy road), the vehicle's deceleration will be more obvious, avoiding sudden acceleration or deceleration of the vehicle, thereby improving the driving experience and improving the vehicle's energy efficiency while improving the vehicle's safety.

[0131] S230: Based on the target torque, the vehicle is controlled to perform energy recovery.

[0132] It should be noted that vehicle energy recovery is when the motor in the vehicle outputs negative torque, the vehicle tires drive the motor to rotate to generate electrical energy, and at the same time apply braking force to the vehicle, thereby recovering the vehicle's energy.

[0133] For example, when the vehicle is in snow mode and detects that it is in a coasting or braking state (recovery required), the vehicle's road type is determined. If the road type is non-target, the target torque for the vehicle's rear axle is determined based on a preset maximum deceleration. If the road type is target (low-adhesion), the target torque for the vehicle's rear axle is determined based on the vehicle's lateral acceleration and the adhesion coefficient corresponding to the target road type. Based on this, the vehicle is controlled to perform energy recovery based on the target torque for the vehicle's rear axle.

[0134] Specifically, when the target torque of the rear axle of the vehicle is determined, the target torque of the rear axle of the vehicle is converted into control information of the motor (such as a current command) to drive the motor to perform a power generation mode.

[0135] For example, while controlling the vehicle's energy recovery based on the target torque at the rear axle, the actual tire speed can also be monitored in real time to determine whether the wheels are slipping. If the vehicle is not slipping, the actual tire speed monitoring continues. If slipping is present, the torque is reduced and ABS or ESC is activated to ensure vehicle safety.

[0136] For example, based on the actual speed of the vehicle tires, the wheel speed difference is determined, and it is determined whether the wheel speed difference is greater than a preset threshold. When the wheel speed difference is less than or equal to the preset threshold, the actual speed of the vehicle tires continues to be monitored; when the wheel speed difference is greater than the preset threshold, it is determined that the wheels may be slipping, the vehicle torque is reduced, and ABS or ESC is enabled.

[0137] Optionally, the preset threshold may be 12%, 11%, etc. The preset threshold may be determined according to actual conditions and is not specifically limited here.

[0138] The above technical solution, when the vehicle is in snow mode and a need for energy recovery is detected, obtains the road type on which the vehicle is located. When the road type is the target road type, the target torque for the vehicle's rear axle is determined based on the vehicle's lateral acceleration and the adhesion coefficient corresponding to the target road type. The vehicle is then controlled to perform energy recovery based on the target torque. Compared to the prior art method of recovering energy in snow mode with a weaker energy recovery intensity, the present application first determines the road type on which the vehicle is located in snow mode and, when the road type is the target road type, determines the target torque for the vehicle's rear axle based on the vehicle's lateral acceleration and the adhesion coefficient corresponding to the road type. This allows the target torque for the vehicle's rear axle to be dynamically adjusted based on the road type, ensuring vehicle safety. Furthermore, by determining the target torque for the vehicle's rear axle, i.e., the maximum torque, based on the vehicle's lateral acceleration and the adhesion coefficient corresponding to the target road type, the target torque for the vehicle's rear axle can be precisely adjusted, achieving efficient energy recovery while ensuring vehicle safety, thereby reducing vehicle energy consumption in snow mode.

[0139] Figure 3 It is a schematic flowchart of another vehicle control method provided in an embodiment of the present application.

[0140] For example, Figure 3 The method shown can be executed by a vehicle controller or chip in the vehicle.

[0141] For example, Figure 3 As shown, the vehicle control method 300 includes steps S301-S312.

[0142] S301, when the vehicle is in snow mode, if it is detected that the vehicle is in a sliding state or a braking state, the lowest predicted temperature of the day is obtained and the outside temperature is collected.

[0143] For example, when the vehicle is in snow mode and is detected to be in a coasting state or braking state (energy recovery required), the lowest predicted temperature for the day is obtained and the outside temperature is also collected. Specifically, the current outside temperature is collected by the outside sensor, the predicted temperature for the day is obtained, and the lowest predicted temperature among the predicted temperatures for the day is determined.

[0144] S302: The smaller temperature between the outside temperature and the lowest predicted temperature is determined as the current ambient temperature.

[0145] For example, when the vehicle is in snow mode, if it is detected that the vehicle is in a sliding state or a braking state, the lowest predicted temperature of the day is obtained and the outside temperature is collected, and the temperature with the smaller value between the outside temperature and the lowest predicted temperature is determined as the ambient temperature of the day.

[0146] For example, if the outside temperature is 3 degrees and the lowest predicted temperature for the day is 2 degrees, the current ambient temperature is determined to be 2 degrees. Alternatively, if the outside temperature is 3 degrees and the lowest predicted temperature for the day is 5 degrees, the current ambient temperature is determined to be 3 degrees.

[0147] S303, is the current ambient temperature less than 5 degrees? If not, execute S304; if so, execute S305.

[0148] For example, when the current ambient temperature is determined based on the outside temperature and a preset minimum temperature, the current ambient temperature is determined to be less than 5 degrees Celsius (the preset ambient temperature) to determine whether the type of road surface the vehicle is on will affect driving. If the current ambient temperature is less than 5 degrees Celsius, the type of road surface the vehicle is on may affect driving. If the current ambient temperature is greater than or equal to 5 degrees Celsius (higher temperature), the type of road surface the vehicle is on will not affect driving.

[0149] S304: Determine a target torque for the rear axle of the vehicle based on a preset maximum deceleration.

[0150] For example, when the vehicle is in snow mode, if it is detected that the vehicle is in a sliding state or a braking state, the current ambient temperature is obtained, and it is determined whether the current ambient temperature is less than 5 degrees (preset ambient temperature). When the current ambient temperature is greater than or equal to 5 degrees, the target torque of the rear axle of the vehicle is determined based on the preset maximum deceleration to reduce the energy consumption of the vehicle.

[0151] Specifically, when the current ambient temperature is greater than or equal to 5 degrees, the target driving force of the vehicle is determined based on the preset maximum acceleration and deceleration and the rear axle mass of the vehicle, and the product of the target driving force of the vehicle and the tire radius of the vehicle is determined as the target torque of the rear axle of the vehicle, so as to control the vehicle to recover energy through the target torque of the rear axle of the vehicle.

[0152] S305: Obtain the type of road surface on which the vehicle is located.

[0153] Exemplarily, when the current ambient temperature is less than 5 degrees, the type of road surface on which the vehicle is located is obtained, and the target torque of the rear axle of the vehicle is determined according to the type of road surface on which the vehicle is located.

[0154] Specifically, when the current ambient temperature is less than 5 degrees Celsius, a sensor outside the vehicle captures an image of the road surface outside the vehicle, and the road surface recognition model identifies the road surface image to determine the type of road surface the vehicle is on. The road surface recognition model is a recognition model obtained after training with sample data.

[0155] S306, determining whether the road surface type is the target road surface type; if not, executing S307; if so, executing S308.

[0156] Optionally, the target road surface type is used to indicate a low-adhesion road surface type, and the target road surface type may include a snow type and an ice type.

[0157] For example, if the current ambient temperature is less than 5°C, the system determines whether the road surface type is the target road surface type to determine whether the vehicle's road surface type will affect driving. If the road surface type is not the target road surface type, indicating that the vehicle's road surface type will not affect driving, the target torque for the vehicle's rear axle is determined based on a preset maximum deceleration. If the road surface type is the target road surface type, indicating that the vehicle's road surface type will affect driving, the target torque for the vehicle's rear axle is determined based on the vehicle's lateral acceleration and the adhesion coefficient corresponding to the target road surface type.

[0158] S307 , determining a target torque of the rear axle of the vehicle based on a preset maximum deceleration.

[0159] For example, when the current ambient temperature of the vehicle is less than 5 degrees (preset ambient temperature) and the road type on which the vehicle is located is a non-target road type (non-ice and snow type), the target torque of the vehicle's rear axle is determined based on the preset maximum deceleration to reduce the vehicle's energy consumption.

[0160] S308: Determine the adhesion coefficient of the target road type and collect the lateral acceleration of the vehicle.

[0161] For example, when the road surface type is determined to be the target road surface type, the lateral acceleration of the vehicle is collected by a sensor in the vehicle, and the adhesion coefficient of the target road surface type is determined.

[0162] Specifically, when the road surface type is snow type, the first preset adhesion coefficient is determined as the adhesion coefficient; when the road surface type indicates ice type, the second preset adhesion coefficient is determined as the adhesion coefficient, and the second preset adhesion coefficient is smaller than the first preset adhesion coefficient.

[0163] For example, when the road surface type is snow type, the adhesion coefficient is determined to be 0.2 (a first preset adhesion coefficient), and when the road surface type is ice type, the adhesion coefficient is determined to be 0.08 (a second preset adhesion coefficient).

[0164] Optionally, the first preset adhesion coefficient may be 0.15, 0.2, 0.25, etc. The first preset adhesion coefficient may be determined according to actual conditions and is not specifically limited here.

[0165] Optionally, the second preset adhesion coefficient may be 0.07, 0.08, 0.09, etc. The second preset adhesion coefficient may be determined according to actual conditions and is not specifically limited here.

[0166] It should be noted that the second preset adhesion coefficient is smaller than the first preset adhesion coefficient. For example, when the first preset adhesion coefficient is 0.2, the second preset adhesion coefficient is 0.08.

[0167] S309 , determining the rear axle lateral force based on the rear axle mass and lateral acceleration of the vehicle, and determining the rear axle friction based on the rear axle mass and adhesion coefficient.

[0168] Exemplarily, when the road surface type is the target road surface type, the adhesion coefficient of the target road surface type is determined and the lateral acceleration of the vehicle is collected, and based on the adhesion coefficient and the lateral acceleration of the vehicle, the rear axle lateral force of the vehicle and the rear axle friction of the vehicle are determined.

[0169] Specifically, the product of the rear axle mass of the vehicle and the lateral acceleration of the vehicle is determined as the rear axle lateral force of the vehicle; and the product of the adhesion coefficient, the rear axle mass and the acceleration of gravity is determined as the rear axle friction force of the vehicle.

[0170] S310 , determining a target driving force of the vehicle based on the rear axle lateral force and the rear axle friction force.

[0171] Exemplarily, when the road surface type is a target road surface type, the target driving force of the vehicle is determined based on the lateral acceleration of the vehicle and the adhesion coefficient corresponding to the target road surface type.

[0172] Specifically, when the road surface type is the target road surface type, the vehicle's rear axle lateral force is determined based on the vehicle's lateral acceleration and rear axle mass. The vehicle's rear axle friction is determined based on the vehicle's rear axle mass and the adhesion coefficient corresponding to the target road surface type. Finally, the vehicle's target driving force is determined based on the rear axle lateral force and rear axle friction. It will be appreciated that by determining the maximum available longitudinal traction (target driving force) based on the lateral acceleration and adhesion coefficient, the vehicle is driven using the maximum available traction, ensuring safe driving.

[0173] For example, when a vehicle is driving on icy or snowy roads, the calculation of the threshold value for the vehicle's rear axle output torque requires comprehensive consideration of the tire-road adhesion coefficient, the effect of lateral acceleration on the vehicle's longitudinal traction, and the tire's mechanical characteristics. Furthermore, according to the friction circle algorithm, the combined longitudinal and lateral forces of the tires must not exceed the threshold corresponding to the adhesion coefficient.

[0174] S311 : The product of the target driving force and the tire radius of the vehicle is determined as the target torque.

[0175] For example, when determining a vehicle's target driving force, the target torque is determined by multiplying the target driving force by the vehicle's tire radius. It is understood that by determining the maximum available longitudinal traction (target driving force) through lateral acceleration and adhesion coefficient to ensure vehicle safety, multiplying the target driving force by the vehicle's tire radius to determine the target torque can improve energy efficiency while ensuring vehicle safety.

[0176] S312: Based on the target torque, the vehicle is controlled to perform energy recovery.

[0177] Exemplarily, when the target torque of the rear axle of the vehicle is determined, the target torque of the rear axle of the vehicle is converted into control information of the motor, and the motor is driven to perform power generation mode to control the vehicle to perform energy recovery.

[0178] The above technical solution determines whether the road surface on which the vehicle is located will have a safety impact on the vehicle's driving (such as slipping) by combining the current ambient temperature and the type of road surface on which the vehicle is located. When the current ambient temperature is high (greater than or equal to 5 degrees) or the vehicle's road surface type is a non-target road surface type (non-ice and snow type), it is determined that the road surface on which the vehicle is located will not affect the vehicle's driving. Based on the preset maximum acceleration, the target torque of the vehicle's rear axle is determined, and the vehicle's deceleration will be more obvious, avoiding sudden acceleration or deceleration of the vehicle, thereby improving the driving experience, improving the vehicle's energy utilization efficiency, and improving the vehicle's safety.

[0179] When the current ambient temperature is low (less than 5 degrees) and the road surface type is the target road surface type (ice and snow type), determining the road surface on which the vehicle is located will affect the vehicle's driving. The lateral force of the vehicle's rear axle is determined by the vehicle's lateral acceleration, and the rear axle friction of the vehicle is determined by an additional coefficient. The target torque of the vehicle's rear axle, that is, the maximum torque, is determined by the vehicle's lateral acceleration and the adhesion coefficient corresponding to the target road surface type. The target torque of the vehicle's rear axle can be accurately adjusted to ensure vehicle safety while achieving efficient energy recovery, thereby reducing the vehicle's energy consumption in snow mode.

[0180] It should be understood that the above examples are intended to help those skilled in the art understand the embodiments of the present application, and are not intended to limit the embodiments of the present application to the specific numerical values or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or variations based on the above examples, and such modifications or variations also fall within the scope of the embodiments of the present application.

[0181] Combined with the above Figures 1 to 3 The vehicle control method provided by the embodiment of the present application is described in detail; Figure 4 and Figure 5 The device embodiments of the present application are described in detail. It should be understood that the devices in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0182] Figure 4 It is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application.

[0183] For example, Figure 4 As shown, the vehicle control device 400 includes:

[0184] Acquisition module 410: for acquiring the type of road surface on which the vehicle is located when the vehicle is in snow mode and energy recovery demand is detected;

[0185] Determination module 420: for determining a target torque on the rear axle of the vehicle based on the lateral acceleration of the vehicle and the adhesion coefficient corresponding to the target road surface type if the road surface type is the target road surface type;

[0186] The control module 430 is configured to control the vehicle to perform energy recovery based on the target torque.

[0187] Optionally, as an embodiment, the determining module 420 is specifically configured to:

[0188] Determine the target driving force of the vehicle based on the lateral acceleration and adhesion coefficient;

[0189] The target torque is determined as the product of the target driving force and the tire radius of the vehicle.

[0190] Optionally, as an embodiment, the determining module 420 is specifically configured to:

[0191] Determine the rear axle lateral force based on the rear axle mass and lateral acceleration of the vehicle;

[0192] Determine the rear axle friction based on the rear axle mass and adhesion coefficient;

[0193] The target driving force of the vehicle is determined based on the rear axle lateral force and the rear axle friction force.

[0194] Optionally, as an embodiment, the target road surface type includes a snow type and an ice type, and the determination module 420 is further configured to:

[0195] If the road type is snow, the first preset adhesion coefficient is determined as the adhesion coefficient;

[0196] If the road surface type indicates an ice surface type, a second preset adhesion coefficient is determined as the adhesion coefficient, and the second preset adhesion coefficient is smaller than the first preset adhesion coefficient.

[0197] Optionally, as an embodiment, the acquisition module 410 is specifically configured to:

[0198] Get the current ambient temperature;

[0199] If the current ambient temperature is greater than or equal to a preset ambient temperature, determining a target torque for the rear axle of the vehicle based on a preset maximum deceleration;

[0200] If the current ambient temperature is lower than the preset ambient temperature, the type of road surface on which the vehicle is located is obtained.

[0201] Optionally, as an embodiment, the acquisition module 410 is specifically configured to:

[0202] Obtain the vehicle's outdoor temperature and the lowest predicted temperature for the day;

[0203] The smaller of the outside temperature and the lowest predicted temperature is determined as the current ambient temperature.

[0204] Optionally, as an embodiment, the determining module 420 is specifically configured to:

[0205] If the road surface type is not the target road surface type, a target torque for the rear axle of the vehicle is determined based on a preset maximum deceleration.

[0206] It should be noted that the vehicle control device 400 is implemented in the form of a functional unit. The term "module" herein can be implemented in the form of software and / or hardware, and is not specifically limited thereto.

[0207] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the aforementioned functionality. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (e.g., a shared processor, a dedicated processor, or a group processor) and memory for executing one or more software or firmware programs, combined logic circuits, and / or other suitable components that support the described functionality.

[0208] Therefore, the units of each example described in the embodiments of this application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0209] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0210] For example, the vehicle 500 and Figure 1 The vehicle 100 in FIG. 1 represents the same vehicle.

[0211] For example, Figure 5 As shown, the vehicle 500 includes: a memory 510 and a processor 520, wherein the memory 510 stores an executable program code 530, and the processor 520 is used to call and execute the executable program code 530 to perform a vehicle control method.

[0212] Exemplarily, the memory 510 can be used to store relevant programs of the vehicle control method provided in the embodiments of the present application; the processor 520 can call the relevant programs of the vehicle control method stored in the memory 510 to execute the vehicle control method of the embodiments of the present application; for example, when the vehicle is in snow mode and energy recovery demand is detected, the type of road surface on which the vehicle is located is obtained; if the road surface type is the target road surface type, the target torque of the vehicle's rear axle is determined based on the vehicle's lateral acceleration and the adhesion coefficient corresponding to the target road surface type; based on the target torque, the vehicle is controlled to perform energy recovery.

[0213] In this embodiment, the device can be divided into functional modules based on the above-described method examples. For example, each functional module can be mapped to a specific functional module, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0214] In the case of dividing each functional module into corresponding functional modules, the device may further include an acquisition module, a determination module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0215] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0216] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is used in a vehicle, the processing module may be used to control and manage the vehicle's movements, while the storage module may be used to support the vehicle's execution of relevant program codes.

[0217] The processing module may be a processor or controller that implements or executes the various exemplary logic blocks, modules, and circuits described in conjunction with the present disclosure. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and the storage module may be a memory.

[0218] In addition, the device provided in the embodiments of the present application can specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiment.

[0219] The present application also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided by the above-mentioned embodiment. Among them, computer-readable storage media may include, but are not limited to, any type of disk, including floppy disks, optical disks, Digital Video Discs (DVDs), Compact Disc Read-Only Memory (CD-ROMs), microdrives and magneto-optical disks, Read-Only Memory (ROMs), Random Access Memory (RAMs), Erasable Programmable Read-Only Memory (EPROMs), Electrically Erasable Programmable Read-Only Memory (EEPROMs), Dynamic Random Access Memory (DRAMs), Video Random Access Memory (VRAMs), flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0220] The present application also provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement a vehicle control method provided by the above embodiment.

[0221] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0222] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0223] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0224] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: When the vehicle is in a snow mode and energy recovery demand is detected, obtaining a type of road surface on which the vehicle is located; If the road surface type is a target road surface type, determining a target torque for a rear axle of the vehicle based on the lateral acceleration of the vehicle and an adhesion coefficient corresponding to the target road surface type; Based on the target torque, the vehicle is controlled to perform energy recovery.

2. The method according to claim 1, characterized in that The determining the target torque of the rear axle of the vehicle based on the lateral acceleration of the vehicle and the adhesion coefficient corresponding to the target road surface type includes: determining a target driving force of the vehicle based on the lateral acceleration and the adhesion coefficient; The target torque is determined as the product of the target driving force and the tire radius of the vehicle.

3. The method according to claim 2, characterized in that The determining the target driving force of the vehicle based on the lateral acceleration and the adhesion coefficient includes: determining a rear axle lateral force based on the rear axle mass of the vehicle and the lateral acceleration; determining rear axle friction based on the rear axle mass and the adhesion coefficient; A target driving force of the vehicle is determined based on the rear axle lateral force and the rear axle friction force.

4. The method according to claim 1, wherein The target road surface type includes a snow type and an ice type, and the method further includes: If the road type is the snow type, determining a first preset adhesion coefficient as the adhesion coefficient; If the road surface type indicates the ice surface type, a second preset adhesion coefficient is determined as the adhesion coefficient, and the second preset adhesion coefficient is smaller than the first preset adhesion coefficient.

5. The method according to any one of claims 1 to 4, characterized in that The method further comprises: Obtaining the current ambient temperature of the vehicle; The determining the target torque of the rear axle of the vehicle based on the lateral acceleration of the vehicle and the adhesion coefficient corresponding to the target road surface type includes: If the current ambient temperature is lower than a preset ambient temperature, a target torque of the rear axle of the vehicle is determined based on the lateral acceleration of the vehicle and the adhesion coefficient corresponding to the target road surface type.

6. The method according to claim 5, characterized in that The obtaining of the current ambient temperature of the vehicle includes: Obtaining the outside temperature of the vehicle and the lowest predicted temperature of the vehicle's location on that day; The smaller temperature between the vehicle outside temperature and the lowest predicted temperature is determined as the current ambient temperature.

7. The method according to claim 1, characterized in that The method further comprises: If the road surface type is a non-target road surface type, the target torque of the rear axle of the vehicle is determined based on a preset maximum deceleration.

8. A vehicle control device, characterized in that: The device comprises: an acquisition module, configured to acquire a type of road surface on which the vehicle is located when the vehicle is in a snow mode and an energy recovery demand is detected; a determination module, configured to determine, if the road surface type is a target road surface type, a target torque on a rear axle of the vehicle based on a lateral acceleration of the vehicle and an adhesion coefficient corresponding to the target road surface type; A control module is configured to control the vehicle to perform energy recovery based on the target torque.

9. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed, the vehicle control method according to any one of claims 1 to 7 is implemented.

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