Vehicle transverse control method, device and equipment and vehicle

Abstract

The invention relates to the technical field of vehicle control, in particular to a vehicle transverse control method, device and equipment and a vehicle, the method is applied to a domain controller in a distributed driving system, and the domain controller is electrically connected with an image acquisition system, a steering system and an ESC system; the real-time driving working condition of the vehicle is determined according to the vehicle environment image sent by the image acquisition system, the vehicle steering data sent by the steering system and the ESC data sent by the ESC system; according to the real-time driving data of the vehicle under the real-time driving working condition, determining an execution motor in the distributed driving system and a target driving torque corresponding to the execution motor; the distributed driving system is controlled to adjust the driving torque of an execution motor according to the target driving torque, and the adjusted driving torque is obtained; and vehicle transverse control is conducted according to the adjusted driving torque. The control performance of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle lateral control method, device, equipment and vehicle. Background Art

[0002] With the continuous development of vehicle control technology, the requirements for vehicle controllability, comfort and safety are becoming increasingly higher.

[0003] Traditional steering systems and hydraulic braking systems play an important role in vehicle lateral control applications, but their functional limitations become increasingly apparent when faced with vehicles with distributed drive systems using four-wheel independent motors. In the prior art, steering systems and hydraulic braking systems are mainly aimed at controlling individual axles, and are unable to fully utilize the advantages of four-wheel independent motor drive, and their performance under complex working conditions is unsatisfactory. Specifically, the braking system is used to achieve cruise control, and the steering system is used to achieve functions such as lane keeping, resisting crosswinds, and suppressing trailer sway. These systems have the disadvantages of high complexity, long cycles, high costs, poor comfort, high energy consumption, and difficulty in coping with complex working conditions in terms of system design, testing, calibration, and verification. This results in poor NVH (Noise-Vibration-Harshness) characteristics of the vehicle, causing the driver to still feel the movement of the steering wheel during the vehicle's lateral control due to the poor vehicle control performance of the prior art.

[0004] Therefore, how to improve the control performance of vehicles is a technical problem that needs to be solved urgently. Summary of the Invention

[0005] The main purpose of this application is to provide a vehicle lateral control method, device, equipment and vehicle, aiming to improve the control performance of the vehicle.

[0006] To achieve the above objectives, the present application provides a vehicle lateral control method, which is applied to a domain controller in a distributed drive system, wherein the domain controller is electrically connected to an image acquisition system, a steering system, and an ESC system respectively;

[0007] The vehicle lateral control method comprises:

[0008] After receiving the vehicle environment image sent by the image acquisition system, the vehicle steering data sent by the steering system, and the ESC data sent by the ESC system, determining the real-time driving condition of the vehicle based on the vehicle environment image, the vehicle steering data, and the ESC data;

[0009] determining an actuator motor in the distributed drive system and a target driving torque corresponding to the actuator motor based on real-time driving data of the vehicle under the real-time driving condition;

[0010] controlling the distributed drive system to adjust the driving torque of the actuator motor according to the target driving torque to obtain an adjusted driving torque;

[0011] The vehicle lateral direction is controlled according to the adjusted driving torque.

[0012] Optionally, the ESC data includes the yaw rate and lateral acceleration of the vehicle, and the vehicle steering data includes the steering angle and steering speed of the vehicle;

[0013] The step of determining the real-time driving condition of the vehicle based on the vehicle environment image, the vehicle steering data, and the ESC data includes:

[0014] determining a smooth running threshold when the vehicle is in a laterally stable state, and determining whether a current lane line in the vehicle environment image is in a straight state when the yaw angular velocity and the lateral acceleration are both within a threshold range corresponding to the smooth running threshold;

[0015] If the current lane line in the vehicle environment image is in a straight state, after reading that the steering angle is consistent with the previous steering angle and the steering speed is consistent with the previous steering speed, detecting whether the transmission data in the vehicle bus contains a cruise control signal;

[0016] If a cruise control signal exists in the transmission data in the vehicle bus, determining that the real-time driving condition of the vehicle is a cruise control condition;

[0017] If the transmission data in the vehicle bus does not contain a cruise control signal, it is determined that the real-time driving condition of the vehicle is a single-lane driving condition.

[0018] Optionally, after the step of determining whether the current lane line in the vehicle environment image is in a straight state, the vehicle lateral control method includes:

[0019] If the current lane line in the vehicle environment image is not in a straight state, after reading that the steering angle and the steering speed are gradually increasing, it is determined that the real-time driving condition of the vehicle is a vehicle steering condition.

[0020] Optionally, when the yaw angular velocity and the lateral acceleration are both within a threshold range corresponding to the smooth running threshold, the vehicle lateral control method includes:

[0021] If a trailer signal is detected in the transmission data of the vehicle bus, determining that the real-time driving condition of the vehicle is a rear trailer condition;

[0022] If it is detected that the vehicle is approaching the left side of the current lane line, and the steering angle and the steering speed are read to be within a preset overtaking threshold range, it is determined that the real-time driving condition of the vehicle is an overtaking condition.

[0023] Optionally, when the real-time driving condition is the cruise control condition or the single-lane driving condition, the step of determining the actuator motor in the distributed drive system and the target driving torque corresponding to the actuator motor based on the real-time driving data of the vehicle under the real-time driving condition includes:

[0024] Determining, according to the cruise control operating condition or the single-lane driving operating condition, that the actuator motors in the distributed drive system are the rear left wheel motor and the rear right wheel motor;

[0025] The real-time driving data of the vehicle, the rear left wheel motor, and the rear right wheel motor are subjected to differential torque control according to a preset distributed control algorithm, and the motor drive torques corresponding to the rear left wheel motor and the rear right wheel motor are obtained as target drive torques; wherein,

[0026] The real-time driving data includes at least the vehicle environment image, wheel speed signal, IMU signal and steering system data.

[0027] Optionally, when the real-time driving condition is the vehicle turning condition, the tail trailer condition, or the overtaking condition, the step of determining the actuator motor in the distributed drive system and the target driving torque corresponding to the actuator motor based on the real-time driving data of the vehicle under the real-time driving condition further includes:

[0028] Determining, according to the vehicle steering condition, the tail trailer condition, or the overtaking condition, that the actuator motors in the distributed drive system are the rear left wheel motor, the rear right wheel motor, the front left wheel motor, and the front right wheel motor;

[0029] According to a preset distributed control algorithm, differential torque control is performed on the real-time driving data of the vehicle, the rear left wheel motor, the rear right wheel motor, the front left wheel motor and the front right wheel motor, and the motor driving torques corresponding to the rear left wheel motor, the rear right wheel motor, the front left wheel motor and the front right wheel motor are respectively used as target driving torques.

[0030] Optionally, the step of performing lateral control of the vehicle according to the adjusted driving torque includes:

[0031] After determining that the adjusted driving torque is the same as the target driving torque, determining that the vehicle is in a stable running state;

[0032] controlling the vehicle to travel at an appropriate speed corresponding to the stable operating state under the real-time driving condition, and continuing to perform the step of determining the real-time driving condition of the vehicle based on the vehicle environment image, the vehicle steering data, and the ESC data;

[0033] After the next real-time driving condition of the vehicle is detected, the step of determining the execution motor in the distributed drive system and the target driving torque corresponding to the execution motor based on the real-time driving data of the vehicle under the real-time driving condition is returned to the next real-time driving condition.

[0034] In addition, to achieve the above-mentioned purpose, the present application also provides a vehicle lateral control device, which is applied to a domain controller in a distributed drive system, wherein the domain controller is electrically connected to an image acquisition system, a steering system, and an ESC system. The vehicle lateral control device of the present application includes:

[0035] a working condition acquisition module, configured to, after receiving the vehicle environment image sent by the image acquisition system, the vehicle steering data sent by the steering system, and the ESC data sent by the ESC system, determine the real-time driving working condition of the vehicle based on the vehicle environment image, the vehicle steering data, and the ESC data;

[0036] a torque acquisition module, configured to determine an actuator motor in the distributed drive system and a target driving torque corresponding to the actuator motor based on real-time driving data of the vehicle under the real-time driving condition;

[0037] an adjustment module, configured to control the distributed drive system to adjust the drive torque of the actuator motor according to the target drive torque to obtain an adjusted drive torque;

[0038] The lateral control module is configured to perform lateral control of the vehicle according to the adjusted driving torque.

[0039] Each functional module of the vehicle lateral control device of the present application implements the steps of the vehicle lateral control method of the present application as described above during operation.

[0040] In addition, to achieve the above-mentioned purpose, the present application also provides a vehicle lateral control device, which includes a memory, a processor, and a vehicle lateral control program stored on the memory and runnable on the processor. When the vehicle lateral control program is executed by the processor, the steps of the above-mentioned vehicle lateral control method are implemented.

[0041] In addition, to achieve the above-mentioned purpose, the present application also provides a vehicle, which includes at least a domain controller, an image acquisition system, a steering system and an ESC system in a distributed drive system, and the domain controller is electrically connected to the image acquisition system, the steering system and the ESC system respectively. A vehicle lateral control program is stored on the domain controller, and when the vehicle lateral control program is executed by the domain controller, the steps of the vehicle lateral control method as described in claims 1 to 7 are implemented.

[0042] The present application provides a vehicle lateral control method for optimizing vehicle control performance. The vehicle lateral control method of the present application is applied to a domain controller in a distributed drive system. In addition, the domain controller is electrically connected to an image acquisition system, a steering system, and an ESC system, respectively. That is, the domain controller is used to achieve integrated and coordinated control between the systems. Specifically, the domain controller integrates the vehicle environment image sent by the image acquisition system, the vehicle steering data sent by the steering system, and the ESC data sent by the ESC system, and can more accurately obtain the vehicle's real-time driving conditions, which helps to improve the vehicle's driving safety under various road conditions. Then, based on the real-time driving data of the vehicle under real-time driving conditions, the actuator motor in the distributed drive system and the target driving torque corresponding to the actuator motor can be accurately obtained. Then, the advantages of the four-wheel independent motor drive in the distributed drive system are fully utilized to control the distributed drive system to accurately adjust the driving torque of the actuator motor according to the target driving torque, thereby achieving real-time adjustment of the driving torque of the actuator motor in the distributed drive system. That is, the distributed drive system is controlled to provide appropriate torque output according to different driving conditions, while improving the driving stability of the vehicle, so that the driver can obtain a smoother and more stable driving experience and reduce the tension or discomfort caused by vehicle instability. Finally, the present application can perform precise lateral control of the vehicle based on the adjusted driving torque fed back by the distributed drive system, so as to provide a smoother handling experience, allowing the driver to control and adjust the vehicle without feeling, further enhancing the safety, comfort and controllability of the vehicle, and improving the vehicle's control capabilities under various working conditions, thereby effectively improving the vehicle's control performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a flow chart of the first embodiment of the vehicle lateral control method of the present application;

[0044] Figure 2 1 is a schematic diagram of system control of a vehicle under one working condition involved in an embodiment of the present application;

[0045] Figure 3 This is a schematic diagram of a distributed drive system for a vehicle according to an embodiment of the present application;

[0046] Figure 4This is a flow chart of a second embodiment of the vehicle lateral control method of the present application;

[0047] Figure 5 This is a block diagram of the system coordination control principle involved in the embodiment of the present application;

[0048] Figure 6 This is a block diagram of system coordination control signals involved in the embodiment of the present application;

[0049] Figure 7 This is a block diagram of the coordination control process involved in the embodiment of the present application;

[0050] Figure 8 Schematic diagram of the structure of a vehicle lateral control device according to an embodiment of the present application;

[0051] Figure 9 This is a schematic structural diagram of the vehicle lateral control device involved in the embodiment of the present application.

[0052] Description of Figure Numbers:

[0053] Label name Label name CDCU domain controller CAM Image acquisition system ESC ESC system M1 Rear left wheel motor M2 Rear right wheel motor M3 Front left wheel motor M4 Front right wheel motor R1 Steering simulator R2 Front axle steering actuator

[0054] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] The present invention provides a vehicle lateral control method. Figure 1 As shown, Figure 1 It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0056] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0057] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0058] In this application, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0059] In addition, the descriptions of "first", "second", etc. in this application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0060] The present application provides a vehicle lateral control method, which is applied to a domain controller in a distributed drive system, wherein the domain controller is electrically connected to an image acquisition system, a steering system, and an ESC system, respectively.

[0061] The vehicle lateral control method includes:

[0062] Step S10: After receiving the vehicle environment image sent by the image acquisition system, the vehicle steering data sent by the steering system, and the ESC data sent by the ESC system, determine the real-time driving condition of the vehicle based on the vehicle environment image, the vehicle steering data, and the ESC data.

[0063] In the examples, reference Figure 2 , Figure 2It is a schematic diagram of the system control of the vehicle involved in the embodiment of the present application under one working condition. The domain controller CDCU is electrically connected to the image acquisition system CAM, the steering system and the ESC system (Electronic Stability Control) respectively, so that the domain controller can collect the vehicle environment image sent by the image acquisition system CAM, the vehicle steering data sent by the steering system and the ESC data sent by the ESC system in real time, and conduct a comprehensive analysis of the vehicle environment image, the vehicle steering data and the ESC data, so as to more accurately judge the real-time driving condition of the vehicle and avoid misjudgment caused by the limitations of a single data source. In addition, the present application centrally processes multi-source data through the domain controller CDCU, which can simplify the data processing process, thereby reducing the time delay of data processing and transmission, and effectively improving the efficiency of obtaining real-time driving conditions.

[0064] It should be noted that distributed drive systems such as Figure 3 As shown, Figure 3 This is a schematic diagram of a distributed drive system for a vehicle according to an embodiment of the present application. The distributed drive system may include at least a domain controller (CDCU), a rear left wheel motor M1, a rear right wheel motor M2, a front left wheel motor M3, and a front right wheel motor M4. The domain controller (CDCU) may include a yaw rate sensor. Furthermore, the vehicle described in this application may utilize a distributed drive system with four independent motors.

[0065] The steering system may include a steering simulation device R1 and a front axle steering actuator R2.

[0066] The vehicle environment image can be provided by the front-view camera and the rear-view camera in the image acquisition system. In addition, the vehicle environment image can include at least the current lane markings and vehicle environment information, where the vehicle environment information can include but is not limited to environmental reference objects, such as other vehicles, pedestrians, bicycles, animals, trees, and traffic lights.

[0067] ESC data may include at least parameters such as yaw rate, lateral acceleration and steering wheel angle.

[0068] The vehicle steering data may at least include the vehicle's steering angle and steering speed.

[0069] Step S20: determining the execution motor in the distributed drive system and the target driving torque corresponding to the execution motor based on the real-time driving data of the vehicle under the real-time driving condition.

[0070] In this embodiment, real-time driving data of the vehicle under real-time driving conditions is obtained, wherein the real-time driving data may include at least a vehicle environment image, a wheel speed signal, an IMU signal, and a steering system data; then, the vehicle environment image, the wheel speed signal, the IMU signal, and the steering system data under the real-time driving condition are weighted according to a preset distributed control algorithm, and differential torque control is performed on the vehicle environment image, the wheel speed signal, the IMU signal, and the steering system data after the weighted distribution, so as to determine the execution motor in the distributed drive system and the target driving torque corresponding to the execution motor.

[0071] Step S30: controlling the distributed drive system to adjust the driving torque of the execution motor according to the target driving torque to obtain an adjusted driving torque.

[0072] In this embodiment, the domain controller CDCU sends the target driving torque corresponding to the executive motor to the distributed drive system, so as to fully utilize the advantages of the four-wheel independent motor drive in the distributed drive system, and control the distributed drive system to accurately adjust the driving torque of the executive motor according to the target driving torque, thereby realizing real-time adjustment of the driving torque of the executive motor in the distributed drive system, that is, controlling the distributed drive system to provide appropriate torque output according to different driving conditions.

[0073] Step S40: performing lateral control of the vehicle according to the adjusted driving torque.

[0074] In this embodiment, after determining that the adjusted drive torque is the same as the target drive torque, the domain controller CDCU determines that the vehicle is in a stable operating state. The domain controller CDCU then controls the vehicle to travel at an appropriate speed corresponding to the stable operating state under the real-time driving condition, thereby allowing the driver to obtain a smoother and more stable driving experience and reduce the tension or discomfort caused by vehicle instability. The domain controller CDCU continues to execute the step of determining the real-time driving condition of the vehicle based on the vehicle environment image, the vehicle steering data, and the ESC data; until the next real-time driving condition of the vehicle is detected, the domain controller CDCU returns to the step of determining the actuator motor in the distributed drive system and the target drive torque corresponding to the actuator motor based on the real-time driving data of the vehicle under the real-time driving condition according to the next real-time driving condition. That is, the domain controller CDCU involved in this application can perform precise vehicle lateral control based on the adjusted drive torque fed back by the distributed drive system to provide a smoother control experience, allowing the driver to control and adjust the vehicle without noticing, further enhancing the safety, comfort, and controllability of the vehicle.

[0075] Furthermore, based on the first embodiment of the vehicle lateral control method of the present application, a second embodiment of the vehicle lateral control method of the present application is proposed, referring to Figure 4 , Figure 4 It is a flow chart of the second embodiment of the vehicle lateral control method of the present application.

[0076] Furthermore, in some feasible embodiments, the ESC data includes the yaw rate and lateral acceleration of the vehicle, and the vehicle steering data includes the steering angle and steering speed of the vehicle; the above-mentioned step S10 of determining the real-time driving condition of the vehicle based on the vehicle environment image, the vehicle steering data, and the ESC data may further include:

[0077] Step S101: Determine a smooth running threshold value when the vehicle is in a laterally stable state. When the yaw angular velocity and the lateral acceleration are both within a threshold range corresponding to the smooth running threshold value, determine whether the current lane line in the vehicle environment image is in a straight state.

[0078] In this embodiment, the domain controller is electrically connected to the image acquisition system, steering system, and ESC system, enabling integrated and coordinated control among these systems. Specifically, the CDCU first determines the vehicle's smooth-running threshold for lateral stability. Upon detecting that both the yaw rate and lateral acceleration are within the corresponding threshold range, it promptly determines whether the current lane line in the vehicle's surrounding image is straight.

[0079] Step S102: If the current lane line in the vehicle environment image is in a straight state, after reading that the steering angle is consistent with the previous steering angle and the steering speed is consistent with the previous steering speed, detect whether there is a cruise control signal in the transmission data of the vehicle bus.

[0080] In this embodiment, if the current lane line in the vehicle environment image is in a straight state, and the steering angle is read to be consistent with the previous steering angle and the steering speed is read to be consistent with the previous steering speed, the search range of the domain controller CDCU for the real-time driving condition is effectively narrowed, and then the transmission data in the vehicle bus is detected to see whether there is a cruise control signal, thereby further improving the accuracy of determining the real-time driving condition of the vehicle.

[0081] Step S103: if the transmission data in the vehicle bus contains a cruise control signal, determining that the real-time driving condition of the vehicle is a cruise control condition;

[0082] Step S104: If the transmission data in the vehicle bus does not contain a cruise control signal, it is determined that the real-time driving condition of the vehicle is a single-lane driving condition.

[0083] In this embodiment, if the transmission data in the vehicle bus contains a cruise control signal, the real-time driving condition of the vehicle is determined to be a cruise control condition; if the transmission data in the vehicle bus does not contain a cruise control signal, the real-time driving condition of the vehicle is determined to be a single-lane driving condition.

[0084] Furthermore, in some other feasible embodiments, after the above step S101: determining whether the current lane line in the vehicle environment image is in a straight state, the vehicle lateral control method further includes:

[0085] Step A10: If the current lane line in the vehicle environment image is not in a straight state, after reading that the steering angle and the steering speed are gradually increasing, it is determined that the real-time driving condition of the vehicle is a vehicle steering condition.

[0086] In this embodiment, if the current lane line in the vehicle environment image is not in a straight state, the domain controller CDCU reads that the steering angle and steering speed are gradually increasing, and then determines that the real-time driving condition of the vehicle is the vehicle steering condition.

[0087] Furthermore, in some feasible embodiments, when the yaw angular velocity and the lateral acceleration are both within a threshold range corresponding to the stable operation threshold, the vehicle lateral control method further includes:

[0088] Step B10: if a trailer signal is detected in the transmission data in the vehicle bus, determining that the real-time driving condition of the vehicle is a rear trailer condition;

[0089] Step B20: If it is detected that the vehicle is approaching the left side of the current lane line, and the steering angle and the steering speed are read to be within a preset overtaking threshold range, the real-time driving condition of the vehicle is determined to be an overtaking condition.

[0090] In this embodiment, if a trailer signal is detected in the transmission data of the vehicle bus, the vehicle's real-time driving condition is determined to be a tail trailer condition. If the vehicle is detected to be approaching the left side of the current lane line, and the domain controller CDCU reads that the steering angle and steering speed are both within the preset overtaking threshold range, the vehicle's real-time driving condition is determined to be an overtaking condition.

[0091] Furthermore, in some other feasible embodiments, when the real-time driving condition is the cruise control condition or the single-lane driving condition, step S20 of determining the actuator motor in the distributed drive system and the target driving torque corresponding to the actuator motor based on the real-time driving data of the vehicle under the real-time driving condition may further include:

[0092] Step S201: determining, based on the cruise control operating condition or the single-lane driving operating condition, that the actuator motors in the distributed drive system are the rear left wheel motor and the rear right wheel motor.

[0093] In this embodiment, after determining that the real-time driving condition is a cruise control condition or a single-lane driving condition, it can be accurately determined that the executive motors in the distributed drive system are the rear left wheel motor and the rear right wheel motor.

[0094] Step S202: Performing differential torque control on the real-time driving data of the vehicle, the rear left wheel motor, and the rear right wheel motor according to a preset distributed control algorithm, and using the motor driving torques corresponding to the rear left wheel motor and the rear right wheel motor as target driving torques; wherein the real-time driving data includes at least the vehicle environment image, wheel speed signal, IMU signal, and steering system data.

[0095] In this embodiment, differential torque control is performed on the vehicle's real-time driving data, the rear left wheel motor, and the rear right wheel motor based on a preset distributed control algorithm, and the motor driving torque corresponding to the rear left wheel motor and the rear right wheel motor is used as the target driving torque; wherein the real-time driving data includes at least the vehicle environment image, wheel speed signal, IMU signal, and steering system data.

[0096] It should be noted that, referring to Figures 5 and 6 , Figure 5 This is a block diagram of the system coordination control principle involved in the embodiment of the present application. Figure 6 This is a block diagram of the system coordination control signal involved in the embodiment of the present application. The steering system may also include an upper steering device motor + reducer, and a lower steering device motor + reducer. In addition, the steering system data may be provided by the steering system to the domain controller CDCU, wherein the steering system data may at least include an upper steering device angle signal, an off-duty steering device angle signal, an upper steering device torque signal, an off-duty steering device torque signal, an upper steering device speed signal, and an off-duty steering device speed signal. In addition, Figure 6 Among them, L-1, L-2, L-3 and L-4 are all position + angle sensors; M-1 and M-2 are both position angle + torque sensors.

[0097] In a specific embodiment, referring to Figure 5 as well as Figure 6When the real-time driving condition is the cruise control condition, the domain controller CDCU determines the current driving speed of the vehicle under the cruise control condition and the set driving speed corresponding to the cruise control condition; if the current driving speed is inconsistent with the set driving speed, since the smaller deceleration condition is implemented by the rear left wheel motor M1 and the rear right wheel motor M2 of the distributed drive system when the vehicle is cruising, it can be accurately determined that the executing motors of the distributed drive system under the cruise control condition are the rear left wheel motor M1 and the rear right wheel motor M2; then, according to the preset distributed control algorithm, the vehicle environment image, wheel speed signal, IMU signal and steering system data under the cruise control condition are weighted, and the vehicle environment image, wheel speed signal, IMU signal and steering system data after weighted allocation are used to perform differential torque control on the rear left wheel motor M1 and the rear right wheel motor M2 to obtain the motor driving torque corresponding to the rear left wheel motor and the rear right wheel motor respectively. Specifically, refer to Figure 7 , Figure 7 This is a block diagram of the coordinated control flow involved in the embodiment of the present application. When the vehicle is cruising, the implementation of the low deceleration condition is performed by the rear left wheel motor M1 and the rear right wheel motor M2 of the distributed drive system. If the current driving speed is inconsistent with the set driving speed, the domain controller CDCU assigns weights to the vehicle bus, the connecting harness 30, or the vehicle environment image, wheel speed signal, IMU signal, and steering system data sent by each system according to the weight ratio under the cruise control condition set by the preset distributed control algorithm. It then calculates the vehicle offset position, agitation, and vehicle environment information. It then calculates the torque difference of the vehicle offset position, agitation, and vehicle environment information based on the preset distributed control algorithm to obtain the motor drive torque corresponding to the rear left wheel motor and the rear right wheel motor, respectively. The motor drive torque corresponding to the rear left wheel motor and the rear right wheel motor is then used as the target drive torque. This target drive torque is then sent to the MCU (i.e., the rear-wheel motor controller), which then adjusts the left and right rear-wheel motors M1 and M2 according to the target drive torque, allowing them to output greater power to drive the vehicle, allowing the vehicle to comfortably and smoothly accelerate from its current speed to the set speed. In other words, road surface unevenness, changes in adhesion, the presence of foreign objects, and disturbances such as slope can all be compensated and corrected by the domain controller by using the torque difference between the left and right rear-wheel motors M1 and M2. The resulting control state and parameters are then output to the vehicle bus and HMI (Human Machine Interface), allowing the braking and steering systems to bypass control under these conditions, achieving smooth cruise acceleration and deceleration control without additional energy consumption, exhibiting excellent NVH performance, and simultaneously enabling some energy recovery.

[0098] In another embodiment, referring to Figure 2 as well as Figures 5 to 7 When the real-time driving condition is a single-lane driving condition, the vehicle side is subject to side wind 20 and road disturbances. After the domain controller CDCU detects that the vehicle is at risk of deviating from the current lane based on the vehicle environment image, CDCU6 comprehensively judges the vehicle deviation situation based on the vehicle bus and the signals uploaded by each system. When the vehicle's deviation position exceeds the preset deviation threshold, the torque output by the rear left wheel motor M1 and the rear right wheel motor M2 is controlled to be consistent with the corresponding motor drive torque, thereby allowing the vehicle to keep driving straight, effectively improving the vehicle's control performance.

[0099] Furthermore, in some other feasible embodiments, when the real-time driving condition is a vehicle turning condition, a tail-end trailer condition, or an overtaking condition, the above step S20 of determining the actuator motor in the distributed drive system and the target driving torque corresponding to the actuator motor based on the real-time driving data of the vehicle under the real-time driving condition may further include:

[0100] Step C10: determining, based on the vehicle steering condition, the tail trailer condition, or the overtaking condition, that the actuator motors in the distributed drive system are the rear left wheel motor, the rear right wheel motor, the front left wheel motor, and the front right wheel motor;

[0101] Step C20: Perform differential torque control on the real-time driving data of the vehicle, the rear left wheel motor, the rear right wheel motor, the front left wheel motor, and the front right wheel motor according to a preset distributed control algorithm, and use the motor driving torques corresponding to the rear left wheel motor, the rear right wheel motor, the front left wheel motor, and the front right wheel motor as the target driving torques.

[0102] In this embodiment, the distributed drive system's actuator motors are determined to be the rear left wheel motor M1, rear right wheel motor M2, front left wheel motor M3, and front right wheel motor M4 based on the vehicle's turning, tail-pulling, or overtaking conditions. Then, based on a preset distributed control algorithm, differential torque control is performed on the vehicle's real-time driving data and the rear left wheel motor M1, rear right wheel motor M2, front left wheel motor M3, and front right wheel motor M4. The resulting motor drive torques corresponding to the rear left wheel motor M1, rear right wheel motor M2, front left wheel motor M3, and front right wheel motor M4 are used as target drive torques.

[0103] In a specific embodiment, when the vehicle body deviates to one side and undergoes lateral displacement (i.e., the vehicle is turning), in order to automatically maintain the vehicle in the current lane, the distributed drive motor device will receive signals from the front-facing camera to perform differential torque control and output a certain differential torque to achieve a small-angle steering effect for the vehicle, allowing the vehicle to adjust back to the original lane and also achieve lane-centered driving.

[0104] When a vehicle is connected to a trailer (i.e., in a rear-trailer mode), swaying can occur, gradually increasing until the vehicle loses control and poses a serious risk. To prevent this and improve safety and comfort, the distributed drive system provides a small differential torque to counteract or compensate for the swaying caused by the trailer, eliminating this risk and ensuring safe and comfortable driving. The rearview camera primarily serves to observe the effects of a function being implemented and provides a reference output.

[0105] When the vehicle needs to overtake (i.e., overtaking conditions), the differential torque characteristics of the distributed drive motor can enable the vehicle to move closer to the left lane line in the same lane and increase the drive torque to travel quickly, achieving fast and safe overtaking. The upper steering device motor + reducer, as well as the lower steering device motor + reducer, provide steering road feel feedback. At the same time, the control result status and parameters are output to the vehicle bus and HMI. The steering system can also be decoupled from control under this condition, and smooth small-angle steering control of the vehicle is performed by the distributed drive motor; there is no additional energy consumption and good comfort performance.

[0106] Furthermore, in some feasible embodiments, the above step S40: performing lateral control of the vehicle according to the adjusted driving torque may further include:

[0107] Step S401: after determining that the adjusted driving torque is the same as the target driving torque, determining that the vehicle is in a stable running state;

[0108] Step S402: controlling the vehicle to travel at an appropriate speed corresponding to the stable operating state under the real-time driving condition, and continuing to execute the step of determining the real-time driving condition of the vehicle based on the vehicle environment image, the vehicle steering data, and the ESC data;

[0109] Step S403: After the next real-time driving condition of the vehicle is detected, return to the step of determining the execution motor in the distributed drive system and the target driving torque corresponding to the execution motor based on the real-time driving data of the vehicle under the real-time driving condition according to the next real-time driving condition.

[0110] In this embodiment, after determining that the adjusted drive torque is the same as the target drive torque, the domain controller CDCU determines that the vehicle is in a stable operating state. The domain controller CDCU then controls the vehicle to travel at an appropriate speed corresponding to the stable operating state under the real-time driving condition, thereby allowing the driver to obtain a smoother and more stable driving experience and reduce the tension or discomfort caused by vehicle instability. The domain controller CDCU continues to execute the step of determining the real-time driving condition of the vehicle based on the vehicle environment image, the vehicle steering data, and the ESC data; until the next real-time driving condition of the vehicle is detected, the domain controller CDCU returns to the step of determining the actuator motor in the distributed drive system and the target drive torque corresponding to the actuator motor based on the real-time driving data of the vehicle under the real-time driving condition according to the next real-time driving condition. That is, the domain controller CDCU involved in this application can perform precise vehicle lateral control based on the adjusted drive torque fed back by the distributed drive system to provide a smoother control experience, allowing the driver to control and adjust the vehicle without noticing, further enhancing the safety, comfort, and controllability of the vehicle.

[0111] In summary, this application is based on a domain controller and distributed drive, and provides a vehicle that realizes the comfort value-added functions of cruising on roads with different properties and different adhesion coefficients, lane keeping, overtaking, crosswind resistance, and trailer sway suppression without increasing the burden on users. In addition, the vehicle lateral control method based on this coordinated control is simple, the control effect is obvious, and it contributes greatly to improving the comfort performance of the vehicle. It also gives full play to the control role of the domain controller, so that the distributed drive uses the characteristics of the torque difference between the left and right rear wheels to adjust the output of the drive torque to achieve different functions. The support of the domain controller for other vehicle systems also reflects the openness and coordination of the control, and the value-added function is powerful. In addition, the integrated coordinated control function of the domain controller replaces the wire-controlled steering system and hydraulic braking function under some working conditions. At the same time, the distributed drive makes full use of the characteristics of the torque difference to adjust the different amplitudes of the drive torque output to improve vehicle comfort and safety.

[0112] In addition, the present application also provides a vehicle lateral control device, which is applied to a domain controller in a distributed drive system, and the domain controller is electrically connected to an image acquisition system, a steering system, and an ESC system. Figure 8 , Figure 8 It is a structural diagram of the vehicle lateral control device involved in the embodiment of the present application.

[0113] a working condition acquisition module H01 for determining the real-time driving condition of the vehicle based on the vehicle environment image, the vehicle steering data, and the ESC data after receiving the vehicle environment image sent by the image acquisition system, the vehicle steering data, and the ESC data sent by the ESC system;

[0114] a torque acquisition module H02 for determining an actuator motor in the distributed drive system and a target driving torque corresponding to the actuator motor based on real-time driving data of the vehicle under the real-time driving condition;

[0115] An adjustment module H03 is configured to control the distributed drive system to adjust the drive torque of the actuator motor according to the target drive torque to obtain an adjusted drive torque;

[0116] The lateral control module H04 is configured to perform lateral control of the vehicle according to the adjusted driving torque.

[0117] Optionally, the operating condition acquisition module H01 can also be used to:

[0118] determining a smooth running threshold when the vehicle is in a laterally stable state, and determining whether a current lane line in the vehicle environment image is in a straight state when the yaw angular velocity and the lateral acceleration are both within a threshold range corresponding to the smooth running threshold;

[0119] If the current lane line in the vehicle environment image is in a straight state, after reading that the steering angle is consistent with the previous steering angle and the steering speed is consistent with the previous steering speed, detecting whether the transmission data in the vehicle bus contains a cruise control signal;

[0120] If a cruise control signal exists in the transmission data in the vehicle bus, determining that the real-time driving condition of the vehicle is a cruise control condition;

[0121] If the transmission data in the vehicle bus does not contain a cruise control signal, it is determined that the real-time driving condition of the vehicle is a single-lane driving condition.

[0122] Optionally, the operating condition acquisition module H01 can also be used to:

[0123] If the current lane line in the vehicle environment image is not in a straight state, after reading that the steering angle and the steering speed are gradually increasing, it is determined that the real-time driving condition of the vehicle is a vehicle steering condition.

[0124] Optionally, the operating condition acquisition module H01 can also be used to:

[0125] If a trailer signal is detected in the transmission data of the vehicle bus, determining that the real-time driving condition of the vehicle is a rear trailer condition;

[0126] If it is detected that the vehicle is approaching the left side of the current lane line, and the steering angle and the steering speed are read to be within a preset overtaking threshold range, it is determined that the real-time driving condition of the vehicle is an overtaking condition.

[0127] Optionally, the torque acquisition module H02 may also be used to:

[0128] Determining, according to the cruise control operating condition or the single-lane driving operating condition, that the actuator motors in the distributed drive system are the rear left wheel motor and the rear right wheel motor;

[0129] The real-time driving data of the vehicle, the rear left wheel motor, and the rear right wheel motor are subjected to differential torque control according to a preset distributed control algorithm, and the motor drive torques corresponding to the rear left wheel motor and the rear right wheel motor are obtained as target drive torques; wherein,

[0130] The real-time driving data includes at least the vehicle environment image, wheel speed signal, IMU signal and steering system data.

[0131] Optionally, the torque acquisition module H02 may also be used to:

[0132] Determining, according to the vehicle steering condition, the tail trailer condition, or the overtaking condition, that the actuator motors in the distributed drive system are the rear left wheel motor, the rear right wheel motor, the front left wheel motor, and the front right wheel motor;

[0133] According to a preset distributed control algorithm, differential torque control is performed on the real-time driving data of the vehicle, the rear left wheel motor, the rear right wheel motor, the front left wheel motor and the front right wheel motor, and the motor driving torques corresponding to the rear left wheel motor, the rear right wheel motor, the front left wheel motor and the front right wheel motor are respectively used as target driving torques.

[0134] Optionally, the lateral control module H04 can also be used to:

[0135] After determining that the adjusted driving torque is the same as the target driving torque, determining that the vehicle is in a stable running state;

[0136] controlling the vehicle to travel at an appropriate speed corresponding to the stable operating state under the real-time driving condition, and continuing to perform the step of determining the real-time driving condition of the vehicle based on the vehicle environment image, the vehicle steering data, and the ESC data;

[0137] After the next real-time driving condition of the vehicle is detected, the step of determining the execution motor in the distributed drive system and the target driving torque corresponding to the execution motor based on the real-time driving data of the vehicle under the real-time driving condition is returned to the next real-time driving condition.

[0138] Each functional module of the vehicle lateral control device of the present application implements the steps of the vehicle lateral control method of the present application as described above during operation.

[0139] In addition, this application also provides a vehicle lateral control device. Figure 9 , Figure 9 Schematic diagram of the structure of the vehicle lateral control device involved in the embodiment of the present application. The vehicle lateral control device of the embodiment of the present application can be a device for locally operating the vehicle lateral control.

[0140] like Figure 9 As shown, the vehicle lateral control device of the embodiment of the present application may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and optionally the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wi-Fi interface).

[0141] Memory 1005 is provided on the vehicle lateral control device. Memory 1005 stores a program that, when executed by processor 1001, implements corresponding operations. Memory 1005 is also used to store parameters used by the vehicle lateral control device. Memory 1005 can be high-speed RAM or non-volatile memory, such as a disk drive. Memory 1005 can also optionally be a storage device independent of processor 1001.

[0142] Those skilled in the art will understand that Figure 9 The structure of the vehicle lateral control device shown in the figure does not constitute a limitation on the vehicle lateral control device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0143] like Figure 9 As shown, the memory 1005 of a vehicle may include an operating system, a network communication module, a user interface module, and a vehicle lateral control program of a vehicle lateral control device.

[0144] exist Figure 9 In the vehicle lateral control device shown, the processor 1001 can be used to call the vehicle lateral control program of the vehicle lateral control device stored in the memory 1005 and execute the steps of the above-mentioned vehicle lateral control method.

[0145] Furthermore, the present application provides a vehicle. The vehicle includes at least a domain controller, an image acquisition system, a steering system, and an ESC system in a distributed drive system, wherein the domain controller is electrically connected to the image acquisition system, the steering system, and the ESC system, respectively. The domain controller stores a vehicle lateral control program, which, when executed by the domain controller, implements the steps of the vehicle lateral control method according to claims 1 to 7.

[0146] The specific implementation of the vehicle of the present invention is basically the same as the above-mentioned embodiments of the vehicle lateral control method, and will not be repeated here.

[0147] It is understood that the above scenarios are merely examples and do not limit the application scenarios of the technical solutions provided in the embodiments of this application. The technical solutions of this application can also be applied to other scenarios. For example, those skilled in the art will appreciate that with the evolution of system architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application will also be applicable to similar technical problems.

[0148] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0149] The steps in the method of the embodiment of the present application can be adjusted in order, combined and deleted according to actual needs.

[0150] The units in the device of the embodiment of the present application can be merged, divided and deleted according to actual needs.

[0151] In this application, the same or similar terminology, technical solutions and / or application scenario descriptions are generally only described in detail the first time they appear. When they appear again later, they are generally not repeated for the sake of brevity. When understanding the technical solutions and other contents of this application, for the same or similar terminology, technical solutions and / or application scenario descriptions that are not described in detail later, you can refer to the previous relevant detailed descriptions.

[0152] In this application, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0153] The various technical features of the technical solution of this application can be combined arbitrarily. In order to make the description concise, not all possible combinations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0154] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as mentioned above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, controlled terminal, or network device, etc.) to execute the method of each embodiment of the present application.

[0155] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in the vehicle or transmitted from one vehicle to another. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., optical, wireless, microwave, etc.) means. The vehicle can be any available medium that can be accessed by the computer or a data storage device such as a server or data center that includes one or more available media. The available media can be magnetic media (e.g., floppy disk, storage disk, tape), optical media (e.g., DVD), or semiconductor media (e.g., solid-state disk (SSD)).

[0156] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A vehicle lateral control method, characterized in that: The vehicle lateral control method is applied to a domain controller in a distributed drive system, wherein the domain controller is electrically connected to an image acquisition system, a steering system, and an ESC system respectively; The vehicle lateral control method comprises: After receiving the vehicle environment image sent by the image acquisition system, the vehicle steering data sent by the steering system, and the ESC data sent by the ESC system, determining the real-time driving condition of the vehicle based on the vehicle environment image, the vehicle steering data, and the ESC data; determining an actuator motor in the distributed drive system and a target driving torque corresponding to the actuator motor based on real-time driving data of the vehicle under the real-time driving condition; controlling the distributed drive system to adjust the driving torque of the actuator motor according to the target driving torque to obtain an adjusted driving torque; The vehicle lateral direction is controlled according to the adjusted driving torque.

2. The vehicle lateral control method according to claim 1, characterized in that: The ESC data includes the yaw rate and lateral acceleration of the vehicle, and the vehicle steering data includes the steering angle and steering speed of the vehicle; The step of determining the real-time driving condition of the vehicle based on the vehicle environment image, the vehicle steering data, and the ESC data includes: determining a smooth running threshold when the vehicle is in a laterally stable state, and determining whether a current lane line in the vehicle environment image is in a straight state when the yaw angular velocity and the lateral acceleration are both within a threshold range corresponding to the smooth running threshold; If the current lane line in the vehicle environment image is in a straight state, after reading that the steering angle is consistent with the previous steering angle and the steering speed is consistent with the previous steering speed, detecting whether the transmission data in the vehicle bus contains a cruise control signal; If a cruise control signal exists in the transmission data in the vehicle bus, determining that the real-time driving condition of the vehicle is a cruise control condition; If the transmission data in the vehicle bus does not contain a cruise control signal, it is determined that the real-time driving condition of the vehicle is a single-lane driving condition.

3. The vehicle lateral control method according to claim 2, characterized in that: After the step of determining whether the current lane line in the vehicle environment image is in a straight state, the vehicle lateral control method includes: If the current lane line in the vehicle environment image is not in a straight state, after reading that the steering angle and the steering speed are gradually increasing, it is determined that the real-time driving condition of the vehicle is a vehicle steering condition.

4. The vehicle lateral control method according to claim 3, characterized in that: When the yaw angular velocity and the lateral acceleration are both within a threshold range corresponding to the stable operation threshold, the vehicle lateral control method includes: If a trailer signal is detected in the transmission data of the vehicle bus, determining that the real-time driving condition of the vehicle is a rear trailer condition; If it is detected that the vehicle is approaching the left side of the current lane line, and the steering angle and the steering speed are read to be within a preset overtaking threshold range, it is determined that the real-time driving condition of the vehicle is an overtaking condition.

5. The vehicle lateral control method according to claim 2, characterized in that: When the real-time driving condition is the cruise control condition or the single-lane driving condition, the step of determining the actuator motor in the distributed drive system and the target driving torque corresponding to the actuator motor based on the real-time driving data of the vehicle under the real-time driving condition includes: Determining, according to the cruise control operating condition or the single-lane driving operating condition, that the actuator motors in the distributed drive system are the rear left wheel motor and the rear right wheel motor; The real-time driving data of the vehicle, the rear left wheel motor, and the rear right wheel motor are subjected to differential torque control according to a preset distributed control algorithm, and the motor drive torques corresponding to the rear left wheel motor and the rear right wheel motor are obtained as target drive torques; wherein, The real-time driving data includes at least the vehicle environment image, wheel speed signal, IMU signal and steering system data.

6. The vehicle lateral control method according to claim 4, characterized in that: When the real-time driving condition is the vehicle turning condition, the tail trailer condition, or the overtaking condition, the step of determining the actuator motor in the distributed drive system and the target driving torque corresponding to the actuator motor based on the real-time driving data of the vehicle under the real-time driving condition further includes: Determining, according to the vehicle steering condition, the tail trailer condition, or the overtaking condition, that the actuator motors in the distributed drive system are the rear left wheel motor, the rear right wheel motor, the front left wheel motor, and the front right wheel motor; According to a preset distributed control algorithm, differential torque control is performed on the real-time driving data of the vehicle, the rear left wheel motor, the rear right wheel motor, the front left wheel motor and the front right wheel motor, and the motor driving torques corresponding to the rear left wheel motor, the rear right wheel motor, the front left wheel motor and the front right wheel motor are respectively used as target driving torques.

7. The vehicle lateral control method according to claim 1, wherein: The step of performing lateral control of the vehicle according to the adjusted driving torque includes: After determining that the adjusted driving torque is the same as the target driving torque, determining that the vehicle is in a stable running state; controlling the vehicle to travel at an appropriate speed corresponding to the stable operating state under the real-time driving condition, and continuing to perform the step of determining the real-time driving condition of the vehicle based on the vehicle environment image, the vehicle steering data, and the ESC data; After the next real-time driving condition of the vehicle is detected, the step of determining the execution motor in the distributed drive system and the target driving torque corresponding to the execution motor based on the real-time driving data of the vehicle under the real-time driving condition is returned to the next real-time driving condition.

8. A vehicle lateral control device, characterized in that: The vehicle lateral control device is applied to a domain controller in a distributed drive system, and the domain controller is electrically connected to an image acquisition system, a steering system, and an ESC system respectively; The vehicle lateral control device comprises: a working condition acquisition module, configured to, after receiving the vehicle environment image sent by the image acquisition system, the vehicle steering data sent by the steering system, and the ESC data sent by the ESC system, determine the real-time driving working condition of the vehicle based on the vehicle environment image, the vehicle steering data, and the ESC data; a torque acquisition module, configured to determine an actuator motor in the distributed drive system and a target driving torque corresponding to the actuator motor based on real-time driving data of the vehicle under the real-time driving condition; an adjustment module, configured to control the distributed drive system to adjust the drive torque of the actuator motor according to the target drive torque to obtain an adjusted drive torque; The lateral control module is configured to perform lateral control of the vehicle according to the adjusted driving torque.

9. A vehicle lateral control device, characterized in that: The vehicle lateral control device includes a vehicle lateral control method according to any one of claims 1 to 7, a memory, a processor, and a vehicle lateral control program stored on the memory and executable on the processor. When the processor executes the vehicle lateral control program, the steps of the vehicle lateral control method according to claims 1 to 7 are implemented.

10. A vehicle, characterized in that: The vehicle includes at least a domain controller, an image acquisition system, a steering system and an ESC system in a distributed drive system. The domain controller is electrically connected to the image acquisition system, the steering system and the ESC system, respectively. A vehicle lateral control program is stored on the domain controller. When the vehicle lateral control program is executed by the domain controller, the steps of the vehicle lateral control method as described in claims 1 to 7 are implemented.

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