Vehicle control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a storage medium, the method is applied to the technical field of vehicle control, and the method comprises the steps that driving information of the vehicle is acquired; determining a drifting power reserve parameter of the vehicle based on the driving information, and adjusting a motion control force of the vehicle to a first motion control force based on the drifting power reserve parameter; if it is determined that a sideslip drifting instruction is triggered based on the steering wheel parameters of the vehicle, drifting power parameters are called to adjust the motion control force of the vehicle from the first motion control force to drifting motion control force. According to the method, the vehicle can more smoothly complete drifting, and the success rate of vehicle drifting is increased.

Description

Technical Field

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

[0002] Drifting is an extreme maneuver that combines vehicle dynamics with driving skill. By causing the rear wheels to lose grip while the front wheels maintain or increase grip, the vehicle's rear end slides sideways, creating an angle between the vehicle's front end and its actual direction of motion. Because drifting is an extreme maneuver, successfully executing it can be challenging. Summary of the Invention

[0003] The present application provides a vehicle control method, device, vehicle and storage medium. The method can assist the driver in successfully completing the drift when the driver operates the vehicle to drift, thereby improving the success rate of the vehicle drift.

[0004] In a first aspect, a vehicle control method is provided, the method comprising:

[0005] Obtain vehicle driving information;

[0006] determining a drift power reserve parameter of the vehicle based on the driving information, and adjusting the motion control force of the vehicle to a first motion control force based on the drift power reserve parameter, so that the vehicle reserves a portion of the motion control force required for drifting in advance based on the first motion control force;

[0007] If the sideslip drift instruction is triggered, the drift force parameter is called to adjust the motion control force of the vehicle from the first motion control force to the drift motion control force.

[0008] Through the above technical solution, the vehicle is set to make reserves for drifting in advance during driving, such as pre-setting the corresponding relationship between the vehicle's driving information and the drift power reserve parameters; during the vehicle's driving process, the vehicle's driving information is obtained, and the vehicle's drift power reserve parameters are determined based on the driving information, and then the vehicle's motion control force is adjusted to the first motion control force based on the drift power reserve parameters, that is, before the vehicle detects the side slip drift instruction, the vehicle's motion control force is adjusted in advance to reserve the motion control force required for drifting in advance. During the vehicle's continued driving, if it is determined that the side slip ticket instruction is triggered, when the vehicle execution system responds to the drift instruction, the vehicle's motion control force can be quickly adjusted from the first motion control force to the drift motion control force, thereby achieving timely adjustment of the drift motion control force, so that the vehicle can successfully complete the drift, and improve the success rate and smoothness of the drift.

[0009] With reference to the first aspect, in certain possible implementations, the drift power reserve parameter includes a first front-to-rear axle torque ratio and a rear axle braking value, and adjusting the vehicle motion control force to the first motion control force based on the drift power reserve parameter includes:

[0010] controlling a front axle motor of the vehicle based on the first front-to-rear axle torque ratio to adjust the front axle torque of the vehicle to a first front axle torque, and controlling a rear axle motor of the vehicle based on the first front-to-rear axle torque ratio to adjust the rear axle torque of the vehicle to a first rear axle torque;

[0011] The vehicle's braking system is controlled based on the rear axle braking value to adjust the vehicle's rear axle braking force to a first rear axle braking force, and when the first rear axle braking force is greater than a preset braking force threshold, the vehicle's driving system is controlled to increase a first driving force.

[0012] Through the above technical solution, during vehicle driving, especially when Drift Mode is engaged, the vehicle's rear axle torque is adjusted in advance to the first rear axle torque based on the first front-to-rear axle torque ratio according to driving information. This shifts the torque to the rear axle, altering the vehicle's weight distribution and steering characteristics. This allows for greater driving force at the rear of the vehicle, making it easier to induce oversteer and drift. This not only prepares the vehicle for drifting but also helps the driver better control the drift process, achieving more precise and smooth drifting maneuvers.

[0013] In combination with the first aspect and the above implementations, in certain possible implementations, the driving information includes the vehicle speed, accelerator pedal opening, and accelerator pedal opening rate of the vehicle, and determining the drift power reserve parameter of the vehicle based on the driving information includes:

[0014] determining a drift reserve factor of the vehicle based on the vehicle speed, the accelerator pedal opening, and the opening change rate;

[0015] Based on the drift reserve factor, the first front-to-rear axle torque ratio and the rear axle braking value are determined.

[0016] Through the above technical solution, the possible degree of drift of the vehicle at the next moment is reflected by the drift reserve factor, and then the first front-to-rear axle torque ratio and the rear axle braking value are obtained through the drift reserve factor, so that the vehicle can quickly find the adapted first front-to-rear axle torque ratio and the rear axle braking value.

[0017] In combination with the first aspect and the above implementations, in certain possible implementations, determining the first front-to-rear axle torque ratio and the rear axle braking value based on the drift reserve factor includes:

[0018] The first front-rear axle torque ratio is determined based on the drift reserve factor, and when the drift reserve factor is greater than or equal to a first preset threshold, the rear axle braking value is determined based on the drift reserve factor.

[0019] Through the above technical solution, after the drift reserve factor is greater than or equal to the first threshold, the first rear axle braking force reserve is performed to improve the accuracy of drift pre-control, so that the vehicle can successfully complete the drift, and improve the drift success rate and smoothness.

[0020] In combination with the first aspect and the above implementations, in certain possible implementations, the drift force parameter includes a second front-to-rear axle torque ratio, and if a sideslip drift instruction is triggered, calling the drift force parameter to adjust the vehicle's motion control force from the first motion control force to a drift motion control force includes:

[0021] If a sideslip drift command is triggered, the second front-to-rear axle torque ratio is used to control the front axle motor to adjust the front axle torque of the vehicle from the first front axle torque to the second front axle torque, and the rear axle motor is controlled based on the second front-to-rear axle torque ratio to adjust the rear axle torque of the vehicle from the first rear axle torque to the second rear axle torque;

[0022] When it is detected that the vehicle enters a drifting state, the braking system is controlled to reduce the first rear axle braking force, and the driving system is controlled to reduce the first driving force.

[0023] Through the above technical solution, when a sideslip drift command is detected, the vehicle's second front and rear axle torque ratio is called to control the vehicle's front and rear axle torque, and the torque is quickly transferred to the rear axle. Based on the fact that part of the torque is transferred to the rear axle in advance before the sideslip drift command is detected, the vehicle can adjust the rear axle torque to the second torque more quickly and ensure that the rear axle torque meets the drift requirements, so that the vehicle can smoothly enter the drift state and improve the drift success rate.

[0024] In combination with the first aspect and the above implementations, in certain possible implementations, if a sideslip drift instruction is triggered, calling the second front-to-rear axle torque ratio to control the front axle motor to adjust the front axle torque of the vehicle from the first front axle torque to the second front axle torque, and controlling the rear axle motor based on the second front-to-rear axle torque ratio to adjust the rear axle torque of the vehicle from the first rear axle torque to the second rear axle torque includes:

[0025] If a sideslip drift instruction is triggered, determining an adjustment speed of the second front-to-rear axle torque ratio according to a steering wheel parameter of the vehicle;

[0026] The front axle motor is controlled based on the second front-to-rear axle torque ratio and the adjustment speed to adjust the front axle torque of the vehicle from the first front axle torque to the second front axle torque, and the rear axle motor is controlled based on the second front-to-rear axle torque ratio and the adjustment speed to adjust the rear axle torque of the vehicle from the first rear axle torque to the second rear axle torque.

[0027] Through the above technical solution, the transfer speed of the rear axle torque is adjusted accordingly according to the driver's operation of the steering wheel to adapt to different driver operations, so that the adjustment of the rear axle torque is more suitable for the operation, which can further ensure that the vehicle can enter the drift state smoothly and fluently.

[0028] In combination with the first aspect and the above implementations, in certain possible implementations, after invoking the second front-to-rear axle torque ratio to control the front axle motor to adjust the front axle torque of the vehicle from the first front axle torque to the second front axle torque if a sideslip drift instruction is triggered, and controlling the rear axle motor based on the second front-to-rear axle torque ratio to adjust the rear axle torque of the vehicle from the first rear axle torque to the second rear axle torque, the method further includes:

[0029] When it is detected that the vehicle has not entered a drifting state, controlling the braking system to adjust the rear axle braking force of the vehicle from the first rear axle braking force to rear wheel locking of the vehicle at a maximum speed;

[0030] When it is detected that the vehicle enters a drifting state, an operation of eliminating the rear wheel brake lock is performed.

[0031] Through the above technical solution, when the vehicle fails to enter the drift state, the driver's action of quickly pulling the handbrake is simulated to control the rear axle of the vehicle to brake and lock, causing the vehicle to skid, thereby improving the success rate of drifting.

[0032] In combination with the first aspect and the above implementations, in some possible implementations, performing the operation of eliminating rear wheel lock includes:

[0033] Output accelerator pedal operation prompt information;

[0034] responding to an accelerator pedal request based on the accelerator pedal operation prompt information, and controlling the drive system based on the accelerator pedal request;

[0035] determining a first speed and a second speed based on a target driving torque controlled by the driving system;

[0036] The rear axle outer braking force of the vehicle is reduced according to the first speed, and after the rear axle outer braking force is less than or equal to a second preset threshold, the rear axle inner braking force of the vehicle is reduced according to a second speed.

[0037] Through the above technical solution, after the vehicle enters drifting, the driver is prompted to perform a corresponding acceleration operation to offset the effect of the increased rear axle braking force on the vehicle drift, so that the vehicle maintains the drifting state.

[0038] In a second aspect, a vehicle control device is provided, the device comprising:

[0039] an acquisition unit, configured to acquire driving information of the vehicle;

[0040] a determining unit, configured to determine a drift power reserve parameter of the vehicle based on the driving information, and adjust the motion control force of the vehicle to a first motion control force based on the drift power reserve parameter, so that the vehicle reserves a portion of the motion control force required for drifting in advance based on the first motion control force;

[0041] A control unit is used to call the drift force parameter to adjust the vehicle's motion control force from the first motion control force to the drift motion control force if a sideslip drift instruction is triggered.

[0042] A third aspect provides a vehicle comprising

[0043] a memory for storing executable program code;

[0044] A processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0045] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0046] In a fifth 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 method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a schematic diagram of a scenario of a vehicle control method provided by an embodiment of the present application;

[0048] Figure 2 This is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0049] Figure 3 This is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0050] Figure 4 This is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0051] Figure 5 This is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0052] Figure 6 This is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0053] Figure 7 This is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application;

[0054] Figure 8 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] 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.

[0056] 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.

[0057] Figure 1 This is a schematic diagram of a vehicle control method provided in an embodiment of the present application. Figure 1 As shown, vehicle drifting is typically performed on curves, where the rear wheels lose grip while the front wheels maintain or increase grip, creating a driving state where the rear end of the vehicle slides sideways and the front of the vehicle points at an angle to the actual direction of motion. This maneuver is extremely difficult and requires specialized maneuvers from a professional driver. Furthermore, the success and smoothness of drifting are closely related to the vehicle's inherent characteristics, such as the adequacy of the vehicle's oversteer characteristics and timely entry into the drift state. Therefore, achieving a smooth and seamless drift is quite challenging.

[0058] In response to the above-mentioned problems, the main solution provided by the embodiment of the present application is: setting the vehicle to make reserves for drifting in advance during driving, such as pre-setting the vehicle's driving information and drift power reserve parameters. During vehicle driving, the vehicle's driving information is obtained, and the vehicle's drift power reserve parameters are determined based on the driving information. Then, based on the drift power reserve parameters, the vehicle's motion control force is adjusted to the first motion control force, that is, before the vehicle detects the side slip drift instruction, the vehicle's motion control force is adjusted in advance to make reserves for vehicle drifting in advance. If it is determined that the side slip ticket instruction is triggered, the vehicle execution system adjusts the vehicle's motion control force from the first motion control force to the drift motion control force when responding to the drift request. The adjustment is timely, so that the vehicle can successfully complete the drift, thereby improving the drift success rate and smoothness.

[0059] based on Figure 1 The following scene is combined with Figure 2-Figure 7 , the data transfer control method provided in the embodiment of the present application is introduced in detail.

[0060] See Figure 2 , which is a flow chart of a vehicle control method provided in an embodiment of the present application. Figure 2 As shown, the method of the embodiment of the present application may include the following steps S201-S203.

[0061] S201, obtaining vehicle driving information;

[0062] The embodiments of the present application are applied to vehicles to control the vehicles, particularly in drifting scenarios. It is worth noting that the vehicle drift control in this embodiment includes at least two stages. The first stage is pre-control of the vehicle before the vehicle starts drifting, reserving a first motion control force in advance for the vehicle to enter a sideslip drift state. For example, before the vehicle enters a curve to drift, the vehicle driving process is the first stage. The second stage is when the vehicle enters a curve to drift, drift control is performed on the vehicle to ensure a smooth drift. After the vehicle successfully drifts, the vehicle is controlled to maintain the drift state. It can be understood that the first stage is the vehicle drift pre-control process, and the second stage is the vehicle drift control process.

[0063] While the vehicle is driving, the perception system can collect driving information such as vehicle speed, steering wheel angle, accelerator pedal opening, and changes in accelerator pedal opening. Through this driving information, the vehicle's driving status can be identified.

[0064] For example, when the vehicle continues to travel within a certain speed range, it is recognized that the vehicle is in a stable driving state. Or in some scenarios (such as before a bend in a racetrack, before a specific bend, on a specific lane, or in drift mode), the vehicle speed is high, but the steering wheel angle is small, and there is a possibility of issuing a drift request at the next moment. In particular, the higher the speed, the higher the possibility of issuing a drift request at the next moment, and it is recognized that the vehicle may be in a drift preparation state. Alternatively, in some scenarios, the steering wheel angle is large and the steering wheel speed is fast. Combined with the driving environment, it is recognized that the driver has triggered a sideslip drift command. Alternatively, in some scenarios, the vehicle's yaw angle is large and the yaw angle change rate is large, and it is recognized that the vehicle has entered a drift state.

[0065] S202, determining a drift power reserve parameter of the vehicle based on the driving information, and adjusting the vehicle's motion control force to a first motion control force based on the drift power reserve parameter, so that the vehicle reserves a portion of the motion control force required for drifting in advance based on the first motion control force;

[0066] When the vehicle enters a curve and prepares to skid, the driver operates the vehicle to trigger a skid drift command. At this point, the vehicle speed is generally higher than the calibrated speed, and the steering wheel angle and / or steering wheel speed are relatively high. When the driver operates the vehicle and triggers the skid drift command, the vehicle responds to the skid drift command and controls the vehicle according to the skid drift command, causing the vehicle to enter a drift state. In this case, on the one hand, the vehicle's execution system has a response lag characteristic, which affects the timeliness of the drift action. On the other hand, the vehicle suddenly responds to the skid drift command. In some cases, the rear axle torque cannot quickly reach the torque required for drifting. If the rear axle torque is insufficient, or the front and rear axle torque distribution is not adjusted quickly enough, it will be difficult for the vehicle to enter the skid drift state, resulting in the vehicle being unable to enter the skid drift state, or reducing the smoothness of the vehicle entering the drift state.

[0067] In an embodiment of the present application, before the vehicle starts drifting, the vehicle's motion control force is adjusted to the first motion control force, and some drift control force is reserved in advance for drifting, so that when the vehicle is triggered to side-slip drift instruction, based on the first motion control force, the vehicle can quickly adjust to the drift motion control force (the control force required for drifting), so that the vehicle can drift smoothly and improve the success rate of entering the drift state.

[0068] For example, this embodiment adjusts the vehicle's motion control force by setting a drift power reserve parameter, such as adjusting it to a first motion control force, thereby achieving a partial drift motion control force reserve. Specifically, by pre-setting a correlation between driving information and the drift power reserve parameter, the vehicle obtains driving information during driving and then determines the drift power reserve parameter based on the driving information. The vehicle can then adjust the vehicle's motion control force to the first motion control force based on the drift power reserve parameter, thereby preserving the vehicle's drifting force.

[0069] The drift power reserve parameter refers to a parameter used to control the vehicle's pre-reserved drift power during the first stage. Drift power refers to the force capable of causing the vehicle to break through grip and slide. For example, drift power includes rear axle torque and rear axle braking force. Therefore, the drift power reserve parameter includes, but is not limited to, a first front-to-rear axle torque ratio and / or a rear axle braking value. The drift power reserve parameter is used to adjust the vehicle's first motion control force to reserve power for the vehicle's drifting. Correspondingly, the first motion control force includes a first front axle torque, a first rear axle torque, and a first rear axle braking force.

[0070] S203: If the sideslip drift instruction is triggered, the drift force parameter is called to adjust the vehicle's motion control force from the first motion control force to the drift motion control force.

[0071] In this step, determining whether to trigger a side slip drift command can be based on the vehicle's steering wheel parameters, a preset function button (such as a virtual "one-key drift" button on the vehicle), or a physical function button (such as a shortcut button on the steering wheel or central control, or a button light similar to a Bluetooth switch). For example, the steering wheel parameters include steering wheel angle and / or steering wheel speed.

[0072] The drifting force parameter refers to a parameter used to control the drifting force of the vehicle during the second stage. Exemplarily, the drifting force parameter includes, but is not limited to, a second front-to-rear axle torque ratio, a target rear axle braking value, etc. The rear axle torque allocation ratio in the second front-to-rear axle torque ratio is greater than the rear axle torque allocation ratio in the first front-to-rear axle torque ratio.

[0073] In an embodiment where a vehicle determines a sideslip drift command by monitoring steering wheel parameters, when the driver controls the vehicle to side-slip drift, the driver rapidly turns the steering wheel. At this point, the vehicle can detect a large steering wheel angle and / or an increased steering wheel speed, thereby determining that a sideslip drift command has been triggered. When the vehicle determines that a sideslip drift command has been triggered based on the steering wheel parameters, it invokes pre-set drift force parameters or obtains drift force parameters based on the driver's operational command, adjusting the vehicle's motion control force from a pre-stored first motion control force to a drift motion control force, causing the vehicle to begin drifting and enter a drifting state.

[0074] Before triggering a sideslip drift command based on the vehicle's steering wheel parameters, the vehicle determines a drift force reserve parameter based on driving information and adjusts the vehicle's motion control force to a first motion control force based on the drift force reserve parameter, preserving a certain amount of motion control force required for the vehicle to side-slip. When the sideslip drift command is triggered, the vehicle can adjust to the drift motion control force based on the first motion control force. This allows the vehicle to quickly adjust to the drift motion control force required for drifting and reduces the time it takes to adjust the drift motion control force, mitigating vehicle response lags and improving the vehicle's drift success rate and the smoothness of entering the drift state.

[0075] In this embodiment, the vehicle is set to make reserves for drifting in advance during driving, such as presetting the correspondence between the vehicle's driving information and the drift power reserve parameter. During vehicle driving, the vehicle's driving information is obtained, and the vehicle's drift power reserve parameter is determined based on the driving information. Then, based on the drift power reserve parameter, the vehicle's motion control force is adjusted to the first motion control force, that is, before the vehicle detects a side slip drift instruction, the vehicle's motion control force is adjusted in advance to reserve the motion control force required for drifting in advance. While the vehicle continues to drive, if it is determined that a side slip instruction is triggered, when the vehicle execution system responds to the drift instruction, the vehicle's motion control force can be quickly adjusted from the first motion control force to the drift motion control force, thereby achieving timely adjustment of the drift motion control force, allowing the vehicle to successfully complete the drift, and improving the success rate and smoothness of the drift.

[0076] See Figure 3 , which is a flow chart of a vehicle control method provided in an embodiment of the present application. Figure 3 As shown, the method of the embodiment of the present application may include the following steps S301-S305, steps S301-S305 are for Figure 2 In the embodiment shown, the drift power reserve parameter includes a first front-to-rear axle torque ratio and a first rear axle braking value. For example, the method includes:

[0077] S301, obtaining vehicle driving information;

[0078] The driving information includes the vehicle speed, accelerator pedal opening, and opening change rate.

[0079] It should be noted that the vehicle's driving information reflects the vehicle's driving state, and the vehicle's driving state reflects the likelihood of the vehicle entering drift at the next moment. In order to enable the vehicle to enter drift smoothly and fluently, the embodiment of the present application sets different drift power reserve parameters according to the likelihood of the vehicle entering drift at the next time and space. Based on different drift power reserve parameters, the vehicle's motion control force is different, and different first motion control forces are prepared in advance for the vehicle according to the vehicle's different driving states. In short, during the vehicle's driving process, the likelihood of the vehicle entering drift at the next moment is judged based on different driving information, and then the drift power reserve parameter is determined based on the likelihood of the vehicle entering drift at the next moment. Therefore, during the vehicle's driving process, the present embodiment collects driving information such as vehicle speed, accelerator pedal opening, and accelerator pedal opening change rate through the perception system, so as to determine the vehicle's drift power reserve parameter based on the driving information.

[0080] S302, determining a drift power reserve parameter of the vehicle based on the driving information;

[0081] In this embodiment, the drift power reserve parameters include a first front-to-rear axle torque ratio and a rear axle braking value.

[0082] As an example, a relationship table between driving information and drift power reserve parameters is pre-set. After obtaining driving information, the corresponding drift power reserve parameters are searched based on this relationship table. For example, drift power reserve parameters that facilitate the vehicle entering a drifting state at different vehicle speeds, accelerator pedal openings, and accelerator pedal opening rate of change are pre-set, thereby forming a relationship table between vehicle speed, accelerator pedal opening, accelerator pedal opening rate of change, and drift power reserve parameters. During vehicle driving, the drift power reserve parameters corresponding to vehicle speed, accelerator pedal opening, and accelerator pedal opening rate of change are obtained using this relationship table.

[0083] As another example, a drift reserve factor is used to reflect the likelihood that the vehicle will drift at the next moment. For example, the larger the drift reserve factor, the greater the likelihood of drift being triggered at the next moment. In other words, the drift reserve factor is set to reflect driving information, and different driving information will result in different drift reserve factors.

[0084] Exemplarily, driving information includes vehicle speed, accelerator pedal position, and the rate of change of the accelerator pedal position. Different vehicle speeds, different accelerator pedal positions, or different rates of change of the accelerator pedal position correspond to different drift reserve factors. Specifically, the relationship between vehicle speed and the drift reserve factor includes the following: after the vehicle speed exceeds a set speed, the greater the vehicle speed, the greater the drift reserve factor. In other words, the greater the vehicle speed, the greater the likelihood that the vehicle will drift at the next moment. The relationship between the accelerator pedal position and the rate of change of the accelerator pedal position and the drift reserve factor includes the following: the higher the accelerator pedal position, the lower the rate of change of the accelerator pedal position, the faster the acceleration is completed, the greater the likelihood of triggering drift at the next moment, and the corresponding drift reserve factor. Based on this, the corresponding relationship between vehicle speed, accelerator pedal position, the rate of change of the accelerator pedal position, and the drift reserve factor is pre-set. During the vehicle driving process, the drift reserve factor corresponding to the vehicle speed, accelerator pedal opening and accelerator pedal opening change rate is obtained through this correspondence, and then based on the drift reserve factor, a drift power reserve parameter that is more matched with the vehicle's current driving condition is obtained, which facilitates the vehicle to reserve the first motion control force in advance based on the drift power reserve parameter, so that the vehicle can smoothly enter the drift state.

[0085] In this example, the relationship between the drift reserve factor and the drift power reserve parameter is preset. After the vehicle speed, accelerator pedal opening and the opening change rate are obtained, the vehicle's drift reserve factor can be determined based on the vehicle speed, accelerator pedal opening and the opening change rate; and then, based on the drift reserve factor, the first front and rear axle torque ratio and the rear axle braking value are determined.

[0086] For example, the drift reserve factor can be a value between 0 and 1, where, when the vehicle speed is A1 km / h, the accelerator pedal opening is B1, and the opening change rate is C1, the corresponding drift reserve factor is 0.5; when the vehicle speed is A2 km / h, the accelerator pedal opening is B2, and the opening change rate is C2, the corresponding drift reserve factor is 0.8; and when the vehicle speed is A3 km / h, the accelerator pedal opening is B3, and the opening change rate is C3, the corresponding drift reserve factor is 1. Here, A1<A2<A3, B1<B2<B3, and C1<C2<C3.

[0087] The drift power reserve parameters include the first front-to-rear axle torque ratio and the rear axle braking value. The larger the drift reserve factor, the smaller the first front-to-rear axle torque ratio. For example, when the drift reserve factor is 0.5, the corresponding first front-to-rear axle torque ratio is N1 / M1; when the drift reserve factor is 0.8, the corresponding first front-to-rear axle torque ratio is N2 / M2; and when the drift reserve factor is 1, the corresponding first front-to-rear axle torque ratio is N3 / M3, where N1 / M1>N2 / M2>N3 / M3. In other words, the larger the drift reserve factor, the greater the proportion of rear axle torque in the first front-to-rear axle torque ratio, for example, M1<M2<M3. It should be noted that N1, N2, and N3 refer to the front axle torques, while M1, M2, and M3 refer to the rear axle torques. The sum of the front and rear axle torques remains unchanged.

[0088] The larger the drift reserve factor, the greater the rear axle braking value. For example, when the drift reserve factor is 0.5, the rear axle braking value is D1; ​​when the drift reserve factor is 0.8, the rear axle braking value is D2; when the drift reserve factor is 1, the rear axle braking value is D3, where D1<D2<D3.

[0089] As another example, in order to avoid premature rear axle braking that affects normal vehicle driving, rear axle braking force reserve is performed after the drift reserve factor exceeds a certain value. Exemplarily, determining the first front-to-rear axle torque ratio and rear axle braking value based on the drift reserve factor includes:

[0090] After determining the drift reserve factor, a first front-to-rear axle torque ratio is determined based on the drift reserve factor. When the drift reserve factor is greater than or equal to a first preset threshold, a rear axle braking value is determined based on the drift reserve factor, thereby reserving rear axle braking force. Otherwise, no rear axle braking force is reserved.

[0091] In this embodiment, when the vehicle enters the drift preparation state, even if the vehicle's speed is insufficient, reserving the first rear axle braking force will make it difficult for the vehicle to enter drift. Instead, preserving the first rear axle braking force will affect the vehicle's normal speed and the user experience. In short, if the vehicle's speed is insufficient, reserving the first rear axle braking force will not only fail to assist in smoothly entering the drift state, but also affect the vehicle's speed. Therefore, the drift reserve factor is used to determine when to control the rear axle braking, based on the fact that higher vehicle speeds increase the drift reserve factor and lower vehicle speeds decrease the drift reserve factor. This determines the most appropriate timing for rear axle braking reserve. For example, a first preset threshold is set as a critical value. When the drift reserve factor reaches the first preset threshold, it indicates a high probability of the vehicle drifting at the next moment. Therefore, the rear axle braking is controlled when the drift reserve factor is greater than or equal to the first preset threshold.

[0092] In some scenarios, a relationship table between the drift reserve factor and the drift force reserve parameter can be set. In this relationship table, the rear axle braking value corresponding to the drift reserve factor greater than or equal to the first preset threshold is 0, and the rear axle braking value corresponding to the drift reserve factor less than the first preset threshold is greater than 0, so as to achieve the first rear axle braking force being reserved when the drift reserve factor is greater than or equal to the first preset threshold.

[0093] Alternatively, in some scenarios, when the vehicle determines that the drift reserve factor is less than a first preset threshold, the rear axle braking value is not obtained, and the first rear axle braking force is reserved when the drift reserve factor is greater than or equal to the first preset threshold.

[0094] In some scenarios, based on the consideration that the greater the possibility that the vehicle will enter a drift state at the next moment, the more sufficient or closer the corresponding drift power reserve parameter is, the larger the drift reserve factor is, the more corresponding drift power reserve parameters are determined, or the larger the value of the drift power reserve parameter is, so as to adapt to the vehicle's drifting needs under different driving conditions.

[0095] In one optional implementation, the larger the drift reserve factor, the greater the rear axle braking value. However, the rear axle braking force cannot exceed a set threshold to prevent excessive rear axle braking force from affecting vehicle acceleration or speed maintenance.

[0096] S303, controlling the front axle motor of the vehicle based on the first front-to-rear axle torque ratio to adjust the front axle torque of the vehicle to the first front axle torque, and controlling the rear axle motor of the vehicle based on the first front-to-rear axle torque ratio to adjust the rear axle torque of the vehicle to the first rear axle torque;

[0097] In this step, the drift power reserve parameter includes a first front-to-rear axle torque ratio, where the first front-to-rear axle torque ratio represents the distribution ratio of the vehicle's front axle torque to the rear axle torque. For example, if the first front-to-rear axle torque ratio is 40:60, the front-to-rear axle torque ratio is 40% and the rear axle torque ratio is 60%.

[0098] In this embodiment, before the vehicle begins to drift, a first front-to-rear axle torque ratio is determined based on vehicle driving information. The front and rear motors are controlled based on the first front-to-rear axle torque ratio, thereby adjusting the vehicle's front axle torque to the first front axle torque. Similarly, the rear axle motor is controlled based on the first front axle torque ratio, thereby adjusting the vehicle's rear axle torque to the first rear axle torque. The first front axle torque is less than the front axle torque prior to the adjustment, and the first rear axle torque is greater than the rear axle torque prior to the adjustment.

[0099] For example, if the total torque is 100 and the first front-to-rear axle torque ratio is 40:60, the front and rear motors are controlled to adjust the front axle torque to 40, and the rear axle motor is controlled to adjust the rear axle torque to 60, transferring the torque to the rear axle while ensuring that the total front and rear axle torque remains unchanged to maintain vehicle balance.

[0100] During driving, the greater the drift reserve factor, the greater the proportion of rear axle torque allocated and the smaller the proportion of front axle torque allocated. This means that by increasing rear axle torque and reducing front axle torque before the vehicle begins to drift, the vehicle's weight distribution and steering characteristics are altered, creating greater driving force at the rear end, making it easier to induce oversteer and drift. Preemptively controlling the front and rear axle torques prepares the vehicle for drifting and helps the driver better control the drift process, achieving more precise and smoother drifting maneuvers.

[0101] S304, controlling a braking system of the vehicle based on the rear axle braking value to adjust the rear axle braking force of the vehicle to a first rear axle braking force, and controlling a driving system of the vehicle to increase a first driving force when the first rear axle braking force is greater than a preset braking force threshold;

[0102] In this step, the drift power reserve parameter includes the rear axle braking value, where the rear axle braking value refers to the braking input value of the braking system. For example, if the rear axle braking value is D1, then after D1 is input into the braking system, the braking system controls the hydraulic system based on D1, causing the braking system to output a braking force. This braking force is the first rear axle braking force output by the braking system based on the rear axle braking value.

[0103] In this embodiment, the braking system is a brake-by-wire system.

[0104] It is worth noting that in some drifting scenarios, when the vehicle determines that the sideslip drift command is triggered, the vehicle's braking system is controlled to brake until the vehicle sideslips. In these drifting scenarios, if the vehicle triggers the sideslip drift command, the vehicle has no braking force at the moment, and to achieve sideslip, it is necessary to control the rear axle braking force of the vehicle from 0 to the rear axle braking force Dn required for drifting (such as the second rear axle braking force in the following embodiment), and the braking system needs to increase from 0 to Dn. However, it takes a certain amount of time for the hydraulic system to respond, and it takes a certain amount of time for the hydraulic system to increase the rear axle braking force from 0 to Dn. Therefore, in this scenario, when the sideslip drift request is triggered, the vehicle's braking system responds with a delay, which may cause the vehicle to fail to drift.

[0105] In this embodiment, a first rear axle braking force is pre-reserved, and the greater the vehicle's drift reserve factor, the greater the first rear axle braking force. Based on this pre-reserved first rear axle braking force, if a sideslip drift request is issued, the braking system can adjust the first rear axle braking force to the required rear axle braking force Dn. For example, if the braking system increases the first rear axle braking force to Dn, the braking system can quickly adjust the rear axle braking force to Dn, promptly responding to the sideslip drift request and avoiding braking delays. Furthermore, pre-reserving the first rear axle braking force shifts the vehicle's center of gravity forward, reducing the positive pressure exerted by the rear wheels on the ground, thereby reducing friction between the rear wheels and the ground. When the driver triggers the sideslip drift request, the rear wheels are more likely to break through the friction limit and enter a slipping state, i.e., begin drifting. This allows for more precise control of the degree of center of gravity shift, allowing the vehicle to more smoothly enter drifting.

[0106] It should be noted that, in this embodiment, when the first rear axle braking force is greater than the preset braking force threshold, it will affect the vehicle acceleration and speed maintenance, so the first rear axle braking force cannot be too large. Therefore, a preset braking force threshold is set to limit the first rear axle braking force. When the first rear axle braking force is greater than the preset braking force threshold, the vehicle's drive system is controlled to increase the first driving force to offset part of the impact of the first rear axle braking force. Exemplarily, the preset braking force includes but is not limited to zero.

[0107] S305: If the sideslip drift instruction is triggered, the drift force parameter is called to adjust the vehicle's motion control force from the first motion control force to the drift motion control force.

[0108] In this step, the determination of "triggering the sideslip drift command" can be based on the vehicle's steering wheel parameters, or based on a preset function button (such as a virtual button for "one-key drift" on the vehicle computer), or based on a physical function button (such as a shortcut key set on the steering wheel or central control, or a button light similar to a Bluetooth switch). Exemplarily, the steering wheel parameters include the steering wheel angle and / or the steering wheel speed. The drift force parameters include but are not limited to the second front-to-rear axle torque ratio, the target rear axle braking value, etc.

[0109] In this step, the vehicle determines a sideslip drift command by monitoring steering wheel parameters. For example, when the driver controls the vehicle to side-slip drift, they rapidly turn the steering wheel. At this point, the vehicle can detect a large steering wheel angle and / or an increased steering wheel speed, thereby determining that a sideslip drift command has been triggered. When the vehicle determines that a sideslip drift command has been triggered based on the steering wheel parameters, it invokes pre-set drift force parameters or obtains drift force parameters based on the driver's operating instructions, adjusting the vehicle's motion control force from a pre-stored first motion control force to a drift motion control force, causing the vehicle to begin drifting and enter a drifting state.

[0110] Before triggering a sideslip drift command based on the vehicle's steering wheel parameters, the vehicle determines a drift power reserve parameter based on driving information and adjusts the vehicle's motion control force to a first motion control force based on the drift power reserve parameter, preserving a certain amount of motion control force for vehicle drifting. When the sideslip drift command is triggered, the vehicle can adjust from the first motion control force to the drift motion control force. This allows the vehicle to quickly adjust to the drift motion control force required for drifting and, on the other hand, reduces the drift motion control force adjustment time, mitigates vehicle response lag, and improves the vehicle's drifting success rate and the smoothness of entering the drift state.

[0111] During vehicle driving, the drift reserve factor reflects the vehicle's potential drifting requirement at the next moment. The drift reserve factor is related to vehicle speed, accelerator pedal position, and accelerator pedal position change rate. After determining the reserve drift factor based on vehicle speed, accelerator pedal position, and accelerator pedal position change rate, the vehicle's potential drifting requirement at the next moment is determined. Based on this drifting requirement, adaptive drift force reserve parameters are then set to preemptively adjust the vehicle, such as increasing rear axle torque and reserving the first rear axle braking force. Both rear axle torque and the first rear axle braking force are drift forces that can cause the vehicle to break through grip and enter a sideways skid. Preserving these drift forces makes it easier for the vehicle to enter a sideways skid, assisting the driver in successfully completing the drift. After the drift reserve factor is greater than or equal to a first threshold, the first rear axle braking force is reserved, improving the accuracy of drift pre-control, enabling the vehicle to successfully complete the drift, and enhancing the success rate and smoothness of the drift.

[0112] See Figure 4 , which is a flow chart of a vehicle control method provided in an embodiment of the present application. Figure 4 As shown, the method of the embodiment of the present application may include the following steps S401-S402. Steps S401-S402 are for refining the vehicle control process when the side slip drift instruction is triggered in the above embodiment. For example, the method includes:

[0113] S401: If a sideslip drift instruction is triggered, controlling the front axle motor based on the second front-to-back axle torque ratio to adjust the front axle torque of the vehicle from the first front axle torque to the second front axle torque, and controlling the rear axle motor based on the second front-to-back axle torque ratio to adjust the rear axle torque of the vehicle from the first rear axle torque to the second rear axle torque.

[0114] In this step, determining whether to trigger a side slip drift command can be based on the vehicle's steering wheel parameters, a preset function button (such as a virtual "one-key drift" button on the vehicle), or a physical function button (such as a shortcut button on the steering wheel or central control, or a button light similar to a Bluetooth switch). For example, the steering wheel parameters include steering wheel angle and / or steering wheel speed.

[0115] In this step, the vehicle detects a drift request by monitoring the driver's operational information. For example, if a large steering wheel angle and / or high steering wheel speed are detected, the vehicle is determined to have triggered a side slip drift command. Upon triggering the side slip drift command, the vehicle is controlled using drift force parameters, causing the vehicle to drift.

[0116] In this embodiment, the drifting force parameter includes a second front-to-rear axle torque ratio, where the second front-to-rear axle torque ratio is a preset front-to-rear axle torque ratio that can cause the vehicle to skid. For example, if a front-to-rear axle torque ratio of at least 20:80 is required for the vehicle to skid, then this second front-to-rear axle torque ratio is used. The front axle torque distribution accounts for 20% and the rear axle torque distribution accounts for 80%.

[0117] When a side slip drift command is triggered, the second front-to-rear axle torque ratio is used to control the front and rear motors to adjust the front axle torque from the first front axle torque to the second front axle torque. Simultaneously, the second rear axle torque ratio is used to control the rear axle motor to adjust the rear axle torque from the first rear axle torque to the second rear axle torque, thereby causing the vehicle to enter a side slip drift state. The drift motion control force includes the second front axle torque and the second rear axle torque.

[0118] In some optional embodiments, the drift force parameter also includes a target rear axle braking value, which refers to the rear axle braking force that causes the vehicle to skid. The target rear axle braking value can be pre-set or obtained based on the brake pedal. After obtaining the target rear axle braking value, the vehicle's braking system is controlled to adjust the vehicle's rear axle braking force from the first rear axle braking force to a second rear axle braking force. The drift motion control force includes this second rear axle braking force.

[0119] In some optional embodiments, different adjustment speeds are set to adjust the rate of change of the rear axle torque based on the steering wheel angle and steering wheel speed of the vehicle. For example, if a side slip drift instruction is triggered, the second front-to-back axle torque ratio is called to control the front axle motor to adjust the front axle torque of the vehicle from the first front axle torque to the second front axle torque, and the rear axle motor is controlled based on the second front-to-back axle torque ratio to adjust the rear axle torque of the vehicle from the first rear axle torque to the second rear axle torque, including:

[0120] Z1: If the side slip drift command is triggered, the adjustment speed of the second front-to-rear axle torque ratio is determined according to the steering wheel parameters;

[0121] Among them, the adjustment speed of the second front-to-rear axle torque ratio refers to the rate of change of the rear axle torque ratio. For example, based on the second front-to-rear axle torque ratio, the rear axle torque ratio is determined to be 80%, and the first rear axle torque ratio is 60%, then the adjustment speed is the speed of adjusting the rear axle torque ratio from 60% to 80%.

[0122] It should be noted that the steering wheel parameters reflect the degree of drifting demand of the driver. The greater the degree of drifting demand, the faster the drifting speed, and the need to quickly adjust the rear axle torque to the second rear axle torque, so the adjustment speed of the second front-to-rear axle torque ratio is increased. Conversely, the adjustment speed can be slower.

[0123] Exemplarily, in some optional implementations, a correspondence between the steering wheel angle, the steering wheel speed, and the adjustment speed is pre-set, and after the steering wheel angle and the steering wheel speed input by the driver are obtained, the adjustment speed is obtained based on the correspondence.

[0124] In some optional implementations, a drift request factor reflects the degree of vehicle drifting demand. A larger drift request factor indicates a greater degree of demand and, in this case, a faster adjustment speed for the second front-to-rear axle torque ratio. When the drift request factor reaches a preset threshold, the adjustment speed reaches its maximum (fastest) speed. Therefore, a larger drift request factor indicates a faster adjustment speed for the second front-to-rear axle torque ratio.

[0125] The drift factor depends on the driver's steering wheel angle and speed. A pre-calibrated relationship between the steering wheel angle, speed, and drift factor is established. During actual vehicle operation, the monitored steering wheel angle and speed are used as inputs to obtain the corresponding drift factor through a table lookup.

[0126] In an optional implementation, a correlation between the drift request factor and the adjustment speed of the second front-rear axle torque ratio is preset. After the drift request factor is obtained, the adjustment speed of the second front-rear axle torque ratio is obtained according to the correlation.

[0127] Z2: Controlling the front axle motor based on the second front-to-rear axle torque ratio and the adjustment speed to adjust the front axle torque of the vehicle from the first front axle torque to the second front axle torque, and controlling the rear axle motor based on the second front-to-rear axle torque ratio and the adjustment speed to adjust the rear axle torque of the vehicle from the first rear axle torque to the second rear axle torque.

[0128] Among them, the faster the adjustment speed, the faster the torque control actuator controls the growth rate of the rear axle torque, thereby accelerating the transfer of driving torque to the rear axle.

[0129] In this embodiment, when the vehicle determines that a sideslip drift instruction is triggered, the vehicle adjusts the vehicle's motion control force from the first motion control force to the drift motion control force based on the drift force parameters, such as adjusting from the first rear axle torque to the second rear axle torque. Based on the pre-adjustment of the rear axle torque, when entering the drift state, the rear axle torque can be adjusted to the second rear axle torque more quickly, and the second rear axle torque can be guaranteed to meet the drift requirements, so that the vehicle can smoothly enter the drift state and improve the success rate of drifting.

[0130] In this embodiment, the transfer speed of the rear axle torque is adjusted accordingly according to the driver's operation of the steering wheel to adapt to different driver operations, so that the adjustment of the rear axle torque is more suitable for the operation, which can further ensure that the vehicle can enter the drift state smoothly and fluently.

[0131] S402, when it is detected that the vehicle enters a drifting state, controlling the braking system to reduce the braking force of the first rear axle, and controlling the driving system to reduce the first driving force;

[0132] When the drift request factor is greater than a preset threshold, the vehicle transfers drive torque to the rear axle at the fastest speed while monitoring whether the vehicle enters a sideways slip state.

[0133] In an optional embodiment, the drift state may be monitored by obtaining the vehicle's current yaw angle and the rate of change of the yaw angle within a preset time interval; determining whether the current yaw angle is greater than or equal to a preset angle and / or the rate of change of the yaw angle is greater than or equal to a third preset threshold, and then determining that the vehicle has entered a drift state; if not, then determining that the vehicle has not entered a drift state. The preset angle is greater than or equal to n% of a target yaw angle, where n>0.

[0134] When the current yaw angle of the vehicle is greater than a certain value and the yaw angle change rate is large, it means that the vehicle is in a driving state where the rear end is skidding and the front of the vehicle is pointing at an angle to the actual direction of movement of the vehicle body. This state is a drift state, so the above method can be used to monitor when the vehicle enters a drift state.

[0135] If the vehicle enters the drift state, the drift state maintenance parameters are used to control the vehicle to maintain the drift state until the vehicle exits the drift state.

[0136] In this embodiment, a first rear axle braking force is pre-reserved before the vehicle triggers a side slip drift command. Therefore, when the vehicle enters a drift state, the braking system is controlled to reduce the first rear axle braking force, and the drive system is controlled to reduce the first drive force. In a drift state, excessive braking force can disrupt the vehicle. Therefore, timely elimination of the first rear axle braking force helps maintain drift stability, making vehicle control more direct and linear, and enhancing drift fluidity. Simultaneously, while eliminating the first rear axle braking force, the first drive force that was added to compensate for the first rear axle braking force reserve is also canceled to maintain vehicle balance and stability.

[0137] When it is detected that the vehicle has not entered the drift state, the drift failure information is output.

[0138] If it is detected that the vehicle has not entered the drifting state, it means that the drifting has failed. In some embodiments, drifting failure information is output.

[0139] Alternatively, in other embodiments, intervention may be performed in other ways to improve the drift success rate, as specifically described in the following embodiments.

[0140] In this embodiment, if a side slip drift command is triggered, the second front-to-rear axle torque ratio is invoked to control the front axle motor, adjusting the vehicle's front axle torque from the first front axle torque to the second front axle torque. Furthermore, based on the second front-to-rear axle torque ratio, the rear axle motor is controlled, adjusting the vehicle's rear axle torque from the first rear axle torque to the second rear axle torque. This indicates that, when a side slip drift command is triggered, directly adjusting from the first front axle torque to the second front axle torque, and from the first rear axle torque to the second rear axle torque, can accelerate the transfer of rear axle torque, allowing the vehicle's motion control force to quickly reach the drift motion control force, making it easier for the vehicle to enter a drift state. Furthermore, during the vehicle's drifting process, the adjustment speed of the second front-to-rear axle torque ratio is adapted based on steering wheel parameters. Different adjustment speeds are adapted based on different degrees of drift request, enabling the vehicle to drift smoothly.

[0141] See Figure 5 , is a flow chart of a vehicle control method provided in an embodiment of the present application. Figure 4 Examples, such as Figure 5 As shown, the method of the embodiment of the present application may include the following steps S501-S504. Steps S501-S504 are for refining the vehicle control process when the side slip drift instruction is triggered in the above embodiment. For example, the method includes:

[0142] S501: If a sideslip drift instruction is triggered, controlling the front axle motor based on the second front-to-back axle torque ratio to adjust the front axle torque of the vehicle from the first front axle torque to the second front axle torque, and controlling the rear axle motor based on the second front-to-back axle torque ratio to adjust the rear axle torque of the vehicle from the first rear axle torque to the second rear axle torque.

[0143] S502, when it is detected that the vehicle enters a drifting state, controlling the braking system to reduce the braking force of the first rear axle, and controlling the driving system to reduce the first driving force;

[0144] The specific implementation process and principle of steps S501 to S502 are the same as those in the above embodiment, and reference may be made to the above embodiment, which will not be described in detail here.

[0145] S503, when it is detected that the vehicle has not entered a drifting state, controlling the braking system to adjust the rear axle braking force of the vehicle from the first rear axle braking force to a rear wheel locking state of the vehicle at a maximum speed;

[0146] If the vehicle does not enter a drifting state, it means that even after adjusting the rear axle torque to the second rear axle torque, the vehicle still cannot enter a drifting state. In this case, the vehicle electronic control unit further controls and intervenes in the vehicle drift. For example, the braking system is controlled to increase the rear axle braking force of the vehicle at the maximum speed based on the first rear axle braking force until the rear wheels of the vehicle lock, causing the vehicle to enter a drifting state.

[0147] In this embodiment, when adjusting the rear axle torque cannot make the vehicle enter a drifting state, a further step is to combine the control of the rear axle braking force with multi-angle coordinated control to improve the success rate of the vehicle completing the drift.

[0148] S504: When it is detected that the vehicle has entered a drifting state, an operation of eliminating rear wheel brake lock is executed.

[0149] Adjust the rear axle braking force of the vehicle so that the rear wheels of the vehicle are locked, and then monitor the vehicle status to determine whether the vehicle enters a drift state.

[0150] The drift state identification method of this step is the same as the monitoring method of the aforementioned step S402. The specific implementation process and principle can be referred to the aforementioned embodiment and will not be described here in detail.

[0151] The process of performing the operation of eliminating rear axle brake lock may be:

[0152] Z11: Output accelerator pedal operation prompt information;

[0153] When the vehicle enters a sideways slide, the vehicle outputs an accelerator pedal operation prompt message, prompting the driver to step on the accelerator pedal to the target opening.

[0154] Based on the aforementioned steps, to induce a sideways slide, the vehicle's rear axle braking force is increased based on the maximum boost speed, causing the rear wheels to lock. This is an automatic vehicle intervention control operation. After the vehicle enters a drift, the driver is prompted to perform appropriate acceleration to offset the increased rear axle braking force, allowing the vehicle to successfully complete the drift.

[0155] Optionally, when the vehicle enters a drifting state, a target opening of the accelerator pedal is determined according to a target driving torque, wherein the target torque is greater than or equal to an absolute value of the rear wheel locking braking force.

[0156] Z21: responding to an accelerator pedal request based on accelerator pedal operation prompt information, and controlling the drive system based on the accelerator pedal request;

[0157] Z31: determining a first speed and a second speed based on a target driving torque controlled by the driving system;

[0158] Z41: reducing the rear axle outer braking force of the vehicle at a first speed, and after the rear axle outer braking force is less than or equal to a second preset threshold, reducing the rear axle inner braking force of the vehicle at a second speed.

[0159] In this step, the driver presses the accelerator pedal according to the prompt information, generating an accelerator pedal operation request. According to the accelerator pedal operation request, the drive execution system is controlled to execute the drive. At the same time, the rear axle outer braking force and the rear axle inner braking force of the vehicle are released, so that the vehicle can quickly increase the drive.

[0160] For example, the outer rear axle braking force is first reduced to a second preset threshold, and then the inner rear axle braking force begins to be reduced. Alternatively, after the outer rear axle braking force is reduced to a second preset threshold according to a first speed control, the inner rear axle braking force is then reduced according to a second speed control. The first and second speeds may be the same or different. The first and second speeds are determined based on an accelerator pedal operation request, which includes an accelerator pedal opening. The target drive torque controlled by the drive system is determined based on the accelerator pedal opening. A greater target drive torque corresponds to a greater first and second speed.

[0161] In this embodiment, if the sideslip drift command is triggered, the second front-to-rear axle torque ratio is called to control the front axle motor to adjust the vehicle's front axle torque from the first front axle torque to the second front axle torque, and the rear axle motor is controlled based on the second front-to-rear axle torque ratio to adjust the vehicle's rear axle torque from the first rear axle torque to the second rear axle torque, and the vehicle still does not enter the drift state, the vehicle's rear axle brake is controlled to lock, causing the vehicle to side slip, simulating the driver's action of quickly pulling the handbrake to cause the vehicle to side slip, thereby assisting the driver in successfully completing the drift.

[0162] The following will be combined Figure 6 A specific application of the vehicle control method provided in an embodiment of the present application is described in detail with reference to a specific example.

[0163] like Figure 6 As shown, the specific implementation process of the vehicle control method includes:

[0164] S601, obtaining the vehicle speed, accelerator pedal opening, and accelerator pedal opening change rate;

[0165] S602, determining a vehicle drift reserve factor based on vehicle speed, accelerator pedal opening, and opening change rate;

[0166] S603, determining a first front-to-rear axle torque ratio based on the drift reserve factor;

[0167] S604, determining whether the drift reserve factor is greater than or equal to a first preset threshold;

[0168] If yes, then execute S605 to determine the rear axle braking value based on the drift reserve factor;

[0169] S606, controlling the front axle motor of the vehicle based on the first front-to-rear axle torque ratio to adjust the front axle torque of the vehicle to the first front axle torque, and controlling the rear axle motor of the vehicle based on the first front-to-rear axle torque ratio to adjust the rear axle torque of the vehicle to the first rear axle torque;

[0170] S607: Controlling the braking system of the vehicle based on the rear axle braking value to adjust the rear axle braking force of the vehicle to a first rear axle braking force, and controlling the driving system of the vehicle to increase the first driving force when the first rear axle braking force is greater than a preset braking force threshold;

[0171] In this embodiment, the demand for the vehicle to enter a drifting state is determined based on the driver's input during drift control. The vehicle's state before drifting is also considered, and the response lag characteristics of the vehicle's execution system are taken into account to prepare a reserve demand for the vehicle to enter the drifting state. In short, the vehicle's motion control force is controlled in advance, such as by adjusting the motion control force to a first motion control force, which is the drift force required for the vehicle to drift. This not only enables the vehicle to respond to drift requests in a timely manner, but also improves the success rate of the vehicle entering the drifting state by preserving the reserve demand to compensate for insufficient demand.

[0172] Based on this, this embodiment uses a drift reserve factor to reflect the likelihood of the vehicle drifting at the next moment. The larger the drift reserve factor, the more likely the vehicle will drift. Based on the size of the drift reserve factor, corresponding drift power reserve parameters are configured to help the vehicle enter a drifting state more smoothly, such as the vehicle's first front-to-rear axle torque ratio and rear axle braking value. The vehicle's front-to-rear axle torque is then adjusted in advance, and the first rear axle braking force is reserved in advance.

[0173] The specific implementation process is combined with steps S601 to S607. For example, during vehicle driving, the drift power reserve parameter is determined based on the vehicle driving information, and drift power reserve is performed. Among them, the values ​​of the drift power reserve parameters corresponding to different driving information are different. It should be noted that if the vehicle speed is in a high range, but the steering wheel angle operated by the driver is small, it should be in a drift preparation state at this time, and the side slip drift command has not been triggered. The higher the vehicle speed, the higher the possibility of triggering the side slip drift command at the next moment. Therefore, the possibility of vehicle drift is quickly identified based on the vehicle speed and steering wheel angle; at the same time, by setting the drift reserve factor to reflect the size of the vehicle speed, the corresponding drift power reserve parameters are used to distinguish different drift requirements, so that the vehicle can reserve drift power reserve parameters that enable the vehicle to smoothly enter the drift state in various scenarios.

[0174] Optionally, the accelerator pedal opening and the rate of change of the accelerator pedal opening also reflect the possibility of the vehicle drifting at the next moment. Therefore, in combination with monitoring the vehicle's accelerator pedal opening and the accelerator pedal opening rate, the higher the vehicle's accelerator pedal opening and the lower the opening rate of change (the action of completing the acceleration), the greater the drift reserve factor will be. In short, the vehicle's drift reserve factor is obtained based on the vehicle's speed, accelerator pedal opening and the accelerator pedal opening rate of change.

[0175] In this embodiment, a drift reserve factor is set to influence pre-control of the vehicle's front and rear axle torque and rear axle braking force: the higher the drift reserve factor, the greater the proportion of rear axle torque in the first front and rear axle torque ratio. When the drift reserve factor exceeds a first threshold, rear axle braking force reserve is applied. The higher the drift reserve factor, the greater the rear axle braking force.

[0176] Through the pre-control of the vehicle in steps S601 to S607, it can be ensured that when the driver triggers the sideslip drift command, the vehicle enters the oversteering and rear axle sideslip state as much as possible, so that the vehicle can enter the drift smoothly.

[0177] S608: If the sideslip drift instruction is triggered, the second front-to-back axle torque ratio is used to control the front axle motor to adjust the front axle torque of the vehicle from the first front axle torque to the second front axle torque, and the rear axle motor is controlled based on the second front-to-back axle torque ratio to adjust the rear axle torque of the vehicle from the first rear axle torque to the second rear axle torque.

[0178] S609, when it is detected that the vehicle has entered a drifting state, controlling the braking system to reduce the braking force of the first rear axle, and controlling the driving system to reduce the first driving force;

[0179] S610: When it is detected that the vehicle has not entered a drifting state, the braking system is controlled to adjust the rear axle braking force of the vehicle from the first rear axle braking force to the rear wheel locking of the vehicle at the maximum speed.

[0180] S611, when it is detected that the vehicle has entered a drifting state, outputting an accelerator pedal operation prompt message;

[0181] The accelerator pedal operation prompt information includes a target opening of the accelerator pedal;

[0182] S612, responding to an accelerator pedal request based on the accelerator pedal operation prompt information, and controlling the driving system based on the accelerator pedal request;

[0183] Exemplarily, the vehicle controls the driving system according to the target opening, so that the driving system outputs the corresponding target driving torque to control the operation of the vehicle.

[0184] S613, determining a first speed and a second speed based on a target driving torque controlled by the driving system;

[0185] S614: Reduce the outer rear axle braking force of the vehicle at the first speed, and after the outer rear axle braking force is less than or equal to a second preset threshold, reduce the inner rear axle braking force of the vehicle at the second speed.

[0186] It should be noted that after pre-controlling the vehicle through steps S601 to S607, if it is determined that the vehicle has triggered a sideslip drift command, the second front-to-rear axle torque ratio is used to control the front axle motor to adjust the vehicle's front axle torque from the first front axle torque to the second front axle torque. Furthermore, the rear axle motor is controlled based on the second front-to-rear axle torque ratio to adjust the vehicle's rear axle torque from the first rear axle torque to the second rear axle torque. Simultaneously, the system monitors whether the vehicle can enter a drift state. If not, other controls are combined to assist the vehicle in entering a drift state.

[0187] In one optional implementation, different adjustment speeds are set for adjusting the vehicle's rear axle torque based on the vehicle's steering wheel angle and steering wheel speed. At the appropriate adjustment speeds, the vehicle's rear axle torque is adjusted to a target torque that allows for drifting, making the drifting process smoother. For example, the driver's steering wheel input is monitored, and a table lookup is designed using the steering wheel angle and steering wheel speed as inputs to determine the vehicle's drift request factor. The larger the drift request factor, the faster the actuator control increases (the drive system accelerates the transfer of drive torque to the rear axle). When the drift request factor is greater than the set value, the drive torque is transferred to the rear axle at the fastest speed to meet the drift requirement.

[0188] In one optional implementation, the vehicle is monitored to determine whether it has entered a drifting state and whether adjustments can successfully allow the vehicle to enter the drifting state. If the vehicle has successfully entered the drifting state, the reserved first rear axle braking force is quickly eliminated to prevent the first rear axle braking force from affecting vehicle speed control. Simultaneously, the first driving force added by the drive system to compensate for the reserved first rear axle braking force is canceled.

[0189] If the vehicle does not enter a drifting state after the above adjustments, the rear axle braking force is increased at the maximum boost rate until the rear axle locks, causing the rear axle to skid. After the rear axle brakes lock, the vehicle is monitored to see if it enters a drifting state. If so, the driver is prompted to press the accelerator pedal to the target opening. The target opening corresponds to a driving torque greater than or equal to the absolute value of the braking torque corresponding to the rear axle brake lock, thereby driving the vehicle's rear axle to rotate and control the vehicle's drift trajectory.

[0190] At the same time, when the driver triggers the accelerator pedal request, the outer rear axle braking force of the vehicle is controlled to be reduced. When the outer rear axle braking force decreases to a second preset threshold, the inner rear axle braking force is controlled to be reduced. In an optional embodiment, the outer rear axle braking force and the inner rear axle braking force can be reduced at the same or different rates. For example, the outer rear axle braking force is reduced at a first rate, while the inner rear axle braking force is reduced at a second rate. The reduction rate is determined based on the target driving torque input by the driver. The greater the target driving torque, the greater the first and second rates.

[0191] This embodiment can enable the vehicle to reserve oversteering characteristics in time, and make it easier for the vehicle to enter the drift state, so that the vehicle drifts smoothly, and improves the success rate and smoothness of drifting.

[0192] based on Figure 1 The following is a schematic diagram of the scene. Figure 7 , the vehicle control device provided by the embodiment of the present application is introduced in detail. It should be noted that, Figure 7 The vehicle control device is used to execute the present application Figure 2-Figure 6For the convenience of explanation, only the part related to the embodiment of the present application is shown. For the specific technical details not disclosed, please refer to the present application. Figure 2-Figure 6 The embodiment shown.

[0193] like Figure 7 As shown, the vehicle control device 70 includes:

[0194] An acquisition unit 701 is used to acquire driving information of a vehicle;

[0195] a determining unit 702 configured to determine a drift power reserve parameter of the vehicle based on the driving information, and adjust the vehicle's motion control force to a first motion control force based on the drift power reserve parameter, so that the vehicle reserves a portion of the motion control force required for drifting in advance based on the first motion control force;

[0196] The control unit 703 is configured to call the drift force parameter to adjust the vehicle's motion control force from the first motion control force to the drift motion control force if the sideslip drift instruction is triggered.

[0197] The effects that can be achieved by this embodiment can be found in the relevant embodiments of the above-mentioned vehicle control method, which will not be repeated here.

[0198] See Figure 8 , provides a structural diagram of a vehicle according to an embodiment of the present application. Figure 8 As shown, the vehicle 800 includes a processor 801 and a memory 802. The processor 801 is electrically connected to the memory 802.

[0199] Processor 801 is the control center of vehicle 800 and may include one or more processing cores. Processor 801 utilizes various interfaces and circuits to connect various components of vehicle 800. By running or invoking computer programs stored in memory 802 and accessing data stored in memory 802, it executes various functions of vehicle 800 and processes data, thereby providing overall control over vehicle 800. Optionally, processor 801 may be implemented using at least one of the following hardware forms: digital signal processing (DSP), field programmable gate array (FPGA), or programmable logic array (PLA). Processor 801 may integrate one or a combination of a CPU, a graphics processing unit (GPU), and a modem. The CPU primarily processes the operating system, user interfaces, and applications; the GPU is responsible for rendering and drawing display content; and the modem handles wireless communications. It is understood that the modem may not be integrated into processor 801 and may instead be implemented via a separate communications chip.

[0200] Memory 802 can be used to store software programs and modules. Processor 801 executes various functional applications and data processing by running the computer programs and modules stored in memory 802. Memory 802 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and computer programs required for at least one function, while the data storage area may store data generated based on the use of vehicle 800.

[0201] In addition, the memory 802 may include a high-speed random access memory and a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. Accordingly, the memory 802 may also include a memory controller to provide the processor 801 with access to the memory 802.

[0202] In this embodiment, the processor 801 in the vehicle 800 loads instructions corresponding to one or more computer program processes into the memory 802 according to the following steps, and the processor 801 runs the computer program stored in the memory 802 to implement various functions as follows:

[0203] Obtain vehicle driving information;

[0204] determining a drift power reserve parameter of the vehicle based on the driving information, and adjusting a motion control force of the vehicle to a first motion control force based on the drift power reserve parameter;

[0205] If the sideslip drift instruction is triggered, the drift force parameter is called to adjust the vehicle's motion control force from the first motion control force to the drift motion control force.

[0206] Optionally, when the processor 801 adjusts the vehicle's motion control force to the first motion control force based on the drift power reserve parameter, the processor 801 specifically performs:

[0207] controlling a front axle motor of the vehicle based on the first front-to-rear axle torque ratio to adjust the front axle torque of the vehicle to the first front axle torque, and controlling a rear axle motor of the vehicle based on the first front-to-rear axle torque ratio to adjust the rear axle torque of the vehicle to the first rear axle torque;

[0208] The vehicle's braking system is controlled based on the rear axle braking value to adjust the vehicle's rear axle braking force to a first rear axle braking force, and when the first rear axle braking force is greater than a preset braking force threshold, the vehicle's driving system is controlled to increase the first driving force.

[0209] Optionally, when determining the drift power reserve parameter of the vehicle based on the driving information, the processor 801 specifically performs:

[0210] Determine the vehicle's drift reserve factor based on vehicle speed, accelerator pedal opening, and rate of change of the opening;

[0211] Based on the drift reserve factor, a first front-to-rear axle torque ratio and a rear axle braking value are determined.

[0212] Optionally, when determining the first front-to-rear axle torque ratio and the rear axle braking value based on the drift reserve factor, the processor 801 specifically performs:

[0213] A first front-to-rear axle torque ratio is determined based on the drift reserve factor, and when the drift reserve factor is greater than or equal to a first preset threshold, a rear axle braking value is determined based on the drift reserve factor.

[0214] Optionally, when the processor 801 executes the following steps: if the sideslip drift instruction is triggered, the processor 801 calls the drift force parameter to adjust the vehicle's motion control force from the first motion control force to the drift motion control force:

[0215] If a sideslip drift command is triggered, the second front-to-rear axle torque ratio is called to control the front axle motor to adjust the front axle torque of the vehicle from the first front axle torque to the second front axle torque, and the rear axle motor is controlled based on the second front-to-rear axle torque ratio to adjust the rear axle torque of the vehicle from the first rear axle torque to the second rear axle torque;

[0216] When it is detected that the vehicle enters a drifting state, the braking system is controlled to reduce the braking force of the first rear axle, and the driving system is controlled to reduce the first driving force.

[0217] Optionally, when executing the triggering of the sideslip drift instruction, the processor 801 calls the second front-to-rear axle torque ratio to control the front axle motor to adjust the front axle torque of the vehicle from the first front axle torque to the second front axle torque, and controls the rear axle motor based on the second front-to-rear axle torque ratio to adjust the rear axle torque of the vehicle from the first rear axle torque to the second rear axle torque, specifically performing the following:

[0218] If the side slip drift command is triggered, the adjustment speed of the second front-to-rear axle torque ratio is determined according to the steering wheel parameters;

[0219] The front axle motor is controlled based on the second front-to-rear axle torque ratio and the adjustment speed to adjust the front axle torque of the vehicle from the first front axle torque to the second front axle torque, and the rear axle motor is controlled based on the second front-to-rear axle torque ratio and the adjustment speed to adjust the rear axle torque of the vehicle from the first rear axle torque to the second rear axle torque.

[0220] Optionally, after executing the triggering of the sideslip drift instruction, calling the second front-to-back axle torque ratio to control the front axle motor to adjust the front axle torque of the vehicle from the first front axle torque to the second front axle torque, and controlling the rear axle motor based on the second front-to-back axle torque ratio to adjust the rear axle torque of the vehicle from the first rear axle torque to the second rear axle torque, the processor 801 further executes:

[0221] When it is detected that the vehicle has not entered a drifting state, the braking system is controlled to adjust the rear axle braking force of the vehicle from the first rear axle braking force to the rear wheel brake lock of the vehicle at the maximum speed;

[0222] When it is detected that the vehicle enters a drifting state, the rear wheel brake lock elimination operation is executed.

[0223] Optionally, when executing the rear wheel lock elimination operation, the processor 801 specifically performs:

[0224] Output accelerator pedal operation prompt information;

[0225] responding to an accelerator pedal request based on the accelerator pedal operation prompt information, and controlling the drive system based on the accelerator pedal request;

[0226] determining a first speed and a second speed based on a target driving torque controlled by the driving system;

[0227] The rear axle outer braking force of the vehicle is reduced according to the first speed, and after the rear axle outer braking force is less than or equal to a second preset threshold, the rear axle inner braking force of the vehicle is reduced according to the second speed.

[0228] It should be understood that the device provided in the embodiment of the present application is used to execute the above-mentioned vehicle control method, and therefore can achieve the same effect as the above-mentioned implementation method.

[0229] 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.

[0230] 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 disclosure of this application. 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.

[0231] In addition, the device provided in the embodiment 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.

[0232] An embodiment of 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.

[0233] This embodiment 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.

[0234] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment 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.

[0235] 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.

[0236] 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.

[0237] 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: Obtain vehicle driving information; determining a drift power reserve parameter of the vehicle based on the driving information, and adjusting the motion control force of the vehicle to a first motion control force based on the drift power reserve parameter, so that the vehicle reserves a portion of the motion control force required for drifting in advance based on the first motion control force; If the sideslip drift instruction is triggered, the drift force parameter is called to adjust the motion control force of the vehicle from the first motion control force to the drift motion control force.

2. The method according to claim 1, characterized in that The drift power reserve parameter includes a first front-to-rear axle torque ratio and a rear axle braking value, and adjusting the vehicle motion control force to the first motion control force based on the drift power reserve parameter includes: controlling a front axle motor of the vehicle based on the first front-to-rear axle torque ratio to adjust the front axle torque of the vehicle to a first front axle torque, and controlling a rear axle motor of the vehicle based on the first front-to-rear axle torque ratio to adjust the rear axle torque of the vehicle to a first rear axle torque; The vehicle's braking system is controlled based on the rear axle braking value to adjust the vehicle's rear axle braking force to a first rear axle braking force, and when the first rear axle braking force is greater than a preset braking force threshold, the vehicle's driving system is controlled to increase a first driving force.

3. The method according to claim 2, characterized in that The driving information includes a vehicle speed, an accelerator pedal opening, and an accelerator pedal opening rate of the vehicle. Determining the drift power reserve parameter of the vehicle based on the driving information includes: determining a drift reserve factor of the vehicle based on the vehicle speed, the accelerator pedal opening, and the opening change rate; Based on the drift reserve factor, the first front-to-rear axle torque ratio and the rear axle braking value are determined.

4. The method according to claim 3, characterized in that The determining, based on the drift reserve factor, the first front-to-rear axle torque ratio and the rear axle braking value includes: The first front-rear axle torque ratio is determined based on the drift reserve factor, and when the drift reserve factor is greater than or equal to a first preset threshold, the rear axle braking value is determined based on the drift reserve factor.

5. The method according to any one of claims 2 to 4, characterized in that The drift force parameter includes a second front-to-rear axle torque ratio. If the sideslip drift instruction is triggered, the drift force parameter is called to adjust the motion control force of the vehicle from the first motion control force to the drift motion control force, including: If a sideslip drift command is triggered, the second front-to-rear axle torque ratio is used to control the front axle motor to adjust the front axle torque of the vehicle from the first front axle torque to the second front axle torque, and the rear axle motor is controlled based on the second front-to-rear axle torque ratio to adjust the rear axle torque of the vehicle from the first rear axle torque to the second rear axle torque; When it is detected that the vehicle enters a drifting state, the braking system is controlled to reduce the first rear axle braking force, and the driving system is controlled to reduce the first driving force.

6. The method according to claim 5, characterized in that If a sideslip drift instruction is triggered, calling the second front-to-rear axle torque ratio to control the front axle motor to adjust the front axle torque of the vehicle from the first front axle torque to the second front axle torque, and controlling the rear axle motor based on the second front-to-rear axle torque ratio to adjust the rear axle torque of the vehicle from the first rear axle torque to the second rear axle torque, including: If a sideslip drift instruction is triggered, determining an adjustment speed of the second front-to-rear axle torque ratio according to a steering wheel parameter of the vehicle; The front axle motor is controlled based on the second front-to-rear axle torque ratio and the adjustment speed to adjust the front axle torque of the vehicle from the first front axle torque to the second front axle torque, and the rear axle motor is controlled based on the second front-to-rear axle torque ratio and the adjustment speed to adjust the rear axle torque of the vehicle from the first rear axle torque to the second rear axle torque.

7. The method according to claim 5, characterized in that After the method of calling the second front-to-rear axle torque ratio to control the front axle motor to adjust the front axle torque of the vehicle from the first front axle torque to the second front axle torque if the sideslip drift instruction is triggered, and controlling the rear axle motor based on the second front-to-rear axle torque ratio to adjust the rear axle torque of the vehicle from the first rear axle torque to the second rear axle torque, further comprising: When it is detected that the vehicle has not entered a drifting state, controlling the braking system to adjust the rear axle braking force of the vehicle from the first rear axle braking force to rear wheel locking of the vehicle at a maximum speed; When it is detected that the vehicle enters a drifting state, an operation of eliminating rear wheel brake lock is performed.

8. The method according to claim 7, characterized in that The performing of eliminating the rear wheel locking operation includes: Output accelerator pedal operation prompt information; responding to an accelerator pedal request based on the accelerator pedal operation prompt information, and controlling the drive system based on the accelerator pedal request; determining a first speed and a second speed based on a target driving torque controlled by the driving system; The rear axle outer braking force of the vehicle is reduced according to the first speed, and after the rear axle outer braking force is less than or equal to a second preset threshold, the rear axle inner braking force of the vehicle is reduced according to a second speed.

9. A vehicle control device, characterized in that: The device comprises: an acquisition unit, configured to acquire driving information of the vehicle; a determining unit, configured to determine a drift power reserve parameter of the vehicle based on the driving information, and adjust the motion control force of the vehicle to a first motion control force based on the drift power reserve parameter, so that the vehicle reserves a portion of the motion control force required for drifting in advance based on the first motion control force; A control unit is used to call the drift force parameter to adjust the vehicle's motion control force from the first motion control force to the drift motion control force if a sideslip drift instruction is triggered.

10. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor is configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program code, and when the computer program code is executed, the method according to any one of claims 1 to 8 is implemented.

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