Vehicle high-rotating-speed starting control method and device and vehicle

Abstract

The invention discloses a vehicle high-rotating-speed starting control method and device and a vehicle, according to the current high-rotating-speed starting state, the steering angle of a wheel distributed steering gear is actively controlled, so that all wheels are steered to a preset forward toe-in angle, a large starting axle forward toe-in angle is formed, the high-rotating-speed starting stability is enhanced, and in addition, the high-rotating-speed starting stability is improved. The driving torque of the left and right driving wheels of the vehicle and the yaw velocity of the whole vehicle are compared through the wheel speed difference between the real-time driving wheel speeds of the left and right driving wheels on the driving shaft, the unexpected steering trend state of the tire-burning high-rotating-speed starting vehicle is judged, and the rotating angles of the left and right wheels are dynamically controlled and superposed according to the unexpected steering trend of the tire-burning starting vehicle. And elimination of the unexpected yaw angle of the tire-burning high-rotation-speed starting vehicle is achieved.

Description

Technical Field

[0001] This invention relates to the technical field of automobiles, specifically to a method, control device, and vehicle for high-speed start-up control. Background Technology

[0002] High-revving starts are a common starting method in modern motorsport. It involves the driver simultaneously pressing the brake and accelerator pedals firmly while the vehicle is stationary, releasing the brake pedal at the appropriate moment to allow the vehicle to accelerate to maximum. The vehicle instantly gains significant acceleration, almost like being launched, hence the name "launch start." This provides an advantage in racing and enhances driving pleasure. However, during high-speed starts, the unexpected yaw caused by fluctuations in the rotational speed of the left and right drive wheels affects the vehicle's stability. Furthermore, high-powered vehicles may exhibit unexpected driving trends during high-revving starts with tire burnout. Drivers typically need to make slight adjustments to the steering wheel to ensure the vehicle travels in a straight line when the brake pedal is released, preventing the car from being launched and potentially deviating from its intended direction, thus increasing the difficulty of driver control. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention provides a method, control device, and vehicle for high-speed start-up control of vehicles, thereby improving the stability of high-speed start-up and reducing the control difficulty of vehicles starting at high speeds.

[0004] A vehicle high-speed start control method according to a first aspect of the present invention, applicable to vehicles having a distributed steering system for individually controlling the steering of each wheel, includes: Acquire vehicle driving information, including high-speed start-up condition signal and real-time drive wheel speed of the left and right drive wheels on the drive shaft; Determine whether the vehicle is currently in high-speed start mode based on the high-speed start condition signal; When in the high-speed start-up mode, control the left and right wheels on each axle of the vehicle to turn to a preset positive toe angle; Determine whether the high-speed start mode has entered the burnout high-speed start state based on the real-time drive wheel speed. When entering the high-speed start-up state of tire burning, determine whether the wheel speed difference between the real-time drive wheel speeds of the left and right drive wheels on the drive shaft is greater than a first threshold. When the wheel speed difference is greater than the first threshold, based on the preset positive toe angle, the preset superimposed toe angle is controlled to be superimposed on the drive wheel on the side of the drive shaft with the smaller real-time drive wheel speed, so as to turn to the positive toe angle for burnout start.

[0005] The vehicle high-speed start control method according to embodiments of the present invention has at least the following beneficial effects: The present invention obtains vehicle driving information by acquiring a high-speed start condition signal and the real-time drive wheel speeds of the left and right drive wheels on the drive axle from the vehicle's driving information. The driving information includes the high-speed start condition signal and the real-time drive wheel speeds of the left and right drive wheels on the drive axle. Based on the high-speed start condition signal, it is determined whether the current vehicle is in a high-speed start mode. When in the high-speed start mode, the left and right wheels on each axle of the vehicle are controlled to turn to a preset positive toe angle. Based on the real-time drive wheel speeds, it is determined whether the high-speed start mode has entered a burnout high-speed start state. When entering the burnout high-speed start state, it is determined whether the wheel speed difference between the real-time drive wheel speeds of the left and right drive wheels on the drive axle is greater than a first threshold. When the wheel speed difference is greater than the first threshold, based on the preset positive toe angle, the preset superimposed toe angle is added to the drive wheel on the side of the drive shaft with the smaller real-time drive wheel speed, so as to turn to the positive toe angle for burnout start. According to the current high speed start state, the present invention actively controls the steering angle of the wheel distributed steering system to turn all wheels to the preset positive toe angle, forming a larger positive toe angle of the start axle, enhancing the stability of high speed start. In addition, by comparing the drive torque of the left and right drive wheels and the yaw rate of the whole vehicle through the wheel speed difference between the real-time drive wheel speeds of the left and right drive wheels on the drive shaft, the unexpected steering trend state of the burnout high speed start vehicle is determined. Based on the unexpected steering trend of the burnout start vehicle, the superimposed left and right wheel steering angle is dynamically controlled to eliminate the unexpected yaw angle of the burnout high speed start vehicle.

[0006] According to some embodiments of the present invention, the high-speed start-up condition signal includes accelerator pedal opening, brake pedal opening, gear, vehicle speed, and output speed of the power mechanism used to drive the vehicle. The step of determining whether the current vehicle is in high-speed start-up mode based on the high-speed start-up condition signal includes: When the gear position is in forward gear and the accelerator pedal opening and the brake pedal opening exceed the second threshold, or when the vehicle speed is 0 and the output speed exceeds the third threshold, it is determined that the current vehicle is in the high-speed start mode; otherwise, the current vehicle is in the non-high-speed start mode.

[0007] According to some embodiments of the present invention, when the vehicle switches back from the high-speed start mode to the non-high-speed start mode, all wheels are controlled to rotate back to the preset forward toe angle zero according to a first preset angular velocity.

[0008] According to some embodiments of the present invention, when in the high-speed start-up mode, controlling the left and right wheels on each axle of the vehicle to turn to a preset positive toe angle includes: The preset forward toe angle is controlled to change in a positive correlation with the output rotation speed.

[0009] According to some embodiments of the present invention, when in the high-speed start-up mode, controlling the left and right wheels on each axle of the vehicle to turn to a preset positive toe angle includes: The left and right drive wheels of the control drive shaft are turned to the first preset forward toe angle.

[0010] Control the left and right wheels of the non-drive axle to turn to the second preset forward toe angle.

[0011] According to some embodiments of the present invention, determining whether the high-speed start mode has entered the burnout high-speed start state based on the real-time drive wheel speed includes: If the real-time drive wheel speed is greater than the fourth threshold, it is determined that the high-speed start mode has entered the burnout high-speed start state; otherwise, it enters the normal high-speed start state.

[0012] According to some embodiments of the present invention, the vehicle high-speed start control method further includes: When switching from the high-speed burnout start state to the normal high-speed start state, the wheel at the positive toe angle of the burnout start is controlled to rotate back to the preset superimposed toe angle zero according to the second preset angular velocity.

[0013] According to a second aspect of the present invention, a control device includes: The acquisition module is used to acquire the vehicle's driving information, which includes a high-speed start-up condition signal and the real-time drive wheel speeds of the left and right drive wheels on the drive shaft. The judgment module is used to determine whether the current vehicle is in a high-speed start mode based on the high-speed start condition signal; to determine whether the high-speed start mode has entered a burnout high-speed start state based on the real-time drive wheel speed; and when entering the burnout high-speed start state, to determine whether the wheel speed difference between the real-time drive wheel speeds of the left and right drive wheels on the drive axle is greater than a first threshold. The control module is used to control the left and right wheels on each axle of the vehicle to turn to a preset positive toe angle when the vehicle is in the high-speed start mode; when the wheel speed difference is greater than the first threshold, the module controls the preset superimposed toe angle to be superimposed on the drive wheel on the side with the smaller real-time drive wheel speed on the drive axle, so as to turn to the positive toe angle for burnout start.

[0014] A vehicle according to a third aspect of an embodiment of the present invention includes the aforementioned control device.

[0015] According to a fourth aspect of the present invention, a computer program product includes a computer program that, when executed by a processor, implements the vehicle high-speed start control method.

[0016] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 A flowchart of a vehicle high-speed start control method provided in an embodiment of the present invention; Figure 2 A flowchart for determining whether the current vehicle is in a high-speed start-up mode, provided in an embodiment of the present invention; Figure 3 A flowchart for controlling a preset forward toe angle provided in an embodiment of the present invention; Figure 4 This is a flowchart of the control of the left and right wheels on the drive shaft and non-drive shaft provided in an embodiment of the present invention; Figure 5 This is a flowchart provided in an embodiment of the present invention for determining whether a high-speed start mode has entered a burnout high-speed start state; Figure 6 This is a flowchart illustrating the transition between high-speed start-up mode and non-high-speed start-up mode provided in this embodiment of the invention. Figure 7 This is a flowchart illustrating the transition between a burnout high-speed start and a normal high-speed start, as provided in an embodiment of the present invention. Figure 8 This is a schematic diagram of the control device provided in an embodiment of the present invention. Detailed Implementation

[0018] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0019] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0020] In the description of this invention, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features or their sequential relationship.

[0021] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0022] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of the present invention, not all embodiments.

[0023] Currently, during high-speed starts, the unintended yaw caused by fluctuations in the rotational speed of the left and right drive wheels affects the stability of the vehicle at high speeds. Furthermore, high-powered vehicles may exhibit unexpected driving trends during high-speed starts involving tire burnout, typically requiring the driver to make small adjustments to the steering wheel to ensure the vehicle travels in a straight line when the brake pedal is released, thus preventing the car from being suddenly launched and potentially deviating from its intended direction, increasing the difficulty of driver control. Therefore, this invention proposes a high-speed start control method that utilizes distributed steering to enhance the stability of vehicles during high-speed starts. This method is applicable to vehicles equipped with distributed steering systems for individually controlling the steering of each wheel. It is understood that each wheel of the vehicle is equipped with a steering system to control steering.

[0024] Figure 1 This is an optional flowchart of the vehicle high-speed start control method provided in the embodiments of this application. Figure 1 The high-speed start control method for vehicles may include, but is not limited to, steps S100 to S600: Step S100: Obtain vehicle driving information, including high-speed start condition signal and real-time drive wheel speed of left and right drive wheels on drive axle; Step S200: Determine whether the vehicle is currently in high-speed start-up mode based on the high-speed start-up condition signal; Step S300: When in high-speed start mode, control the left and right wheels on each axle of the vehicle to turn to the preset positive toe angle; Step S400: Determine whether the high-speed start mode has entered the burnout high-speed start state based on the real-time drive wheel speed; Step S500: When entering the high-speed start-up state of tire burnout, determine whether the wheel speed difference between the real-time drive wheel speeds of the left and right drive wheels on the drive axle is greater than the first threshold. Step S600: When the wheel speed difference is greater than the first threshold, based on the preset positive toe angle, control the preset superimposed toe angle to be superimposed on the drive wheel on the side with the smaller real-time drive wheel speed on the drive shaft, so as to turn to the positive toe angle for burnout start.

[0025] This invention, based on the current high-speed start-up state, actively controls the steering angle of the wheel-distributed steering system to turn all wheels to a preset positive toe angle, forming a larger positive toe angle on the starting axle, thus enhancing the stability of high-speed start-up. Furthermore, considering that wheel slippage can occur during a burnout high-speed start-up, this invention determines whether the high-speed start mode is a burnout high-speed start or a normal high-speed start based on the real-time drive wheel speed difference. If the vehicle is in a burnout high-speed start-up state, the invention compares the drive torque of the left and right drive wheels with the overall vehicle yaw rate by using the real-time drive wheel speed difference between the left and right drive wheels on the drive axle, thus determining the unexpected steering trend of the burnout high-speed start-up vehicle. Based on this unexpected steering trend, the invention dynamically controls the toe angle of the superimposed wheels to eliminate the unexpected yaw angle of the burnout high-speed start-up vehicle.

[0026] In step S100, the high-speed start-up condition signal includes accelerator pedal opening, brake pedal opening, gear, vehicle speed, and the output speed of the power mechanism used to drive the vehicle. Specifically, in this embodiment, real-time power and signals are obtained from the vehicle network node, including the current driving mode, gear, vehicle speed, brake pedal opening, accelerator pedal opening, four-wheel braking force, four-wheel speed, steering wheel angle, etc. The four-wheel speed includes the speed of non-driving wheels and the speed of driving wheels. The driving wheel speed is the real-time driving wheel speed of the left and right driving wheels on the drive axle, and the power mechanism can be an engine or an electric motor.

[0027] Please refer to 2. Figure 2 This is a flowchart provided in an embodiment of the present application for determining whether the current vehicle is in a high-speed start-up mode.

[0028] In some embodiments, step S200 may include, but is not limited to, step S201: Step S201: When the gear position is in forward gear and the opening of the accelerator pedal and the opening of the brake pedal exceed the second threshold, or when the vehicle speed is 0 and the output speed exceeds the third threshold, it is determined that the current vehicle is in high-speed start mode; otherwise, the current vehicle is in non-high-speed start mode.

[0029] The second threshold is set at 40%, while the third threshold is set at n times the idle speed, where n=2.

[0030] When the gear is in forward gear and the opening of the accelerator pedal and the opening of the brake pedal both exceed the second threshold, it can be understood that the driver has engaged forward gear and is about to start. At the same time, both feet are pressed on the accelerator pedal and the brake pedal to build up power. When the brake pedal is released, a high-speed start can be achieved. When the vehicle speed is 0 and the output speed exceeds the third threshold, it can be understood that the vehicle stops at this time, while the engine or motor runs at high speed to store power. Releasing the braking system allows for high-speed start-up.

[0031] In step S300, if the vehicle is in a high-speed start-up mode, it is necessary to control the left and right wheels on each axle to turn to a preset positive toe angle, so that the front of the wheels pulls inward, forming a larger positive toe angle of the starting axle, thereby enhancing the stability of high-speed start-up.

[0032] The setting of the preset positive toe angle is related to the output speed of the engine or motor; please refer to point 3. Figure 3 This is a flowchart of controlling the preset forward toe angle provided in the embodiments of this application.

[0033] In some embodiments, step S300 may include, but is not limited to, step S301: Step S301: Control the preset forward toe angle to change in a positive correlation with the output speed.

[0034] Understandably, when the output speed of the engine or motor increases, the preset forward toe angle increases. With directional stability guaranteed, the speed threshold for high-speed vehicle start-up can be further increased, enhancing the vehicle's starting power performance and improving the launch control driving experience.

[0035] This embodiment differs in its toe angle control for wheels on the drive axle and non-drive axles; please refer to section 4. Figure 4 This is a flowchart of the control of the left and right wheels on the drive shaft and non-drive shaft provided in the embodiments of this application.

[0036] In some embodiments, step S300 may include, but is not limited to, steps S302 and S303: Step S302: Control the left and right drive wheels of the drive shaft to turn to the first preset forward toe angle.

[0037] Step S303: Control the left and right wheels of the non-drive axle to turn to the second preset forward toe angle.

[0038] Both the first preset positive toe angle and the second preset positive toe angle increase towards positive toe angle as the engine output speed increases, and the initial values ​​of the first preset positive toe angle and the second preset positive toe angle both cause the vehicle to form an additional positive toe angle.

[0039] In step S400, the high-speed start mode is determined to have entered the high-speed start state of tire burnout based on the real-time drive wheel speed. During tire burnout, the vehicle is stationary while the drive wheels are rotating, which can be determined by the real-time drive wheel speed.

[0040] Please refer to 5. Figure 5 This is a flowchart provided in an embodiment of the present application for determining whether the high-speed start mode has entered the burnout high-speed start state.

[0041] In some embodiments, step S400 may include, but is not limited to, step S401: Step S401: When the real-time drive wheel speed is greater than the fourth threshold, it is determined that the high-speed start mode has entered the burnout high-speed start state; otherwise, it enters the normal high-speed start state.

[0042] The fourth threshold can be 10 rpm. When the real-time driving wheel speed is greater than 10 rpm, the vehicle is considered to be in a high-speed start-up state of burning tires, while when the real-time driving wheel speed is less than 10 rpm, the vehicle is considered to be in a normal high-speed start-up state.

[0043] In step S500, when it is determined that the vehicle has entered the high-speed start-up state of tire burning, the real-time drive wheel speeds of the left and right drive wheels on the drive shaft are read, and the real-time drive wheel speeds of the left and right drive wheels on the drive shaft are subtracted to obtain the wheel speed difference.

[0044] During a burnout, the difference in load and friction between the two drive wheels creates a speed difference. If this difference is too large, the vehicle will deviate from its intended path. Currently, the driver usually needs to make slight adjustments to the steering wheel to ensure that the vehicle travels in a straight line when the brake pedal is released, thus avoiding the possibility of the car being ejected and deviating from its intended direction. This increases the demands on the driver's reaction time.

[0045] In step S600, based on the preset positive toe angle, the preset superimposed toe angle is controlled to be superimposed on the drive wheel on the side of the drive shaft with the slower real-time drive wheel speed, so as to turn to the positive toe angle for burnout start. It can be understood that the preset superimposed toe angle is only applied to the drive shaft and only applied to the drive wheel on the side of the drive wheel with the slower drive wheel speed.

[0046] When the driving speed of one side of the vehicle is low, the vehicle will veer towards that side when starting. In order to avoid this phenomenon, the present invention corrects the toe angle of the driving wheel on that side by superimposing a preset superimposed toe angle on the basis of a preset positive toe angle to form a positive toe angle for burnout start, thereby eliminating the unexpected yaw angle of the vehicle when starting at high speed on a burnout.

[0047] This invention applies distributed rear-wheel steering technology combined with active steering to pre-correct unexpected driving trends of the vehicle, thereby reducing the driver's operational response requirements for high-speed starts and reducing the difficulty of starting.

[0048] Please refer to 6. Figure 6 This is a flowchart illustrating the transition between high-speed start-up mode and non-high-speed start-up mode provided in the embodiments of this application.

[0049] In some embodiments, the vehicle high-speed start control method further includes step S700: Step S700: When the vehicle switches back from high-speed start mode to non-high-speed start mode, control all wheels to rotate back to the preset forward toe angle zero according to the first preset angular velocity.

[0050] Understandably, when the conditions for high-speed start mode are no longer met, it is determined that the vehicle has completed high-speed start. At this time, the first preset forward toe angle and the first preset forward toe angle in steps S302 and S303 are synchronously reduced to zero with the first preset angular velocity.

[0051] When the vehicle no longer meets the high-speed start condition in step S201 and steps S700 are executed, it can re-enter the high-speed start mode after meeting the condition in step S201. However, it cannot directly jump to step S401 to judge the burnout high-speed start state. That is, meeting the condition of the high-speed start mode is a necessary prerequisite for judging the condition of entering the burnout high-speed start state.

[0052] Please refer to 7. Figure 7 This is a flowchart illustrating the transition between a burnout high-speed start state and a normal high-speed start state provided in the embodiments of this application.

[0053] In some embodiments, the vehicle high-speed start control method further includes step S800: Step S800: When switching from the high-speed start-up state to the normal high-speed start-up state, the wheel that is in the positive toe-in angle of the burnout start-up is controlled to rotate back to the preset superimposed toe-in angle zero according to the second preset angular velocity.

[0054] It is understandable that in step S401, when the real-time drive wheel speed is greater than the fourth threshold, that is, the conditions for high-speed burnout start are no longer met, the vehicle is judged to switch to normal high-speed start state. At this time, the preset superimposed toe angle superimposed in step S600 returns to zero with the second preset angular velocity.

[0055] When the high-speed start-up state is exited in step S800 but the high-speed start-up mode has not yet been exited (i.e., step S700 is not executed), the high-speed start-up in step S401 is regenerated due to the driver's operation. Therefore, the dynamic preset toe-in angle in step S600 can be superimposed again. That is, the high-speed start-up control can repeatedly enter and exit the state after the high-speed conditions are met by the condition judgment in step S400.

[0056] This invention improves the stability of high-speed starts by applying distributed rear-wheel steering technology to counteract unexpected vehicle yaw caused by fluctuations in the rotational speeds of the left and right drive wheels during high-speed starts. It also reduces the control difficulty of high-speed starts: In high-powered rear-wheel-drive vehicles, high-speed starts during tire burnouts typically require the driver to make small corrections to the steering wheel to ensure the vehicle travels in a straight line when the brake pedal is released, preventing potential directional deviations caused by sudden launch. The application of distributed rear-wheel steering technology combined with active steering can proactively correct unexpected driving trends, thereby reducing the driver's reaction time requirements and lowering the difficulty of starting. Finally, it improves high-speed start performance: With directional stability guaranteed, the vehicle's high-speed start threshold can be further increased, enhancing the vehicle's starting power performance and improving the launch start driving experience.

[0057] like Figure 8 As shown, one embodiment of the present invention also provides a control device that can implement the above-described vehicle high-speed start control method. The control device includes: The acquisition module is used to acquire the vehicle's driving information, which includes a high-speed start-up condition signal and the real-time drive wheel speeds of the left and right drive wheels on the drive shaft. The judgment module is used to determine whether the current vehicle is in a high-speed start mode based on the high-speed start condition signal; to determine whether the high-speed start mode has entered a burnout high-speed start state based on the real-time drive wheel speed; and when entering the burnout high-speed start state, to determine whether the wheel speed difference between the real-time drive wheel speeds of the left and right drive wheels on the drive axle is greater than a first threshold. The control module is used to control the left and right wheels on each axle of the vehicle to turn to a preset positive toe angle when the vehicle is in the high-speed start mode; when the wheel speed difference is greater than the first threshold, the module controls the preset superimposed toe angle to be superimposed on the drive wheel on the side with the smaller real-time drive wheel speed on the drive axle, so as to turn to the positive toe angle for burnout start.

[0058] The judgment module is also used to execute the above-mentioned steps S201 and S401, and the control module is also used to execute the above-mentioned steps S301, S302, S303, S700 and S800.

[0059] The specific implementation of this control device is basically the same as the specific embodiment of the above-mentioned vehicle high-speed start control method, and will not be described again here.

[0060] One embodiment of the present invention also provides a vehicle including the aforementioned control device. Specifically, the vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. The vehicle can also be a commercial vehicle, such as a van, bus, small truck, or large trailer. The vehicle can be a gasoline-powered vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle. An embodiment of the present invention also provides a computer program product, including a computer program or computer instructions, the computer program or computer instructions being stored in a computer-readable storage medium, a processor of a computer device reading the computer program or computer instructions from the computer-readable storage medium, and the processor executing the computer program or computer instructions to cause the computer device to perform the above-described vehicle high-speed start control method.

[0061] It is worth noting that, since the computer program product of this embodiment can execute the vehicle high-speed start control method of any of the above embodiments, the specific implementation method and technical effect of the computer program product of this embodiment can be referred to the specific implementation method and technical effect of the vehicle high-speed start control method of any of the above embodiments.

[0062] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0063] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0064] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A method for controlling high-speed vehicle start-up, characterized in that, Suitable for vehicles with distributed steering systems for individually controlling the steering of each wheel, including: Acquire vehicle driving information, including high-speed start-up condition signal and real-time drive wheel speed of the left and right drive wheels on the drive shaft; Determine whether the vehicle is currently in high-speed start mode based on the high-speed start condition signal; When in the high-speed start-up mode, control the left and right wheels on each axle of the vehicle to turn to a preset positive toe angle; Determine whether the high-speed start mode has entered the burnout high-speed start state based on the real-time drive wheel speed. When entering the high-speed start-up state of tire burning, determine whether the wheel speed difference between the real-time drive wheel speeds of the left and right drive wheels on the drive shaft is greater than a first threshold. When the wheel speed difference is greater than the first threshold, based on the preset positive toe angle, the preset superimposed toe angle is controlled to be superimposed on the drive wheel on the side of the drive shaft with the smaller real-time drive wheel speed, so as to turn to the positive toe angle for burnout start.

2. The vehicle high-speed start control method according to claim 1, characterized in that, The high-speed start-up condition signals include accelerator pedal opening, brake pedal opening, gear, vehicle speed, and the output speed of the power mechanism used to drive the vehicle. The step of determining whether the current vehicle is in high-speed start-up mode based on the high-speed start-up condition signal includes: When the gear position is in forward gear and the accelerator pedal opening and the brake pedal opening exceed the second threshold, or when the vehicle speed is 0 and the output speed exceeds the third threshold, it is determined that the current vehicle is in the high-speed start mode; otherwise, the current vehicle is in the non-high-speed start mode.

3. The vehicle high-speed start control method according to claim 2, characterized in that, When the vehicle switches back from the high-speed start mode to the non-high-speed start mode, all wheels are controlled to rotate back to the preset forward toe angle zero according to the first preset angular velocity.

4. The vehicle high-speed start control method according to claim 2, characterized in that, When in the high-speed start-up mode, controlling the left and right wheels on each axle of the vehicle to turn to a preset positive toe angle includes: The preset forward toe angle is controlled to change in a positive correlation with the output rotation speed.

5. The vehicle high-speed start control method according to claim 4, characterized in that, When in the high-speed start-up mode, controlling the left and right wheels on each axle of the vehicle to turn to a preset positive toe angle includes: Control the left and right drive wheels of the drive shaft to turn to the first preset forward toe angle; Control the left and right wheels of the non-drive axle to turn to the second preset forward toe angle.

6. The vehicle high-speed start control method according to claim 1, characterized in that, Determining whether the high-speed start mode has entered the burnout high-speed start state based on the real-time drive wheel speed includes: If the real-time drive wheel speed is greater than the fourth threshold, it is determined that the high-speed start mode has entered the burnout high-speed start state; otherwise, it enters the normal high-speed start state.

7. The vehicle high-speed start control method according to claim 6, characterized in that, The vehicle high-speed start control method also includes: When switching from the high-speed burnout start state to the normal high-speed start state, the wheel at the positive toe angle of the burnout start is controlled to rotate back to the preset superimposed toe angle zero according to the second preset angular velocity.

8. A control device, characterized in that, The control device includes: The acquisition module is used to acquire the vehicle's driving information, which includes a high-speed start-up condition signal and the real-time drive wheel speeds of the left and right drive wheels on the drive shaft. The judgment module is used to determine whether the current vehicle is in a high-speed start mode based on the high-speed start condition signal; to determine whether the high-speed start mode has entered a burnout high-speed start state based on the real-time drive wheel speed; and when entering the burnout high-speed start state, to determine whether the wheel speed difference between the real-time drive wheel speeds of the left and right drive wheels on the drive axle is greater than a first threshold. The control module is used to control the left and right wheels on each axle of the vehicle to turn to a preset positive toe angle when the vehicle is in the high-speed start mode; when the wheel speed difference is greater than the first threshold, the module controls the preset superimposed toe angle to be superimposed on the drive wheel on the side with the smaller real-time drive wheel speed on the drive axle, so as to turn to the positive toe angle for burnout start.

9. A vehicle, characterized in that, Includes the control device as described in claim 8.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the vehicle high-speed start control method according to any one of claims 1 to 7.

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