Vehicle control method, vehicle control system and vehicle

Abstract

The invention relates to a vehicle control method, a vehicle control system and a vehicle. The method comprises the steps that the distance from a vehicle to a target curve, the current radius of the target curve and the current driving speed of the vehicle are acquired; the target curve is the curve closest to the vehicle in the current driving direction. And under the condition that it is determined that the vehicle meets the preset air suite starting condition according to the distance, the current driving speed and the current radius, an actuator is controlled to start the air suite of the vehicle according to the current driving speed and the current radius. The opening conditions of the air suite include that the distance is within a preset distance range, the current driving speed is larger than or equal to a preset speed threshold value, and the current radius is smaller than or equal to a preset radius threshold value. By means of the method, the downward pressure on the vehicle can be increased in time, so that the turning stability of the vehicle is improved, and the problem that in the prior art, the vehicle control effect is poor due to the fact that the air suite is opened lagging is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a vehicle control method, a vehicle control system and a vehicle. BACKGROUND

[0002] With the development of vehicle control technology, the fixed kit in the vehicle can be improved at present, so as to design an active aerodynamic kit. The active aerodynamic kit can dynamically control the movable parts in the active aerodynamic kit according to the real-time driving state, working condition and external environment change of the vehicle.

[0003] However, the control effect of the control method of the active aerodynamic kit is not good. SUMMARY

[0004] Therefore, it is necessary to provide a vehicle control method, a vehicle control system and a vehicle to improve the control effect of the active aerodynamic kit.

[0005] In a first aspect, the present application provides a vehicle control method, comprising:

[0006] obtaining a distance from a vehicle to a target curve, a current radius of the target curve and a current driving speed of the vehicle; the target curve is the closest curve to the vehicle in the current driving direction;

[0007] In the case where it is determined that the vehicle meets a preset air kit opening condition according to the distance, the current driving speed and the current radius, the air kit of the vehicle is opened by the actuator according to the current driving speed and the current radius; the air kit opening condition includes that the distance is within a preset distance range, and the current driving speed is greater than or equal to a preset speed threshold, and the current radius is less than or equal to a preset radius threshold.

[0008] In one of the embodiments, the air kit of the vehicle is opened by the actuator according to the current driving speed and the current radius, comprising:

[0009] controlling the actuator to open a front spoiler and a rear diffuser in the air kit;

[0010] determining a current speed state of the vehicle according to the current driving speed and a driving speed at a previous time;

[0011] if the current speed state is a vehicle speed rising state, the angle of the tail wing in the air kit is adjusted by the actuator according to a first angle adjustment strategy according to the current driving speed and the current radius;

[0012] if the current speed state is a vehicle speed decreasing state, controlling the actuator to adjust an angle of a tail wing in the air kit according to a second angle adjustment strategy based on the current driving speed and the current radius;

[0013] if the current speed state is a vehicle speed stable state, controlling the actuator to keep an open-close state of the air kit.

[0014] In one of the embodiments, controlling the actuator to adjust the angle of the tail wing in the air kit according to the first angle adjustment strategy based on the current driving speed and the current radius comprises:

[0015] if the current driving speed is within a first speed range and the current radius is within a first radius range, controlling the actuator to adjust the angle of the tail wing to a first angle;

[0016] if the current driving speed is within a second speed range and the current radius is within a second radius range, controlling the actuator to adjust the angle of the tail wing to a second angle; the first angle is smaller than the second angle.

[0017] In one of the embodiments, controlling the actuator to adjust the angle of the tail wing in the air kit according to the second angle adjustment strategy based on the current driving speed and the current radius comprises:

[0018] if the current driving speed is within a third speed range and the current radius is within a third radius range, controlling the actuator to adjust the angle of the tail wing in the air kit to the second angle;

[0019] if the current driving speed is within a fourth speed range and the current radius is within a fourth radius range, controlling the actuator to adjust the angle of the tail wing to the first angle.

[0020] In one of the embodiments, the method further comprises:

[0021] if it is detected that the vehicle is in a passed curve state, controlling the actuator to close the air kit.

[0022] In one of the embodiments, the method further comprises:

[0023] if it is detected that the vehicle is in a curve driving state, controlling the actuator to adjust the angle of the tail wing in the air kit to a third angle.

[0024] In one of the embodiments, the method further comprises:

[0025] determining a current state of the air kit if the vehicle does not satisfy the air kit opening condition;

[0026] controlling the actuator to close the air kit if the current state is determined to be the open state;

[0027] controlling the actuator to keep the air kit in the closed state if the current state is determined to be the closed state.

[0028] In a second aspect, the present application further provides a vehicle control system, comprising a smart driving perception system, a driving information collector, a controller and an actuator; the smart driving perception system, the driving information collector and the actuator are connected to the controller;

[0029] The smart driving perception system is configured to feed back, to the controller, a distance from the vehicle to a target curve and a current radius of the target curve; the target curve is the closest curve to the vehicle in the current driving direction;

[0030] The driving information collector is configured to send, to the controller, a current driving speed of the vehicle;

[0031] The controller is configured to, if it is determined that the vehicle satisfies a preset air kit opening condition according to the distance, the current driving speed and the current radius, control the actuator to open an air kit of the vehicle according to the current driving speed and the current radius; the air kit opening condition comprises that the distance is within a preset distance range, the current driving speed is greater than or equal to a preset speed threshold, and the current radius is less than or equal to a preset radius threshold.

[0032] In a third aspect, the present application further provides a vehicle comprising a memory and a processor; the memory stores a computer program; and the processor implements the vehicle control method of the first aspect when executing the computer program.

[0033] The vehicle control method described above, before the vehicle enters the target curve, the vehicle can determine whether the vehicle satisfies the air kit opening condition by sensing the distance information between the vehicle and the target curve, the current radius of the target curve and the current driving speed of the vehicle, and when the vehicle satisfies the air kit opening condition, the actuator is immediately controlled to open the air kit of the vehicle in combination with the current driving speed of the vehicle and the current radius of the target curve, which realizes the air kit to be opened in advance before driving to the target curve, so as to ensure that the downforce on the vehicle can be increased in time when the vehicle passes the curve in the later stage, thereby improving the stability of the vehicle in passing the curve and solving the problem of poor vehicle control effect caused by the lag of opening the air kit in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the following will briefly introduce the drawings needed to be used in the embodiments of the present application or the related art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other related drawings can also be obtained on the basis of these drawings without creative labor.

[0035] Figure 1 An application environment diagram of a vehicle control method in an embodiment;

[0036] Figure 2 A flowchart of a vehicle control method in an embodiment;

[0037] Figure 3 A flowchart of an opening step in an embodiment;

[0038] Figure 4 A flowchart of an adjusting step of a tail fin angle in an embodiment;

[0039] Figure 5 A flowchart of an adjusting step of a tail fin angle in another embodiment;

[0040] Figure 6 A gear diagram of a tail fin in an embodiment;

[0041] Figure 7 A flowchart of a vehicle control method in another embodiment;

[0042] Figure 8 A flowchart of a vehicle control method in an optional embodiment;

[0043] Figure 9 A structural block diagram of a vehicle control device in an embodiment;

[0044] Figure 10 An internal structure diagram of a controller in an embodiment. DETAILED DESCRIPTION

[0045] In order to make the purposes, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0046] It should be noted that the terms "first", "second", etc. used in the present application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "include" and "have" and any variations thereof used in the present application are intended to cover non-exclusive inclusion. The term "a plurality of" used in the present application refers to two or more. The term "and / or" used in the present application refers to one of the options or any combination of the options.

[0047] Traditional automobile aerodynamic kits are fixed when the vehicle is designed and manufactured, such as common fixed spoilers, fixed air dams, fixed diffusers, etc. Although the above fixed kits improve the aerodynamic performance of the vehicle to some extent, for example, the fixed spoiler can generate a certain downforce at high speed to enhance the grip of the vehicle. However, the limitations of the above fixed kits are also very obvious. The fixed kits cannot be adaptively adjusted according to the real-time driving state, working condition and external environment changes of the vehicle. For example, when driving at low speed, the fixed spoiler will increase the wind resistance, resulting in an increase in energy consumption, affecting the fuel economy of the vehicle or the cruising range of the electric vehicle.

[0048] With the development of vehicle control technology, the fixed kits in the vehicle can be improved at present, so as to design active aerodynamic kits. The active aerodynamic kits can dynamically control the movable components in the active aerodynamic kits according to the real-time driving state, working condition and external environment changes of the vehicle.

[0049] At present, in order to give priority to the economy of the vehicle, the active aerodynamic kit is only opened when the vehicle is driving at high speed. However, the opening of the active aerodynamic kit requires a certain time, so the above control method will cause the vehicle to be unable to open the active aerodynamic kit in time when driving around the curve, so as to cause the vehicle to be unable to increase the downforce in time when driving around the curve, thereby reducing the stability of the vehicle when driving around the curve. Therefore, the current control method of the active aerodynamic kit has the problem of poor control effect.

[0050] In view of this, the embodiments of the present application propose a vehicle control method, a vehicle control system and a vehicle, which ensure that the active aerodynamic kit can be controlled to open in advance when the vehicle is driving around the curve, so as to increase the downforce on the vehicle in time, thereby improving the stability of the vehicle when driving around the curve.

[0051] It should be noted that the beneficial effects or technical problems solved by the embodiments of the present application are not limited to this, but also other implicit or related problems. For details, please refer to the description of the following embodiments.

[0052] The vehicle control method provided by the embodiments of the present application can be applied to a vehicle control system as shown in the figure. Figure 1 The vehicle control system comprises an intelligent driving perception system 11, a driving information collector 12, a controller 13 and an actuator 14. The intelligent driving perception system 11, the driving information collector 12 and the actuator 14 are all in signal connection with the controller 13.

[0053] The intelligent driving perception system 11 is configured to feed back to the controller 13 the distance from the vehicle to a target curve and the curve information of the target curve. The distance from the vehicle to the target curve comprises the distance between the current position of the vehicle and the starting point of the target curve in the driving direction. The target curve is the curve closest to the vehicle in the driving direction.

[0054] For example, the intelligent driving perception system 11 can comprise but is not limited to a front camera and / or a laser radar, etc. The front camera and / or the laser radar are both configured to scan the front road in the driving direction in real time and identify the curve information of the target curve in the front road. For example, the curve information can comprise but is not limited to the position of the starting point of the target curve, the current radius and the length, etc. In addition, the front camera and / or the laser radar are also configured to obtain the position information of the starting point of the target curve and the position information of the vehicle, and calculate the distance from the starting point of the target curve to the vehicle.

[0055] The driving information collector 12 is configured to collect the current driving information of the vehicle and send the collected current driving information to the controller 13. In a possible implementation, the driving information collector 12 can comprise various types of vehicle state sensors, such as a vehicle speed sensor, an acceleration sensor and a steering wheel angle sensor, etc. The vehicle speed sensor is configured to collect the current driving speed of the vehicle. The acceleration sensor is configured to collect the longitudinal acceleration and the lateral acceleration of the vehicle. The longitudinal acceleration refers to the acceleration of the vehicle along the motion direction (i.e. the speed direction). The lateral acceleration refers to the acceleration of the vehicle in the direction perpendicular to the motion direction (such as the lateral direction when turning). The steering wheel angle sensor is configured to collect the steering wheel angle of the vehicle to monitor the steering intention of the driver.

[0056] The controller 13 is configured to determine whether the vehicle satisfies a preset air kit opening condition according to the distance from the vehicle to the target curve, the current radius of the target curve provided by the intelligent driving perception system 11 and the current driving speed of the vehicle provided by the driving information collector 12, and control the actuator 14 to open the air kit of the vehicle according to the current driving speed of the vehicle provided by the driving information collector 12 and the current radius of the target curve provided by the intelligent driving perception system 11 when the vehicle satisfies the air kit opening condition. The air kit opening condition comprises that the distance is within a preset distance range, the current driving speed is greater than or equal to a preset speed threshold, and the current radius is less than or equal to a preset radius threshold.

[0057] In an example implementation, the controller 13 is configured to generate the control instruction of the air kit according to the current driving information of the vehicle and the curve information of the target curve, and output the control instruction of the air kit to the actuator 14. Thus, the actuator 14 executes the control instruction to open the air kit of the vehicle.

[0058] For example, the controller 13 includes a high-performance microprocessor configured to implement the fast processing and decision described above. The controller 13 pre-stores at least one mapping relationship, for example, the mapping relationship can include but is not limited to a mapping table of the relationship between the vehicle speed, the radius, and the spoiler gear, etc. The controller 13 is also provided with a communication interface supporting data interaction with the intelligent driving perception system 11, the driving information collector 12, the vehicle CAN (Controller Area Network) bus, and the actuator 14.

[0059] Optionally, the actuator 14 can include a cylinder, an electric push rod, a motor, an electric tail machine, a rotary electric actuator, etc. For example, the air kit can include but is not limited to a front spoiler (i.e., a front air dam), a rear diffuser, a spoiler, etc. The front spoiler is used to adjust the air flow of the front part (i.e., the head part) of the vehicle, and the controller 13 is configured to control the actuator 14 to deploy (i.e., open) or retract (i.e., close) the front spoiler, where the actuator 14 can include a cylinder, an electric push rod, a motor, etc. The rear diffuser is used to adjust the air flow of the rear part (i.e., the tail part) of the vehicle, and the controller 13 is configured to control the actuator 14 to deploy (i.e., open) or retract (i.e., close) the rear diffuser to adjust the diffusion angle of the rear diffuser, thereby optimizing the air flow of the rear part of the vehicle, where the actuator 14 can include a cylinder, an electric push rod, a motor, etc. The spoiler is used to provide downforce for the vehicle, and the controller 13 is configured to control the actuator 14 to adjust the spoiler to different angles to provide different sizes of downforce at different angles, where the actuator 14 can include an electric tail machine, a rotary electric actuator, etc.

[0060] Those skilled in the art can understand that, Figure 1 The structure shown in FIG. 13 is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the controller to which the scheme of the present application is applied. Specifically, the controller can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0061] In some example embodiments, as Figure 2 shown, a vehicle control method is provided, and the method applied to the controller in Figure 1 will be described by way of example, which can include the following steps:

[0062] S201, obtain a distance from the vehicle to a target curve, a current radius of the target curve, and a current driving speed of the vehicle.

[0063] The distance is a distance between the vehicle and a starting point of the target curve. The target curve is a curve closest to the vehicle in a current driving direction of the vehicle. The current driving speed of the vehicle is a driving speed of the vehicle at a current time. The vehicle can include, but is not limited to, an electric vehicle, etc.

[0064] The current radius of the target curve is a current radius of the target curve detected by the intelligent driving perception system at the current time, and the current radius of the target curve changes with the position of the vehicle. The current radius of the target curve detected by the intelligent driving perception system at the current time based on the detected curvature of the curve, wherein the curvature of the curve detected by the intelligent driving perception system changes with the position of the vehicle, so the current radius of the curve detected by the intelligent driving perception system at different times changes, and as the vehicle gets closer and closer to the curve, the curvature of the curve detected by the intelligent driving perception system becomes smaller, and the current radius detected by the intelligent driving perception system becomes smaller at this time.

[0065] In the embodiment of the application, the vehicle is provided with an intelligent driving perception system. The vehicle can use the intelligent driving perception system to scan the road in front of the current driving direction in real time to identify the target curve closest to the vehicle in the road in front of the vehicle, and collect the current radius of the target curve and the position of the starting point in real time. Then, the intelligent driving perception system can further determine the distance between the position of the starting point of the target curve and the current position of the vehicle. The intelligent driving perception system can send the distance from the vehicle to the target curve and the current radius of the target curve to the controller, or the controller obtains the distance from the vehicle to the target curve and the current radius of the target curve from the intelligent driving perception system.

[0066] S202, in a case where it is determined that the vehicle meets a preset air kit opening condition according to the distance, the current driving speed, and the current radius, the controller controls the actuator to open the air kit of the vehicle according to the current driving speed and the current radius.

[0067] The air kit opening condition is a condition that can ensure that the air kit is opened in time. The air kit opening condition includes that the distance is within a preset distance range, the current driving speed is greater than or equal to a preset speed threshold, and the current radius is less than or equal to a preset radius threshold.

[0068] The preset distance range represents a distance range in which the vehicle is close to the starting point of the target curve, and the preset radius threshold represents a radius of the target curve corresponding to the vehicle preparing to turn. The preset distance range and the preset speed threshold can be determined in advance according to the sensing performance of the intelligent driving sensing system on the vehicle. It is explained here that the sensing performance of the intelligent driving sensing system on different vehicles is different, and the corresponding preset distance range and preset speed threshold are also different, so the preset distance range and preset speed threshold can be dynamically adjusted according to the performance change of the specific intelligent driving sensing system.

[0069] The preset speed threshold represents the vehicle speed at which the air kit needs to be turned on, and the preset speed threshold can be determined in advance according to the sensor performance of the driving information collector on the vehicle. It is explained here that the sensor performance of the driving information collector on different vehicles is different, and the corresponding preset speed threshold is also different, so the preset speed threshold can be dynamically adjusted according to the performance change of the specific driving information collector.

[0070] The air kit includes a front spoiler (i.e., a front air dam), a rear diffuser, a tail wing, etc., and the actuator includes any one of a cylinder, an electric push rod, an electric motor, an electric tail machine, and a rotary electric actuator.

[0071] In the embodiment of the application, after the controller obtains the distance information of the vehicle to the target curve, the current radius of the target curve, and the current driving speed of the vehicle based on the foregoing steps, it can further determine whether the distance, the current driving speed, and the current radius meet the preset air kit opening condition. For example, if the distance is within the preset distance range, and the current driving speed is greater than or equal to the preset speed threshold, and the current radius is less than or equal to the preset radius threshold, it indicates that the vehicle meets the air kit opening condition.

[0072] In this scenario, the intelligent driving sensing system on the vehicle can collect the current radius of the target curve in real time, and the driving information collector on the vehicle can collect the current driving speed of the vehicle in real time. Correspondingly, the controller can obtain the current radius of the target curve from the above intelligent driving sensing system, and obtain the current driving speed of the vehicle from the driving information collector. Thus, the controller can control the actuator to open the front spoiler and the rear diffuser, and determine the opening angle of the tail wing according to the current driving speed of the vehicle and the current radius of the target curve, and control the actuator to adjust the opening angle of the tail wing.

[0073] The vehicle control method can determine whether the vehicle meets the air kit opening condition by sensing distance information between the vehicle and the target curve, a current radius of the target curve and a current driving speed of the vehicle before the vehicle enters the target curve, and immediately control the actuator to open the air kit of the vehicle in combination with the current driving speed of the vehicle and the current radius of the target curve when the vehicle meets the air kit opening condition, so as to open the air kit in advance before driving to the target curve, so as to ensure that the downforce on the vehicle can be increased in time when the vehicle passes the curve later, thereby improving the stability of the vehicle in passing the curve, and solving the problem of poor vehicle control effect caused by the lag of opening the air kit in the prior art.

[0074] In one embodiment, as shown in Figure 3 An implementation of controlling the actuator to open the air kit, i.e., "controlling the actuator to open the air kit of the vehicle according to the current driving speed and the current radius" in S202, comprises:

[0075] S301, controlling the actuator to open the front spoiler and the rear diffuser in the air kit.

[0076] In the embodiments of the present application, when it is determined that the vehicle meets the air kit opening condition, an opening instruction can be immediately sent to the actuator, so that the actuator executes the opening instruction to open the front spoiler and the rear diffuser in the air kit.

[0077] S302, determining the current speed state of the vehicle according to the current driving speed and the driving speed at the previous time; if the current speed state is a vehicle speed rising state, executing S303; if the current speed state is a vehicle speed falling state, executing S304; if the current speed state is a vehicle speed stable state, executing S305.

[0078] Wherein, the current driving speed is the driving speed at the current time; the driving speed at the previous time is the driving speed at the time before the current time. Here, the measurement unit of the current time and the previous time is second. The current speed state can include but is not limited to the vehicle speed rising state, the vehicle speed falling state, the vehicle speed stable state, etc.

[0079] In the embodiments of the present application, the driving information collector can send the driving speed at multiple times to the controller in real time or at regular intervals, so that the controller can receive the driving speed at multiple times in real time or at regular intervals. Wherein, the driving speed at multiple times can include but is not limited to the current driving speed (i.e., the current driving speed), the driving speed at the time before the current time, etc. Further, the controller can compare the current driving speed and the driving speed at the time before the current time to determine the current speed state of the vehicle.

[0080] For example, if the current driving speed is greater than the driving speed at the previous time, the controller can determine that the current speed state of the vehicle is a speed-up state. If the current driving speed is less than the driving speed at the previous time, the controller can determine that the current speed state of the vehicle is a speed-down state. If the current driving speed is equal to the driving speed at the previous time, the controller can determine that the current speed state of the vehicle is a speed-stable state.

[0081] S303, according to the current driving speed and the current radius, the controller controls the actuator to adjust the angle of the tail fin in the air kit according to the first angle adjustment strategy.

[0082] The first angle adjustment strategy is used to adjust the angle of the tail fin when the current speed state is a speed-up state. The first angle adjustment strategy includes a corresponding relationship between different driving speeds of the vehicle, different current radii of the curve, and different tail fin angles.

[0083] The embodiments of the present application relate to a method for adjusting the tail fin when the vehicle is in a speed-up state. Specifically, the controller can first obtain the first angle adjustment strategy corresponding to the speed-up state according to the corresponding relationship between the speed state and the angle adjustment strategy, then determine the target tail fin angle in the speed-up state according to the current driving speed of the vehicle and the current radius of the target curve in combination with the first angle strategy, generate the target adjustment instruction in the speed-up state according to the target tail fin angle in the speed-up state, and control the actuator to adjust the angle of the tail fin in the air kit to the corresponding target tail fin angle according to the target adjustment instruction in the speed-up state.

[0084] S304, according to the current driving speed and the current radius, the controller controls the actuator to adjust the angle of the tail fin in the air kit according to the second angle adjustment strategy.

[0085] The second angle adjustment strategy is used to adjust the angle of the tail fin when the current speed state is a speed-down state. The second angle adjustment strategy includes a corresponding relationship between different driving speeds of the vehicle, different current radii of the curve, and different tail fin angles.

[0086] The embodiments of the present application relate to a method for adjusting the tail fin when the vehicle is in a speed-down state. Specifically, the controller can first obtain the second angle adjustment strategy corresponding to the speed-up state according to the corresponding relationship between the speed state and the angle adjustment strategy, then determine the target tail fin angle in the speed-down state according to the current driving speed of the vehicle and the current radius of the target curve in combination with the second angle strategy, generate the target adjustment instruction in the speed-down state according to the target tail fin angle in the speed-down state, and control the actuator to adjust the angle of the tail fin in the air kit to the corresponding target tail fin angle according to the target adjustment instruction in the speed-down state.

[0087] S305, the controller controls the actuator to keep the opening and closing state of the air kit unchanged.

[0088] The opening and closing state includes an open state or a closed state.

[0089] The embodiments of the present application relate to a method for adjusting the spoiler when the vehicle is in a stable speed state, specifically, the controller can control the actuator to keep the open state or closed state of the air kit unchanged, so as to ensure that the opening and closing state of the air kit is stable when the vehicle is in a stable speed state.

[0090] The method of the above embodiment can improve the accuracy of spoiler angle control by distinguishing different speed states of the vehicle to control the angle of the spoiler in the air kit.

[0091] In an exemplary embodiment, a method for adjusting the angle of the spoiler according to the current driving speed and the current radius according to a first angle adjustment strategy is provided, as shown in Figure 4 The "controlling the actuator to adjust the angle of the spoiler in the air kit according to the first angle adjustment strategy according to the current driving speed and the current radius" in S303 above includes:

[0092] S401, determining the current driving speed of the vehicle and the current radius of the target curve; if the current driving speed is within a first speed range and the current radius is within a first radius range, performing S402; if the current driving speed is within a second speed range and the current radius is within a second radius range, performing S403.

[0093] S402, controlling the actuator to adjust the angle of the spoiler to a first angle.

[0094] S403, controlling the actuator to adjust the angle of the spoiler to a second angle.

[0095] The first speed range is used to evaluate whether the vehicle is in a high-speed driving state, and the second speed range is used to evaluate whether the vehicle is in an ultra-high-speed driving state. The first radius range is used to evaluate whether the distance between the current position of the vehicle and the current center point of the target curve is within a relatively short distance. It is explained here that the center point of the target curve refers to the arc center corresponding to the arc of the curve detected by the intelligent driving perception system, and the center point of the target curve changes with the radius. The second radius range is used to evaluate whether the distance between the current position of the vehicle and the current center point of the target curve is within a closer distance.

[0096] For example, assuming that the current driving speed is v and the current radius of the target curve is r, then as shown in Table 1, Table 1 is a mapping table between the current driving speed, the current radius and the angle of the spoiler, and Table 1 includes the optional values of each range, each threshold and each angle involved above. Among them, the first angle is less than the second angle.

[0097] Table 1 mapping relationship table between current driving speed, current radius and angle of tail wing

[0098]

[0099] In the embodiments of the present application, when the controller obtains the current driving speed of the vehicle and the current radius of the target curve, the current driving speed of the vehicle can be compared with the first speed range, and the current radius of the target curve can be compared with the first radius range.

[0100] If the current driving speed is in the first speed range and the current radius is in the first radius range, it indicates that the vehicle is currently in a high-speed driving state and is about to pass the curve, and the current position of the vehicle and the center point of the target curve are in a relatively close distance. In this scenario, the controller can determine a corresponding first angle according to the current driving speed and the current radius in combination with the first angle strategy, then generate a first adjustment instruction according to the first angle, and send the first adjustment instruction to the actuator, so that the actuator executes the first adjustment instruction to adjust the angle of the tail wing to the first angle. At this time, the angle of the tail wing is small, and the generated downforce is small, which can generate a downforce suitable for the current driving speed and the current radius while also ensuring the economy of the vehicle as much as possible.

[0101] When the controller obtains the current driving speed of the vehicle and the current radius of the target curve, the current driving speed of the vehicle can be compared with the second speed range, and the current radius of the target curve can be compared with the second radius range.

[0102] If the current driving speed is in the second speed range and the current radius is in the second radius range, it indicates that the vehicle is currently in a super high-speed driving state and is about to pass the curve, and the current position of the vehicle and the center point of the target curve are in a closer distance. In this scenario, the controller can determine a corresponding second angle according to the current driving speed and the current radius in combination with the first angle strategy, then generate a second adjustment instruction according to the second angle, and send the second adjustment instruction to the actuator, so that the actuator executes the second adjustment instruction to adjust the angle of the tail wing to the second angle. At this time, the angle of the tail wing is moderate, and the generated downforce is moderate, which can balance the downforce and the air resistance as much as possible.

[0103] In one exemplary embodiment, a method for adjusting the angle of the tail wing according to the second angle adjustment strategy according to the current driving speed and the current radius is provided, as shown in Figure 5 The "controlling the actuator to adjust the angle of the tail wing in the air kit according to the second angle adjustment strategy according to the current driving speed and the current radius" in the above S304 includes:

[0104] S501, determine a current driving speed of the vehicle and a current radius of the target curve; if the current driving speed is in a third speed range and the current radius is in a third radius range, execute S502; if the current driving speed is in a fourth speed range and the current radius is in a fourth radius range, execute S503.

[0105] S502, control the actuator to adjust the angle of the tail wing in the air kit to a second angle.

[0106] S503, control the actuator to adjust the angle of the tail wing to a first angle.

[0107] The third speed range is used to evaluate whether the driving speed of the vehicle decreases to a super high speed driving state, and the fourth speed range is used to evaluate whether the driving speed of the vehicle decreases to a high speed driving state. The fourth radius range is used to evaluate whether the distance between the current position of the vehicle and the current center point of the target curve is in a closer distance, and the third radius range is used to evaluate whether the distance between the current position of the vehicle and the current center point of the target curve is in a closer distance.

[0108] For example, assuming that the current driving speed is v and the current radius of the target curve is r, the optional values of the above-mentioned ranges, thresholds and angles can refer to Table 1.

[0109] In the embodiment of the application, when the controller obtains the current driving speed of the vehicle and the current radius of the target curve, the current driving speed of the vehicle can be compared with the third speed range, and the current radius of the target curve can be compared with the third radius range.

[0110] If the current driving speed is in the third speed range and the current radius is in the third radius range, it indicates that the vehicle is currently in a super high speed driving state and in a state of about to turn, and the current position of the vehicle and the center point of the target curve are in an extremely close distance. In this scenario, the controller can determine a corresponding second angle according to the current driving speed and the current radius in combination with a second angle strategy, generate a second adjustment instruction according to the second angle, and send the second adjustment instruction to the actuator, so that the actuator executes the second adjustment instruction to adjust the angle of the tail wing to the second angle. At this time, the angle of the tail wing is moderate, and the generated downforce is moderate, so that the downforce at this time can not only adapt to the current driving speed and the current radius, but also balance the air resistance as much as possible.

[0111] In the embodiment of the application, when the controller obtains the current driving speed of the vehicle and the current radius of the target curve, the current driving speed of the vehicle can be compared with the fourth speed range, and the current radius of the target curve can be compared with the fourth radius range.

[0112] If the current speed range is the fourth speed range and the current radius range is the fourth radius range, it indicates that the vehicle is currently in a high-speed driving state, is in a state of about to turn, and the current position of the vehicle is in a close distance to the center point of the target curve. In this scenario, the controller can determine a corresponding first angle according to the current speed range and the current radius range in combination with the second angle strategy, then generate a first adjustment instruction according to the first angle, and send the first adjustment instruction to the actuator, so that the actuator executes the first adjustment instruction to adjust the angle of the tail wing to the first angle. At this time, the angle of the tail wing is small, and the generated downforce is small, which can generate a downforce suitable for the current speed range and the current radius range while also ensuring the economy of the vehicle as much as possible.

[0113] In an example embodiment, a method for controlling the actuator to close the air kit is provided, i.e., the above method further comprises:

[0114] If it is detected that the vehicle is in a post-turning state, the actuator is controlled to close the air kit.

[0115] The post-turning state is a state in which the vehicle has driven out of the target curve. In combination with Table 1, if the current speed of the vehicle is less than the first speed threshold and the current radius of the target curve is greater than the first radius threshold, it indicates that the vehicle is in the post-turning state.

[0116] In the embodiments of the present application, when the controller obtains the current speed of the vehicle and the current radius of the target curve, the current speed of the vehicle can be compared with the first speed threshold, and the current radius of the target curve can be compared with the first radius threshold.

[0117] If the current speed of the vehicle is less than the first speed threshold and the current radius of the target curve is greater than the first radius threshold, it indicates that the vehicle has driven out of the target curve, and the controller can control the actuator to close the air kit, i.e., to close the front spoiler and the rear diffuser, and to adjust the angle of the tail wing to 0 degree, so that the angle of the tail wing can be reduced in time when the vehicle has turned, to ensure the economy of the vehicle.

[0118] In an example embodiment, a method for controlling the actuator to close the air kit is provided, i.e., the above method further comprises:

[0119] If it is detected that the vehicle is in a post-turning state, the actuator is controlled to close the air kit.

[0120] The post-turning state is a state in which the vehicle has driven out of the target curve. In combination with Table 1, if the current speed of the vehicle is less than the first speed threshold and the current radius of the target curve is greater than the first radius threshold, it indicates that the vehicle is in the post-turning state.

[0121] As shown in Figure 6 , Figure 6 is a schematic diagram of gears of the tail wing in an embodiment, wherein the tail wing can be divided into a closed gear, a low gear, a middle gear and a high gear, the low gear represents that the angle of the tail wing is a first angle, the middle gear represents that the angle of the tail wing is a second angle, and the high gear represents that the angle of the tail wing is a third angle.

[0122] In the embodiment of the present application, when the controller obtains the current driving speed of the vehicle and the current radius of the target curve, the controller can compare the current driving speed of the vehicle with the second speed threshold and compare the current radius of the target curve with the second radius threshold.

[0123] If the current driving speed of the vehicle is less than the second speed threshold and the current radius of the target curve is greater than the second radius threshold, it indicates that the vehicle is currently turning, the controller can determine a corresponding third angle, then generate a third adjustment instruction according to the third angle, and send the third adjustment instruction to the actuator, so that the actuator executes the third adjustment instruction to adjust the angle of the tail wing to the third angle. The second angle is less than the third angle.

[0124] In an exemplary embodiment, as shown in Figure 7 , the vehicle control method further comprises:

[0125] S203, in the case where the vehicle does not satisfy the air kit opening condition, determining a current state of the air kit. If the current state is an open state, S204 is executed; if it is determined that the current state is a closed state, S205 is executed.

[0126] S204, controlling the actuator to close the air kit.

[0127] S205, controlling the actuator to maintain the closed state of the air kit.

[0128] The current state of the air kit includes an open state and a closed state, the open state indicates that the air kit is in an open mode at the current moment, and the closed state indicates that the air kit is in a closed mode at the current moment.

[0129] In the embodiment of the present application, when the vehicle does not satisfy the air kit opening condition, it indicates that at least one of the distance between the vehicle and the target curve, the current driving speed, and the turning state of the vehicle is not suitable for opening the air kit at this moment. At this moment, the controller can further obtain the position information of the air kit collected by the position sensor, and determine the current state of the air kit according to the position information of the air kit.

[0130] If the current state of the air kit is the open state, indicating that the air kit is in the open mode, the controller can control the actuator to close the air kit to ensure the economy of the vehicle, which can reduce the energy consumption of the vehicle.

[0131] If it is determined that the current state is the closed state, indicating that the air kit is in the closed mode, the controller does not need to control the actuator to adjust the opening and closing state of the air kit, so that the air kit remains in the closed state, thereby ensuring the economy of the vehicle and reducing the energy consumption of the vehicle.

[0132] In addition, the controller can also monitor the opening state of each air kit in real time or at a fixed time according to the position information of each air kit collected by the position sensor, so as to ensure that the actuator can control each air kit to successfully open. Then, if the intelligent driving perception system feeds back to the controller that the vehicle has passed the target bend, the controller can control the actuator to restore the air kit to the closed state, which can improve the economy and energy consumption of the vehicle.

[0133] In combination with all the above embodiments, the application also provides a vehicle control method, as shown in the accompanying drawings, which comprises: Figure 8

[0134] S601, acquiring the distance of the vehicle to the target bend, the current radius of the target bend and the current driving speed of the vehicle.

[0135] S602, determining whether the distance is within the preset distance range, whether the current driving speed is greater than or equal to the preset speed threshold, and whether the current radius is less than or equal to the preset radius threshold. If the distance is within the preset distance range, and the current driving speed is greater than or equal to the preset speed threshold, and the current radius is less than or equal to the preset radius threshold, S603 is executed; if the distance is not within the preset distance range, or the current driving speed is less than the preset speed threshold, or the current radius is greater than the preset radius threshold, S611 is executed.

[0136] S603, determining whether the vehicle meets the air kit opening condition.

[0137] S604, controlling the actuator to open the front spoiler and the rear diffuser in the air kit.

[0138] S605, determining the current speed state of the vehicle according to the current driving speed and the driving speed at the previous moment. If the current speed state is the vehicle speed rising state, S606 is executed; if the current speed state is the vehicle speed falling state, S607 is executed. If the current speed state is the vehicle speed stable state, S608 is executed.

[0139] S606, according to the current driving speed and the current radius, the controller controls the actuator to adjust the angle of the air kit according to the first angle adjustment strategy.​

[0140] S607, based on the current driving speed and current radius, controls the actuator to adjust the angle of the tail wing in the aerodynamic kit according to the second angle adjustment strategy.

[0141] S608 controls the actuator to maintain the open / closed state of the air kit.

[0142] S609: If the vehicle is detected to be cornering, the control actuator will adjust the angle of the rear wing to the third angle.

[0143] S610, if it detects that the vehicle has already turned a corner, controls the actuator to shut down the air kit.

[0144] S611, it has been determined that the vehicle does not meet the conditions for opening the air kit.

[0145] S612, when the vehicle does not meet the conditions for opening the air system, determine the current state of the air system. If the current state is open, execute S613; if the current state is determined to be closed, execute S614.

[0146] S613, control actuator to shut off air kit.

[0147] S614 controls the actuator to keep the air kit closed.

[0148] The specific implementation of the vehicle control method can be found in the above embodiments, and will not be repeated here.

[0149] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0150] Based on the same inventive concept, the embodiments of the present application also provide a vehicle control device for implementing the vehicle control method described above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more vehicle control device embodiments provided below can refer to the limitations of the vehicle control method described above, which will not be repeated here.

[0151] In one exemplary embodiment, as shown in Figure 9 A vehicle control device is provided, comprising: an acquisition module 701 and a control module 702, wherein:

[0152] The acquisition module 701 is configured to acquire a distance from a target curve of a vehicle, a current radius of the target curve, and a current driving speed of the vehicle; the target curve is the closest curve to the vehicle in the current driving direction.

[0153] The control module 702 is configured to, in a case where it is determined that the vehicle meets a preset air kit opening condition according to the distance, the current driving speed, and the current radius, control an actuator to open an air kit of the vehicle according to the current driving speed and the current radius; the air kit opening condition includes that the distance is within a preset distance range, and the current driving speed is greater than or equal to a preset speed threshold, and the current radius is less than or equal to a preset radius threshold.

[0154] In one embodiment, the control module 702 comprises:

[0155] An opening unit is configured to control the actuator to open a front spoiler and a rear diffuser in the air kit.

[0156] A first determination unit is configured to determine a current speed state of the vehicle according to the current driving speed and a driving speed at a previous time.

[0157] A first adjustment unit is configured to, if the current speed state is a vehicle speed rising state, control the actuator to adjust an angle of a tail fin in the air kit according to a first angle adjustment strategy according to the current driving speed and the current radius.

[0158] A second adjustment unit is configured to, if the current speed state is a vehicle speed falling state, control the actuator to adjust the angle of the tail fin in the air kit according to a second angle adjustment strategy according to the current driving speed and the current radius.

[0159] A third adjustment unit is configured to, if the current speed state is a vehicle speed stable state, control the actuator to keep an opening and closing state of the air kit.

[0160] In one embodiment, the first adjustment unit is specifically configured to:

[0161] If the current driving speed is in the first speed range and the current radius is in the first radius range, the control executor adjusts the angle of the tail wing to a first angle.

[0162] If the current driving speed is in the second speed range and the current radius is in the second radius range, the control executor adjusts the angle of the tail wing to a second angle; the first angle is smaller than the second angle.

[0163] In one of the embodiments, the second adjusting unit is specifically configured to:

[0164] If the current driving speed is in the third speed range and the current radius is in the third radius range, the control executor adjusts the angle of the tail wing in the air kit to the second angle.

[0165] If the current driving speed is in the fourth speed range and the current radius is in the fourth radius range, the control executor adjusts the angle of the tail wing to the first angle.

[0166] In one of the embodiments, the vehicle control device further comprises:

[0167] The closing module is configured to control the executor to close the air kit if it is detected that the vehicle is in the post-bending state.

[0168] In one of the embodiments, the vehicle control device further comprises:

[0169] The adjusting module is configured to control the executor to adjust the angle of the tail wing to a third angle if it is detected that the vehicle is in the post-bending driving state.

[0170] In one of the embodiments, the vehicle control device further comprises:

[0171] The fifth determining module is configured to determine the current state of the air kit if the vehicle does not satisfy the air kit opening condition.

[0172] The control closing module is configured to control the executor to close the air kit if it is determined that the current state is the opening state.

[0173] The control maintaining module is configured to control the executor to maintain the closed state of the air kit if it is determined that the current state is the closed state.

[0174] The modules in the vehicle control device can be realized by software, hardware, or a combination thereof. The modules can be embedded in or independent of the processor in the controller in hardware form, or stored in the memory in the controller in software form, so as to be called and executed by the processor.

[0175] In an example embodiment, a controller, which can be a terminal, has an internal structure diagram as shown in Figure 10 The controller includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, the memory, and the input / output interface are connected through a system bus. The communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. The processor of the controller is configured to provide computing and control capabilities. The memory of the controller includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The input / output interface of the controller is configured to exchange information between the processor and external devices. The communication interface of the controller is configured to perform wired or wireless communication with external terminals. The wireless communication can be achieved through WIFI, mobile cellular network, Near Field Communication (NFC), or other technologies. The computer program is executed by the processor to implement a vehicle control method. The display unit of the controller is configured to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the controller can be a touch layer overlaid on the display screen, or a key, a trackball, or a touchpad arranged on the housing of the controller, or an external keyboard, touchpad, or mouse, etc.

[0176] Those skilled in the art can understand that Figure 10 The structure shown in the above embodiment is only a block diagram of part of the structure related to the scheme of the present application, and does not limit the controller to which the scheme of the present application is applied. The specific controller can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0177] In an example embodiment, a controller is provided, which includes a memory and a processor. The memory stores a computer program. The processor executes the computer program to implement the steps in the above method embodiments.

[0178] In an example embodiment, a vehicle is provided, which includes a memory and a processor. The memory stores a computer program. The processor executes the computer program to implement the steps in the above method embodiments.

[0179] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing relevant hardware. The computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, the processes of the above-mentioned embodiment methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without being limited thereto.

[0180] The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, it should be considered as the scope of the present application.

[0181] The above embodiments only express several implementation ways of the present application, and the description is specific and detailed, but it should not be understood as a limitation to the patent scope of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A vehicle control method, characterized in that, The method includes: The distance from the vehicle to the target curve, the current radius of the target curve, and the current speed of the vehicle are obtained; the target curve is the curve closest to the vehicle in the current direction of travel. If the vehicle meets the preset air kit activation conditions based on the distance, the current driving speed, and the current radius, the actuator is controlled to activate the vehicle's air kit based on the current driving speed and the current radius. The air kit activation conditions include: the distance is within a preset distance range, the current driving speed is greater than or equal to a preset speed threshold, and the current radius is less than or equal to a preset radius threshold.

2. The method according to claim 1, characterized in that, Based on the current driving speed and the current radius, the actuator is controlled to activate the vehicle's aerodynamic kit, including: Control the actuator to open the front spoiler and rear diffuser in the air kit; The current speed state of the vehicle is determined based on the current driving speed and the driving speed at the previous moment; If the current speed state is a vehicle speed increase state, then based on the current driving speed and the current radius, the actuator is controlled to adjust the angle of the rear wing in the aerodynamic kit according to the first angle adjustment strategy; If the current speed state is a vehicle speed decrease state, then based on the current driving speed and the current radius, the actuator is controlled to adjust the angle of the rear wing in the aerodynamic kit according to the second angle adjustment strategy; If the current speed state is a stable vehicle speed state, then control the actuator to maintain the open / closed state of the air kit.

3. The method according to claim 2, characterized in that, Based on the current driving speed and the current radius, control the actuator to adjust the angle of the tail wing in the aerodynamic kit according to the first angle adjustment strategy, including: If the current driving speed is within the first speed range and the current radius is within the first radius range, then control the actuator to adjust the angle of the tail wing to the first angle; If the current driving speed is within the second speed range and the current radius is within the second radius range, then control the actuator to adjust the angle of the tail wing to the second angle; the first angle is smaller than the second angle.

4. The method according to claim 2, characterized in that, Based on the current driving speed and the current radius, control the actuator to adjust the angle of the tail wing in the aerodynamic kit according to the second angle adjustment strategy, including: If the current driving speed is within the third speed range and the current radius is within the third radius range, then control the actuator to adjust the angle of the tail wing in the aerodynamic kit to the second angle; If the current driving speed is within the fourth speed range and the current radius is within the fourth radius range, then control the actuator to adjust the angle of the tail wing to the first angle.

5. The method according to claim 1, characterized in that, The method further includes: If the vehicle is detected to be in a corner, the actuator is controlled to shut down the air kit.

6. The method according to claim 1, characterized in that, The method further includes: If the vehicle is detected to be cornering, the actuator is controlled to adjust the angle of the rear wing in the aerodynamic kit to a third angle.

7. The method according to claim 1, characterized in that, The method further includes: If the vehicle does not meet the conditions for opening the air system, determine the current state of the air system. If the current state is determined to be the on state, then control the actuator to turn off the air assembly; If the current state is determined to be the off state, then the actuator is controlled to maintain the off state of the air kit.

8. A vehicle control system, characterized in that, The vehicle control system includes an intelligent driving perception system, a driving information collector, a controller, and an actuator; the intelligent driving perception system, the driving information collector, and the actuator are all connected to the controller; The intelligent driving perception system is used to feed back to the controller the distance from the vehicle to the target curve and the current radius of the target curve; the target curve is the curve closest to the vehicle in the current driving direction; The driving information collector is used to send the vehicle's current driving speed to the controller; The controller is configured to, when determining that the vehicle meets the preset conditions for opening the air kit based on the distance, the current driving speed, and the current radius, control the actuator to open the air kit of the vehicle based on the current driving speed and the current radius. The conditions for activating the air kit include: the distance is within a preset distance range, the current driving speed is greater than or equal to a preset speed threshold, and the current radius is less than or equal to a preset radius threshold.

9. A vehicle comprising a memory and a processor, said memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

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