Vehicle control method and device and vehicle

Abstract

The invention discloses a vehicle control method and device and a vehicle. The control method comprises the steps that when the actual driving track of the vehicle deviates from a preset driving track, the torque of at least one set of wheels in two sets of wheels of the vehicle is adjusted so as to reduce the deviation amount of the actual driving track relative to the preset driving track; wherein the two groups of wheels comprise a first group of wheels and a second group of wheels, the first group of wheels comprises a first wheel and a second wheel which are distributed diagonally, and the second group of wheels comprises a third wheel and a fourth wheel which are distributed diagonally.

Description

TECHNICAL FIELD

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

[0002] Vehicles such as but not limited to fuel vehicles and electric vehicles, during driving, often deviate from the intended driving track due to factors such as but not limited to bumping and skidding. The related art mainly uses a steering wheel to control the steering angle of the steering wheel to correct the deviation, so that the actual driving track of the vehicle does not deviate from the intended driving track. However, this correction control method has a great impact on the normal steering control of the vehicle. SUMMARY

[0003] The present application is proposed to solve at least one of the above problems. According to a first aspect of the present application, a control method of a vehicle is provided, the control method comprising: adjusting a torque of at least one of two groups of wheels of the vehicle to reduce a deviation of an actual driving track of the vehicle from a preset driving track when the actual driving track deviates from the preset driving track; wherein the two groups of wheels comprise a first group of wheels and a second group of wheels, the first group of wheels comprising a first wheel and a second wheel distributed in a diagonal manner, and the second group of wheels comprising a third wheel and a fourth wheel distributed in a diagonal manner.

[0004] In an embodiment of the present application, the adjusting the torque of at least one of the two groups of wheels of the vehicle to reduce the deviation of the actual driving track from the preset driving track comprises: adjusting the torque of at least one of the two groups of wheels according to a deviation direction of the actual driving track from the preset driving track to drive the vehicle to rotate in a direction opposite to the deviation direction.

[0005] In an embodiment of the present application, the driving the vehicle to rotate in the direction opposite to the deviation direction comprises: driving the vehicle to rotate around a center of mass of the vehicle in the direction opposite to the deviation direction.

[0006] In an embodiment of the present application, the adjusting the torque of at least one of the two groups of wheels to drive the vehicle to rotate in a direction opposite to the deviating direction comprises: when the actual driving track deviates from the preset driving track in a first direction, adjusting the torque of at least one of the two groups of wheels to drive the vehicle to rotate in a second direction; wherein the first direction and the second direction are opposite to each other; and when the actual driving track deviates from the preset driving track in the second direction, adjusting the torque of at least one of the two groups of wheels to drive the vehicle to rotate in the first direction.

[0007] In an embodiment of the present application, the adjusting the torque of at least one of the two groups of wheels to drive the vehicle to rotate in a direction opposite to the deviating direction comprises: when the torque of the first group of wheels is adjusted to reduce the deviation of the actual driving track from the preset driving track, one of the first wheel and the second wheel outputs a driving torque and the other outputs a braking torque to drive the vehicle to rotate in a direction opposite to the deviating direction; and when the torque of the second group of wheels is adjusted to reduce the deviation of the actual driving track from the preset driving track, one of the third wheel and the fourth wheel outputs a driving torque and the other outputs a braking torque to drive the vehicle to rotate in a direction opposite to the deviating direction.

[0008] In an embodiment of the present application, the vehicle is a four-wheel electric vehicle, the first motor on the vehicle is configured to output a torque to the first wheel, the second motor on the vehicle is configured to output a torque to the second wheel, the third motor on the vehicle is configured to output a torque to the third wheel, and the fourth motor on the vehicle is configured to output a torque to the fourth wheel; the outputting a driving torque to one of the first wheel and the second wheel and a braking torque to the other comprises: controlling one of the first motor and the second motor to output the driving torque and the other to output the braking torque; and the outputting a driving torque to one of the third wheel and the fourth wheel and a braking torque to the other comprises: controlling one of the third motor and the fourth motor to output the driving torque and the other to output the braking torque.

[0009] In an embodiment of the present application, the magnitude of the driving torque is equal to that of the braking torque.

[0010] In an embodiment of the present application, the adjusting the torque of at least one of the two groups of wheels of the vehicle to reduce the deviation of the actual driving trajectory from the preset driving trajectory comprises: adjusting the torque of at least one of the two groups of wheels until the actual driving trajectory of the vehicle does not deviate from the preset driving trajectory.

[0011] In an embodiment of the present application, the adjusting the torque of at least one of the two groups of wheels until the actual driving trajectory of the vehicle does not deviate from the preset driving trajectory comprises: employing a motion control algorithm to adjust the torque of at least one of the two groups of wheels with the preset driving trajectory as a target until the actual driving trajectory does not deviate from the preset driving trajectory.

[0012] In an embodiment of the present application, the adjusting the torque of at least one of the two groups of wheels of the vehicle to reduce the deviation of the actual driving trajectory from the preset driving trajectory comprises: adjusting the torque of at least one of the two groups of wheels to reduce the deviation of the actual driving trajectory from the preset driving trajectory without changing the steering angle of the steering wheel of the vehicle.

[0013] In an embodiment of the present application, the adjusting the torque of at least one of the two groups of wheels of the vehicle to reduce the deviation of the actual driving trajectory from the preset driving trajectory comprises: selecting one of the two groups of wheels as a deviation correction group of wheels; and adjusting the torque of the deviation correction group of wheels to reduce the deviation of the actual driving trajectory from the preset driving trajectory.

[0014] In an embodiment of the present application, while the torque of the deviation correction group of wheels is adjusted to reduce the deviation of the actual driving trajectory from the preset driving trajectory, the control method further comprises: selecting another one of the two groups of wheels as a driving group of wheels; and controlling the vehicle to drive by the driving group of wheels.

[0015] In an embodiment of the present application, the controlling the vehicle to drive by the driving group of wheels comprises: controlling the vehicle to accelerate drive by the driving group of wheels according to an acceleration instruction input by an accelerator pedal of the vehicle; and / or controlling the vehicle to brake drive by the driving group of wheels according to a brake instruction input by a brake pedal of the vehicle.

[0016] In an embodiment of the present application, the selecting one of the two groups of wheels as the deviation correction group of wheels comprises: selecting one of the two groups of wheels that currently satisfies a preset condition as the deviation correction group of wheels.

[0017] In an embodiment of the present application, the preset condition comprises at least part of the following conditions: no tire burst, a road adhesion coefficient variation amount not exceeding a first preset value, and a road adhesion force variation not exceeding a second preset value.

[0018] According to the second aspect of the present application, a control device of a vehicle is further provided, which comprises a storage medium and a processor, the storage medium storing a computer program run by the processor, and the computer program, when run by the processor, causes the processor to perform any one of the control methods of the vehicle.

[0019] According to the third aspect of the present application, a vehicle is further provided, which comprises any one of the control devices of the vehicle.

[0020] In an embodiment of the present application, the vehicle is a four-wheel electric vehicle.

[0021] According to the control method, the control device and the vehicle of the embodiments of the present application, a new control method is provided, when the actual driving track of the vehicle deviates from the preset driving track, the torque of the two wheels diagonally distributed on the vehicle is adjusted to reduce the deviation of the actual driving track from the preset driving track, so that the normal steering control of the vehicle is not obviously affected. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0023] Figure 1 The flow chart of the charging control method according to an embodiment of the present application is shown;

[0024] Figure 2 The torque diagram of each wheel of the vehicle in the control process according to an embodiment of the present application is shown;

[0025] Figure 3 The schematic block diagram of the control device of the vehicle according to an embodiment of the present application is shown.

[0026] Reference signs:

[0027] 10-vehicle 21-first wheel 22-second wheel

[0028] 23-third wheel 24-fourth wheel 30-center of mass DETAILED DESCRIPTION

[0029] In order to make the objects, technical solutions and advantages of the present application more obvious, the following will describe the example embodiments according to the present application in detail with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative effort shall fall within the protection scope of the present application.

[0030] In the following description, a large number of specific details are given in order to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, some technical features known in the art are not described in order to avoid obscuring the present application.

[0031] It should be understood that the present application can be implemented in different forms, and should not be interpreted as being limited to the embodiments presented herein. On the contrary, these embodiments are presented in order to make the disclosure complete and full, and to fully convey the scope of the present application to those skilled in the art.

[0032] The terms used herein are only for the purpose of describing specific embodiments and not as limitations of the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the terms "comprise" and / or "include" when used in this specification, confirm the existence of the stated features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups. As used herein, the term "and / or" includes any and all combinations of the associated listed items.

[0033] In order to fully understand the present application, detailed structures will be presented in the following description in order to explain the technical solutions presented by the present application. The alternative embodiments of the present application are described in detail as follows, however, in addition to these detailed descriptions, the present application can also have other implementation manners.

[0034] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0035] First, the application scenario of the control method exemplified by the present application is introduced, which is applied to the control process of the driving trajectory of the vehicle.

[0036] Reference Figure 1 and Figure 2The embodiment of the application provides a control method of a vehicle, which comprises the following steps:

[0037] When the actual driving track of the vehicle 10 deviates from the preset driving track, the torque of at least one group of wheels of the two groups of wheels of the vehicle 10 is adjusted to reduce the deviation of the actual driving track from the preset driving track.

[0038] The two groups of wheels comprise a first group of wheels and a second group of wheels, the first group of wheels comprises the first wheel 21 and the second wheel 22 which are diagonally distributed, and the second group of wheels comprises the third wheel 23 and the fourth wheel 24 which are diagonally distributed.

[0039] In the above scheme, a new control method is provided, when the actual driving track of the vehicle 10 deviates from the preset driving track, the torque of the two wheels diagonally distributed on the vehicle 10 is adjusted to reduce the deviation of the actual driving track from the preset driving track, so that the normal steering control of the vehicle 10 does not have obvious influence. The above method will be described in detail below with reference to the drawings.

[0040] First, it needs to be introduced that the above-mentioned preset driving track can be a determined driving track. The determined driving track can be determined in combination with modes such as but not limited to the control state of the driver, the perception of the lane by the radar and the camera during the driving process of the vehicle 10, and the pre-description and planning of the driving line. Of course, the preset driving track can also be a driving track determined in other ways.

[0041] During the driving of the vehicle 10, when an abnormal driving state such as a tire burst or a wet road surface occurs, the force acting on the tire and the road surface changes, and the force acting on the tire changes. For example, the abnormal driving state can include a tire burst, in which the vehicle 10 re-matches the wheel load due to the change in the wheel core height after the tire burst, the rolling resistance of the tire burst wheel increases, and the radial and lateral stiffness and damping characteristics of the tire change. The abnormal driving state can include a change in the adhesion coefficient when the vehicle 10 passes through a special road surface such as a wet road surface, an icy road surface, or the like, and a change in the adhesion force; and the like. The above abnormal driving states can cause the actual driving trajectory of the vehicle 10 to deviate from the original intended driving trajectory. During the driving of the vehicle 10, whether the actual driving trajectory of the vehicle 10 deviates from the preset driving trajectory can be detected by sensors such as, but not limited to, a radar, a camera, or the like on the vehicle 10. The specific implementation can be achieved in various ways. For example, whether the deviation of the actual driving trajectory of the vehicle 10 from the preset driving trajectory reaches a preset threshold can be detected. If the deviation of the actual driving trajectory of the vehicle 10 from the preset driving trajectory does not reach the preset threshold, it is determined that the actual driving trajectory of the vehicle 10 does not deviate from the preset driving trajectory. If the deviation of the actual driving trajectory of the vehicle 10 from the preset driving trajectory reaches the preset threshold, it is determined that the actual driving trajectory of the vehicle 10 deviates from the preset driving trajectory.

[0042] Reference Figure 1 and Figure 2 After it is detected that the actual driving trajectory of the vehicle 10 deviates from the preset driving trajectory, the control method of the vehicle 10 shown in the embodiments of the present application can be used to correct the driving trajectory of the vehicle 10 to reduce the deviation of the actual driving trajectory of the vehicle 10 from the preset driving trajectory, or to prevent the actual driving trajectory of the vehicle 10 from deviating from the preset driving trajectory. Specifically, when the actual driving trajectory of the vehicle 10 deviates from the preset driving trajectory, the control method shown in the embodiments of the present application adjusts the torque of at least one of the two groups of wheels of the vehicle 10 to reduce the deviation of the actual driving trajectory from the preset driving trajectory. The two groups of wheels include a first group of wheels and a second group of wheels, the first group of wheels includes the first wheel 21 and the second wheel 22 arranged in a diagonal manner, and the second group of wheels includes the third wheel 23 and the fourth wheel 24 arranged in a diagonal manner. That is, the torque of the two wheels arranged in a diagonal manner on the vehicle 10 is adjusted to reduce the deviation of the actual driving trajectory from the preset driving trajectory, so as to have little effect on the normal steering control of the vehicle 10.

[0043] It should be explained that reference Figure 2, the vehicle 10, the at least four wheels are divided into two groups of wheels, and the two groups of wheels are a first group of wheels and a second group of wheels. Each group of wheels includes two wheels distributed in a diagonal manner. The first group of wheels includes a first wheel 21 and a second wheel 22 distributed in a diagonal manner. The first wheel 21 and the second wheel 22 are distributed in a diagonal manner on the vehicle 10, i.e., the center of mass 30 of the vehicle 10 is located on or substantially located on the line connecting the first wheel 21 and the second wheel 22. The second group of wheels includes a third wheel 23 and a fourth wheel 24 distributed in a diagonal manner. That is, the center of mass 30 of the vehicle 10 is also located on or substantially located on the line connecting the third wheel 23 and the fourth wheel 24.

[0044] For example, with reference to Figure 2 , the first wheel 21 and the third wheel 23 can be two front wheels of the vehicle 10, and the second wheel 22 and the fourth wheel 24 can be two rear wheels of the vehicle 10. For example, the first wheel 21 can be a left front wheel of the vehicle 10, and the third wheel 23 can be a right front wheel of the vehicle 10. For example, the second wheel 22 can be a left rear wheel of the vehicle 10, and the fourth wheel 24 can be a right rear wheel of the vehicle 10. Of course, in other embodiments, the first wheel 21 can be a right front wheel of the vehicle 10, and the third wheel 23 can be a left front wheel of the vehicle 10. For example, the second wheel 22 can be a right rear wheel of the vehicle 10, and the fourth wheel 24 can be a left rear wheel of the vehicle 10.

[0045] For example, with reference to Figure 2 , the first wheel 21 and the third wheel 23 can be two rear wheels of the vehicle 10, and the second wheel 22 and the fourth wheel 24 can be two front wheels of the vehicle 10. For example, the first wheel 21 can be a left rear wheel of the vehicle 10, and the third wheel 23 can be a right rear wheel of the vehicle 10. For example, the second wheel 22 can be a left front wheel of the vehicle 10, and the fourth wheel 24 can be a right front wheel of the vehicle 10. Of course, in other embodiments, the first wheel 21 can be a right rear wheel of the vehicle 10, and the third wheel 23 can be a left rear wheel of the vehicle 10. For example, the second wheel 22 can be a right front wheel of the vehicle 10, and the fourth wheel 24 can be a left front wheel of the vehicle 10. It should be noted that the above front wheels and rear wheels of the vehicle 10 can be referenced with the vehicle head direction of the vehicle 10, or can be referenced with the driving direction of the vehicle 10. For example, the driving direction of the vehicle 10 can be consistent with the vehicle head direction of the vehicle 10, and the driving direction of the vehicle 10 can be opposite to the vehicle head direction of the vehicle 10.

[0046] The manner of adjusting the torque of at least one of the two groups of wheels can be achieved by adjusting the torque of two wheels in the at least one group of wheels. For example, when adjusting the torque of the first group of wheels, the torque of the first wheel 21 and the second wheel 22 in the first group of wheels can be adjusted, specifically, the torque provided by the vehicle 10 to the first wheel 21 and the second wheel 22 is adjusted. The torque can be a driving torque or a braking torque.

[0047] For example, adjusting the torque of at least one of the two groups of wheels of the vehicle 10 to reduce the deviation of the actual driving track from the preset driving track can include: selecting one of the two groups of wheels as a correction group of wheels; and adjusting the torque of the correction group of wheels to reduce the deviation of the actual driving track from the preset driving track. That is, in the process of correcting and controlling the vehicle 10 by adjusting the torque of at least one of the two groups of wheels, one of the two groups of wheels can be selected as a correction group of wheels. At this time, the other group of wheels can be used to control the vehicle 10 to drive normally, and the longitudinal driving of the vehicle 10 does not have an impact on the driver's perception. The driver can continue to control the vehicle 10 to accelerate or brake by using the accelerator pedal and the brake pedal, and the driving intention of the driver is not significantly affected. Of course, in other embodiments, the number of correction groups of wheels is two, that is, the first group of wheels is one correction group of wheels, and the second group of wheels is another correction group of wheels. The torque of different correction groups of wheels is adjusted respectively, and they do not interfere with each other.

[0048] Reference Figure 2 When adjusting the torque of at least one of the two groups of wheels of the vehicle 10 to reduce the deviation of the actual driving track from the preset driving track, a plurality of ways can be used. For example, several ways are introduced as follows.

[0049] For example, the torque of at least one of the two groups of wheels can be adjusted according to a deviation direction of the actual driving trajectory relative to the preset driving trajectory, so as to drive the vehicle 10 to rotate in a direction opposite to the deviation direction. That is, before the torque of the first wheel 21 and the second wheel 22 is adjusted, the deviation direction of the actual driving trajectory of the vehicle 10 relative to the preset driving trajectory is obtained. The deviation direction can be a first direction or a second direction opposite to the first direction. The first direction can be that the actual driving trajectory of the vehicle 10 deviates to the left relative to the preset driving trajectory, and the second direction can be that the actual driving trajectory of the vehicle 10 deviates to the right relative to the preset driving trajectory. Alternatively, the first direction can be that the actual driving trajectory of the vehicle 10 deviates to the right relative to the preset driving trajectory, and the second direction can be that the actual driving trajectory of the vehicle 10 deviates to the left relative to the preset driving trajectory. It should be noted that the reference direction of the above left deviation or right deviation can be the driving direction of the vehicle 10, or the head direction of the vehicle 10. For example, the driving direction of the vehicle 10 can be consistent with the head direction of the vehicle 10, or the driving direction of the vehicle 10 can be opposite to the head direction of the vehicle 10. After the deviation direction of the actual driving trajectory of the vehicle 10 relative to the preset driving trajectory is obtained, the torque of at least one of the two groups of wheels is adjusted to drive the vehicle 10 to rotate in a direction opposite to the deviation direction.

[0050] The method of driving the vehicle 10 to rotate in a direction opposite to the deviation direction can adopt various methods. For example, driving the vehicle 10 to rotate in a direction opposite to the deviation direction can include driving the vehicle 10 to rotate around the center of mass 30 of the vehicle 10 in a direction opposite to the deviation direction. Of course, in other embodiments, as long as the vehicle 10 can be driven to rotate in a direction opposite to the deviation direction, the vehicle 10 does not necessarily rotate around the center of mass 30 of the vehicle 10.

[0051] In the process of adjusting the torque of at least one of the two groups of wheels according to the deviation direction of the actual driving trajectory relative to the preset driving trajectory, so as to drive the vehicle 10 to rotate in a direction opposite to the deviation direction, various methods can be adopted. For example, the following several adjustment methods can be adopted.

[0052] For example, with reference to Figure 2When the actual driving trajectory deviates from the preset driving trajectory in the first direction, the torque of at least one of the two groups of wheels is adjusted to drive the vehicle 10 to rotate in the second direction; wherein the first direction and the second direction are opposite directions. For example, when the first group of wheels is used as the correction group of wheels, the torque of the first wheel 21 and the second wheel 22 can be adjusted to drive the vehicle 10 to rotate in the second direction. That is, when the actual driving trajectory of the vehicle 10 deviates from the preset driving trajectory in the first direction, the torque of the first wheel 21 and the second wheel 22 can be adjusted to change the longitudinal force of the first wheel 21 and the second wheel 22, so that the longitudinal force of the first wheel 21 and the second wheel 22 forms a rotation torque that drives the vehicle 10 to rotate in the second direction, thereby correcting the deviation of the actual driving trajectory of the vehicle 10 from the preset driving trajectory in the first direction, and reducing the deviation of the actual driving trajectory of the vehicle 10 from the preset driving trajectory in the first direction. Of course, the above adjustment method can also be applied to the case where the second group of wheels is used as the correction group of wheels.

[0053] For example, referring to Figure 2 When the actual driving trajectory deviates from the preset driving trajectory in the second direction, the torque of at least one of the two groups of wheels is adjusted to drive the vehicle 10 to rotate in the first direction. For example, when the first group of wheels is used as the correction group of wheels, the torque of the first wheel 21 and the second wheel 22 can be adjusted to drive the vehicle 10 to rotate in the first direction. That is, when the actual driving trajectory of the vehicle 10 deviates from the preset driving trajectory in the second direction, the torque of the first wheel 21 and the second wheel 22 can be adjusted to change the longitudinal force of the first wheel 21 and the second wheel 22, so that the longitudinal force of the first wheel 21 and the second wheel 22 forms a rotation torque that drives the vehicle 10 to rotate in the first direction, thereby correcting the deviation of the actual driving trajectory of the vehicle 10 from the preset driving trajectory in the second direction, and reducing the deviation of the actual driving trajectory of the vehicle 10 from the preset driving trajectory in the second direction. Of course, the above adjustment method can also be applied to the case where the second group of wheels is used as the correction group of wheels.

[0054] For example, referring to Figure 2In adjusting the torque of at least one of the two sets of wheels to drive the vehicle 10 to rotate in the direction opposite to the deviation direction, various ways can be adopted. For example, in adjusting the torque of the first set of wheels to reduce the deviation of the actual travel trajectory from the preset travel trajectory, one of the first wheel 21 and the second wheel 22 can be outputted with a driving torque, and the other one can be outputted with a braking torque to drive the vehicle 10 to rotate in the direction opposite to the deviation direction. For example, in adjusting the torque of the second set of wheels to reduce the deviation of the actual travel trajectory from the preset travel trajectory, one of the third wheel 23 and the fourth wheel 24 can be outputted with a driving torque, and the other one can be outputted with a braking torque to drive the vehicle 10 to rotate in the direction opposite to the deviation direction.

[0055] The driving torque and the braking torque provided to the deviation correction set of wheels will be described below by taking the first set of wheels as an example. For example, in the case that the deviation correction set of wheels includes the first set of wheels, one of the first wheel 21 and the second wheel 22 can be outputted with a driving torque, and the other one can be outputted with a braking torque to drive the vehicle 10 to rotate in the direction opposite to the deviation direction. For example, the first wheel 21 can be outputted with a driving torque, and the second wheel 22 can be outputted with a braking torque. Alternatively, the first wheel 21 can be outputted with a braking torque, and the second wheel 21 can be outputted with a driving torque. Since the first wheel 21 and the second wheel 22 are diagonally distributed on the vehicle 10, the center of mass 30 of the vehicle 10 is located on the line connecting the first wheel 21 and the second wheel 22 or substantially on the line connecting the first wheel 21 and the second wheel 22, i.e., the center of mass 30 of the vehicle 10 is located between the longitudinal force of the first wheel 21 and the longitudinal force of the second wheel 22, so that the longitudinal forces of the first wheel 21 and the second wheel 22 both drive the vehicle 10 to rotate in the same direction around the center of mass 30 of the vehicle 10. In the deviation correction control process, the directions of the torques of the first wheel 21 and the second wheel 22 can be adjusted to drive the vehicle 10 to rotate in the direction opposite to the deviation direction, so that the first wheel 21 and the second wheel 22 can both contribute to the deviation correction rotation of the vehicle 10, improving the efficiency and effect of the deviation correction. It should be understood that the above-mentioned output modes of the driving torque and the braking torque can also be applied to the deviation correction control process in which the deviation correction set of wheels includes the second set of wheels.

[0056] For example, referring to Figure 2 The size of the above-mentioned driving torque can be equal to the size of the braking torque, so that the longitudinal forces of the two wheels of the deviation correction set of wheels in the longitudinal direction tend to be zero, and the longitudinal travel acceleration of the vehicle 10 does not have a driver-perceptible impact on the driver, and the driver can continue to control the vehicle 10 to accelerate or brake through the accelerator pedal and the brake pedal, without having a significant impact on the driving intention of the driver.

[0057] For example, referring toFigure 2 , the first set of wheels comprises the first wheel 21 and the second wheel 22, and the size of the driving torque applied to the first wheel 21 is equal to the size of the braking torque applied to the second wheel 22, so that the longitudinal forces of the first wheel 21 and the second wheel 22 tend to be zero in the longitudinal direction, and the longitudinal driving acceleration of the vehicle 10 does not have an impact on the driver's perception, and the driver can continue to control the vehicle 10 to accelerate or brake by the accelerator pedal and the brake pedal, and the driver's driving intention does not have a significant impact.

[0058] For example, referring to Figure 2 , the first wheel 21 and the second wheel 22 are diagonally distributed on the vehicle 10, when the actual driving trajectory of the vehicle 10 deviates to the right, the first wheel 21 and the second wheel 22 can generate tire longitudinal forces in opposite directions by independently controlling the first wheel 21 to apply a braking torque and the second wheel 22 to apply a driving torque, or the first wheel 21 to apply a driving torque and the second wheel 22 to apply a braking torque. Figure 2 , Fc represents the torque output to the diagonally distributed first wheel 21 and second wheel 22. According to the principle of force system balance, a Z-direction rotation torque (MK represents the rotation torque in Figure 2 ) is generated on the vehicle 10. Under the action of the Z-direction rotation torque, the actual driving trajectory of the vehicle 10 will deviate to the left, which plays a role in correcting the actual driving trajectory of the vehicle 10, and finally makes the vehicle 10 restore to the preset driving trajectory.

[0059] For example, referring to Figure 2 , the first wheel 21 is a positive driving torque, the second wheel 22 is a negative braking torque, and the size of the driving torque of the first wheel 21 is equal to the size of the braking torque of the second wheel 22, that is, the wheel edge torque acting on the wheel longitudinal force is a pair of equal (or comparable) opposite longitudinal concentrated forces, the longitudinal force of the first wheel 21 and the second wheel 22 tends to be zero, and the longitudinal driving acceleration of the vehicle 10 does not have an impact on the driver's perception, and the driver can continue to control the vehicle 10 to accelerate or brake by the accelerator pedal and the brake pedal, and the driver's driving intention does not have a significant impact.

[0060] For example, referring to Figure 2The above-mentioned way of outputting driving torque by one of the first wheel 21 and the second wheel 22 and outputting braking torque by the other one of the first wheel 21 and the second wheel 22, due to the opposite wheel edge torque directions of the controlled diagonally distributed first wheel 21 and the second wheel 22, the wheel longitudinal forces generated by the first wheel 21 and the second wheel 22 generate same-direction torque on the center of mass 30 of the vehicle 10, thus each of the first wheel 21 and the second wheel 22 can achieve the effect of correction control under the condition that the driving torque or braking torque amplitude is relatively small, and will not cause obvious longitudinal slip of the tire of the vehicle 10, and will not have obvious influence on the normal steering control of the vehicle 10.

[0061] Of course, when the correction group wheels include the second group wheels, one of the third wheel 23 and the fourth wheel 24 of the second group wheels can output driving torque, and the other one can output braking torque. And the above-mentioned driving torque can be equal in size to the braking torque, so that the longitudinal forces of the third wheel 23 and the fourth wheel 24 in the longitudinal direction tend to be zero, and the longitudinal driving acceleration of the vehicle 10 does not have a driver-perceptible influence, and the driver can continue to control the vehicle 10 to accelerate or brake by the accelerator pedal and the brake pedal, and the driver's driving intention is not obviously affected.

[0062] When the torque of at least one of the two groups of wheels of the vehicle 10 is adjusted to reduce the deviation of the actual driving track from the preset driving track, different ways can be adopted according to different types of vehicles 10.

[0063] For example, the vehicle 10 can be a four-wheel electric vehicle, that is, each wheel of the vehicle 10 is provided with a motor to provide torque. Specifically, a first motor on the vehicle 10 can be used to output torque to the first wheel 21, a second motor on the vehicle 10 can be used to output torque to the second wheel 22, a third motor on the vehicle 10 can be used to output torque to the third wheel 23, and a fourth motor on the vehicle 10 can be used to output torque to the fourth wheel 24.

[0064] For example, when one of the first wheel 21 and the second wheel 22 outputs driving torque and the other one outputs braking torque, the following way can be adopted: one of the first motor and the second motor outputs driving torque, and the other one outputs braking torque. For example, when the vehicle 10 is a four-wheel electric vehicle, the wheel of the first wheel 21 and the second wheel 22 that inputs negative braking torque is also achieved by controlling the motor controller to output negative torque of the motor, so that the vehicle 10 needs to reasonably process the excess electricity generated. Of course, when the positive and negative torque input signals of the diagonally distributed first wheel 21 and the second wheel 22 are controlled, the torque of the corresponding wheels also responds synchronously.

[0065] For example, when one of the third wheel 23 and the fourth wheel 24 outputs a driving torque and the other outputs a braking torque, the following method can be used: one of the third motor and the fourth motor outputs a driving torque and the other outputs a braking torque. For example, when the vehicle 10 is a four-wheel electric vehicle, the wheel of the third wheel 23 and the fourth wheel 24 that inputs a negative braking torque is also controlled by the motor controller to output a negative torque of the motor, so the vehicle 10 needs to reasonably process the excess power generated. Of course, when the positive and negative torque input signals of the diagonally distributed third wheel 23 and the fourth wheel 24 are controlled, the torque of the corresponding wheel also synchronously responds.

[0066] Of course, it should be understood that the type of the vehicle 10 is not limited to a four-wheel electric vehicle, and in addition thereto, the vehicle 10 can also be of other types.

[0067] For example, the vehicle 10 can also be a four-wheel fuel vehicle, and the engine can distribute different torque directions and torque sizes of the first wheel 21, the second wheel 22, the third wheel 23, and the fourth wheel 24 through, for example but not limited to, a differential, a transmission rod, etc.

[0068] For example, the vehicle 10 can also be a two-wheel vehicle, specifically, a two-wheel electric vehicle or a two-wheel fuel vehicle. Among them, the wheels that need to output driving torque in the first wheel 21 and the second wheel 22 can be the driving wheels of the vehicle 10, and the other wheels that need to output braking torque can be realized through the braking system such as but not limited to a brake disc, a brake disc, etc. on the wheel. The wheels that need to output driving torque in the third wheel 23 and the fourth wheel 24 can be the driving wheels of the vehicle 10, and the other wheels that need to output braking torque can be realized through the braking system such as but not limited to a brake disc, a brake disc, etc. on the wheel.

[0069] For example, in the process of adjusting the torque of at least one of the two groups of wheels of the vehicle 10 to reduce the deviation of the actual driving track from the preset driving track, the torque of at least one of the two groups of wheels can be adjusted until the actual driving track does not deviate from the preset driving track. That is, the control target in the process of adjusting the torque of at least one of the two groups of wheels to correct the deviation is that the actual driving track of the vehicle 10 does not deviate from the preset driving track, so that the actual driving track of the vehicle 10 re-loops the preset driving track.

[0070] The manner of adjusting the torque of at least one of the two groups of wheels until the actual travel trajectory of the vehicle 10 does not deviate from the preset travel trajectory can be implemented in various ways. For example, a motion control algorithm can be used to adjust the torque of at least one of the two groups of wheels until the actual travel trajectory of the vehicle 10 does not deviate from the preset travel trajectory. By using a motion control algorithm, the torque of at least one of the two groups of wheels can be quickly and accurately adjusted until the actual travel trajectory of the vehicle 10 does not deviate from the preset travel trajectory.

[0071] In a specific implementation, the preset travel trajectory can be targeted, and the deviation between the actual travel trajectory of the vehicle 10 and the preset travel trajectory can be monitored, and the torque allocated to the two wheels of the correction group of wheels can be calculated by a motion control algorithm, and thus after multiple adjustments, the actual travel trajectory of the vehicle 10 does not deviate from the preset travel trajectory. During the monitoring of the deviation between the actual travel trajectory of the vehicle 10 and the preset travel trajectory, the vehicle 10 can continue to travel normally with the driving intention of the driver in the above abnormal state through the motion control algorithm of the yaw rate and yaw rate acceleration of the vehicle 10. The type of motion control algorithm can be implemented in various ways. For example, a motion control algorithm such as, but not limited to, PID, PD, PI, etc. can be used.

[0072] For example, the motion control algorithm can be a PID control algorithm, and the torque control can be controlled by the PID control algorithm to target the preset travel trajectory, and the PID quick control of the yaw rate and yaw rate acceleration of the vehicle 10 can make the vehicle 10 continue to travel normally with the driving intention of the driver in the above abnormal state.

[0073] For example, during the adjustment of the torque of at least one of the two groups of wheels of the vehicle 10 to reduce the deviation of the actual travel trajectory from the preset travel trajectory, the torque of at least one of the two groups of wheels can be adjusted to reduce the deviation of the actual travel trajectory from the preset travel trajectory without changing the steering angle of the steering wheel of the vehicle 10. That is, during the correction control of the vehicle 10 by adjusting the torque of at least one of the two groups of wheels of the vehicle 10, the steering angle of the steering wheel of the vehicle 10 can not be dependent. By using this way, the control authority of the steering angle of the steering wheel of the vehicle 10 can be completely provided to the steering control of the steering wheel of the vehicle 10, so as to not significantly affect the driving steering control intention of the driver.

[0074] Exemplarily, in the process of adjusting the torque of the deviation-correcting group of wheels to reduce the deviation of the actual driving trajectory from the preset driving trajectory, the control method can further comprise: selecting another group of wheels from the two groups of wheels as a driving group of wheels; and controlling the vehicle 10 to drive by the driving group of wheels. That is, in the process of adjusting the torque of at least one group of wheels from the two groups of wheels to correct the deviation of the vehicle 10, one group of wheels from the two groups of wheels can be selected as the deviation-correcting group of wheels, and the other group of wheels can be selected as the driving group of wheels. At this time, the vehicle 10 can be controlled to drive normally by the driving group of wheels, and the longitudinal driving of the vehicle 10 does not have an influence on the driver that can be perceived by the driver. The driver can continue to control the vehicle 10 to accelerate or brake by the accelerator pedal and the brake pedal, and the driving intention of the driver does not have a significant influence on the driver.

[0075] Exemplarily, referring to Figure 2 , the deviation-correcting group of wheels can be the first group of wheels, and the driving group of wheels can be the second group of wheels. In the process of adjusting the torque of the first wheel 21 and the second wheel 22 diagonally distributed on the vehicle 10 to reduce the deviation of the actual driving trajectory from the preset driving trajectory, the control method can further comprise: controlling the vehicle 10 to drive by the other wheels on the vehicle 10 except the first wheel 21 and the second wheel 22. That is, in the process of adjusting the torque of the first wheel 21 and the second wheel 22 to correct the deviation of the vehicle 10, the vehicle 10 can be controlled to drive normally by the other wheels on the vehicle 10, and the longitudinal driving of the vehicle 10 does not have an influence on the driver that can be perceived by the driver. The driver can continue to control the vehicle 10 to accelerate or brake by the accelerator pedal and the brake pedal, and the driving intention of the driver does not have a significant influence on the driver.

[0076] Exemplarily, referring to Figure 2 , the vehicle 10 can be a four-wheel drive electric vehicle or a four-wheel drive fuel vehicle, and the other wheels on the vehicle 10 except the first wheel 21 and the second wheel 22 include a third wheel 23 and a fourth wheel 24 diagonally distributed. The third wheel 23 and the fourth wheel 24 are both driving wheels. In the process of adjusting the torque of the first wheel 21 and the second wheel 22 to correct the deviation of the vehicle 10, the vehicle 10 can be controlled to drive normally by the third wheel 23 and the fourth wheel 24 (for example, Fd in Figure 2 represents the torque output to the third wheel 23 and the fourth wheel 24 at this time), and the longitudinal driving of the vehicle 10 does not have an influence on the driver that can be perceived by the driver. The driver can continue to control the vehicle 10 to accelerate or brake by the accelerator pedal and the brake pedal, and the driving intention of the driver does not have a significant influence on the driver.

[0077] Exemplarily, when the vehicle 10 is controlled to travel by the wheels other than the first wheel 21 and the second wheel 22 on the vehicle 10, a plurality of modes can be adopted. Several modes are exemplarily introduced as follows. Exemplarily, the vehicle 10 can be controlled to accelerate travel by the wheels of the travel group according to an acceleration instruction input by an accelerator pedal of the vehicle 10; and / or, exemplarily, the vehicle 10 can be controlled to brake travel by the wheels of the travel group according to a brake instruction input by a brake pedal of the vehicle 10.

[0078] Exemplarily, the wheels of the deviation correction group can be the first group of wheels, and the wheels of the travel group can be the second group of wheels. When the vehicle 10 is controlled to accelerate travel by the wheels of the travel group according to an acceleration instruction input by an accelerator pedal of the vehicle 10, if the third wheel 23 and the fourth wheel 24 are both driving wheels of the vehicle 10, the vehicle 10 can be controlled to accelerate travel by the third wheel 23 and the fourth wheel 24, or the vehicle 10 can be controlled to accelerate travel by the third wheel 23 or the fourth wheel 24. That is, during the process of controlling the vehicle 10 to accelerate travel by the wheels of the travel group other than the wheels of the deviation correction group according to an acceleration instruction input by an accelerator pedal of the vehicle 10, it is necessary to ensure that at least one wheel of the two wheels of the travel group is a driving wheel.

[0079] When the vehicle 10 is controlled to brake travel by the wheels of the travel group according to a brake instruction input by a brake pedal of the vehicle 10, a brake disc, a brake disc, etc. are often arranged on each wheel of the vehicle 10. At this time, at least one wheel of the travel group can be controlled to brake, so as to control the vehicle 10 to brake travel, and the wheels of the deviation correction group are not controlled by the brake instruction and are only used in the deviation correction control process.

[0080] Exemplarily, the above selecting one of the two groups of wheels as the wheels of the deviation correction group can include: selecting one of the two groups of wheels that currently satisfies a preset condition as the wheels of the deviation correction group. Exemplarily, the first group of wheels can be selected as the wheels of the deviation correction group, and the first wheel 21 and the second wheel 22 are both wheels of the current vehicle 10 that satisfy the preset condition. Of course, when the second group of wheels is selected as the wheels of the deviation correction group, the third wheel 23 and the fourth wheel 24 are both wheels of the current vehicle 10 that satisfy the preset condition. The specific types of the preset condition can be determined, so as to select the wheels that meet certain requirements as the wheels used in the deviation correction control process in the embodiments of the application.

[0081] In determining the preset condition, various manners can be adopted. For example, the preset condition can include at least part of the following conditions: no tire burst, a road adhesion coefficient variation amount not exceeding a first preset value, and a road adhesion force variation not exceeding a second preset value. Specifically, the preset condition can only include no tire burst. Or, the preset condition can only include the road adhesion coefficient variation amount not exceeding the first preset value. Or, the preset condition can only include the road adhesion force variation not exceeding the second preset value. Or, the preset condition can only include no tire burst and the road adhesion coefficient variation amount not exceeding the first preset value. The preset condition can only include no tire burst and the road adhesion force variation not exceeding the second preset value. Or, the preset condition can only include the road adhesion coefficient variation amount not exceeding the first preset value and the road adhesion force variation not exceeding the second preset value. Or, the preset condition can include no tire burst, the road adhesion coefficient variation amount not exceeding the first preset value, and the road adhesion force variation not exceeding the second preset value.

[0082] If the preset condition includes no tire burst, the vehicle 10 driving track control function shown in the embodiments of the present application needs to avoid the tire burst wheel to select the opposite diagonal wheel to independently control the torque of the vehicle 10 when the vehicle 10 driving track is controlled after the tire burst. That is, the two wheels in the selected deviation group wheel are both wheels without tire burst, thereby improving the accuracy and deviation effect of the deviation control of the vehicle 10.

[0083] If the preset condition includes the road adhesion coefficient variation amount not exceeding the first preset value, it indicates that the road adhesion coefficient of the wheel does not change suddenly, at this time, the wheel contacts the road surface without interference factors such as local small water pits and stones, and the wheel can be controlled by the torque, and the wheel and the contacted ground can maintain good longitudinal force output, thereby improving the accuracy and deviation effect of the deviation control of the vehicle 10. The setting manner of the first preset value can be determined according to the type of the wheel, the type of the road surface and other factors.

[0084] If the preset condition includes the road adhesion force variation not exceeding the second preset value, it indicates that the road adhesion force of the wheel does not change suddenly, at this time, the wheel contacts the road surface without interference factors such as local small water pits and stones, and the wheel can be controlled by the torque, and the wheel and the contacted ground can maintain good longitudinal force output, thereby improving the accuracy and deviation effect of the deviation control of the vehicle 10. The setting manner of the second preset value can be determined according to the type of the wheel, the type of the road surface and other factors.

[0085] During the driving of the vehicle 10, when an abnormal driving state such as a tire burst or a wet road surface occurs, the force between the tire of the wheel and the road surface changes, and the force changes. For example, the abnormal driving state can include a tire burst, in which the vehicle 10 re-matches the wheel load due to the change in the wheel core height after the tire burst, the rolling resistance of the tire burst wheel increases, and the radial and lateral stiffness and damping characteristics of the tire change. The abnormal driving state can include a change in the adhesion coefficient when the vehicle 10 passes through a special road surface such as a wet road surface, an icy road surface, or the like, and a change in the adhesion force; and the like. The above abnormal driving states can cause the actual driving trajectory of the vehicle 10 to deviate from the original intended driving trajectory.

[0086] In some of the schemes shown in the above embodiments of the present application, the first group of wheels can be a correction group of wheels, the driver does not change the steering angle of the steering wheel (i.e., the steering angle of the steering wheel), and the wheel edge torque of the diagonally distributed first wheel 21 and second wheel 22 is independently controlled, thereby controlling the longitudinal force of the wheel, generating a vertical (perpendicular to the ground) rotation torque on the vehicle 10, thereby changing the vehicle 10 yaw attitude, correcting the actual driving trajectory of the vehicle 10, making the vehicle 10 return to the intended driving trajectory, and achieving safe and normal driving. In some of the above embodiments, when the vehicle 10 is a four-wheel electric vehicle, the diagonally distributed first wheel 21 and second wheel 22 are controlled by independently controlling the positive driving torque and the negative braking torque, and the actual driving trajectory of the vehicle 10 is controlled to perform correction control.

[0087] In the various embodiments shown above, a new control method is provided, which adjusts the torque of two wheels diagonally distributed on the vehicle 10 when the actual driving trajectory of the vehicle 10 deviates from the preset driving trajectory, to reduce the deviation of the actual driving trajectory from the preset driving trajectory, thereby not significantly affecting the normal steering control of the vehicle 10.

[0088] Compared with the related art, the schemes shown in some of the above embodiments have the following technical features: (1) The wheel edge torque vector control technology in some of the above embodiments is based on a four-wheel electric vehicle and an independently driven vehicle type. (2) The control method shown in some of the above embodiments changes the driving direction of the vehicle 10 by controlling the wheel edge torque of the two diagonally distributed wheels when the steering angle of the steering wheel of the vehicle 10 does not change, thereby controlling the actual driving trajectory of the vehicle 10.

[0089] In addition, the embodiments of the present application also provide a control device of the vehicle 10, which is described with reference to Figure 3 and Figure 3The control device includes a storage medium and a processor, the storage medium stores a computer program run by the processor, and the computer program, when run by the processor, causes the processor to perform any one of the control methods of the vehicle 10 described above.

[0090] Furthermore, the embodiments of the present application also provide a control device of a vehicle, which includes a storage medium and a processor, the storage medium stores a computer program run by the processor, and the computer program, when run by the processor, causes the processor to perform any one of the control methods of the vehicle 10 described above. A new control device is provided, when the actual driving track of the vehicle 10 deviates from the preset driving track, the torque of the two wheels diagonally distributed on the vehicle 10 is adjusted to reduce the deviation of the actual driving track from the preset driving track, so as to not obviously affect the normal steering control of the vehicle 10.

[0091] Figure 3 A schematic block diagram of the control device 100 of the vehicle 10 according to the embodiments of the present application is shown. As shown, the control device 100 of the vehicle 10 according to the embodiments of the present application can include a storage medium 110 and a processor 120, the storage medium 110 stores a computer program run by the processor 120, and the computer program, when run by the processor 120, causes the processor 120 to perform the control method of the vehicle 10 according to the embodiments of the present application described above. Those skilled in the art can understand the specific operation of the deployment device of the control device 100 of the vehicle 10 according to the embodiments of the present application in combination with the foregoing content, and for the sake of brevity, will not be described here. Figure 2

[0092] The storage medium 110 may, for example, include a storage card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disc read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium can be any combination of one or more computer-readable storage media.

[0093] Furthermore, the embodiments of the present application also provide a vehicle, which refers to Figure 3 and ​ The vehicle includes any one of the control devices of the vehicle 10 described above. Exemplarily, the vehicle 10 can be a four-wheel electric vehicle. Of course, in other embodiments, the vehicle 10 can also be a four-wheel fuel vehicle, or even a two-wheel vehicle. The control strategies of different types of vehicles 10 refer to the descriptions in the foregoing control method part, and will not be described here.

[0094] ​The present application has been described by way of the above examples, but it should be understood that the above examples are for illustrative and explanatory purposes only, and are not intended to limit the present application to the scope of the described examples. Furthermore, those skilled in the art can understand that the present application is not limited to the above examples, and that various modifications and changes can be made to the present application according to the teachings of the present application, and that these modifications and changes all fall within the scope of the present application claimed. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A control method of a vehicle, characterized by, Comprise: When the actual driving track of the vehicle deviates from the preset driving track, adjust the torque of at least one of the two groups of wheels of the vehicle to reduce the deviation of the actual driving track from the preset driving track; Wherein, the two groups of wheels include a first group of wheels and a second group of wheels, the first group of wheels includes a first wheel and a second wheel diagonally distributed, and the second group of wheels includes a third wheel and a fourth wheel diagonally distributed.

2. The control method according to claim 1, characterized by, The adjustment of the torque of at least one of the two groups of wheels of the vehicle to reduce the deviation of the actual driving track from the preset driving track comprises: According to the deviation direction of the actual driving track from the preset driving track, adjust the torque of at least one of the two groups of wheels to drive the vehicle to rotate in the direction opposite to the deviation direction.

3. The control method according to claim 2, characterized by, The driving of the vehicle to rotate in the direction opposite to the deviation direction comprises: Driving the vehicle to rotate around the center of mass of the vehicle in the direction opposite to the deviation direction.

4. The control method according to claim 2, characterized by, The adjustment of the torque of at least one of the two groups of wheels according to the deviation direction of the actual driving track from the preset driving track to drive the vehicle to rotate in the direction opposite to the deviation direction comprises: When the actual driving track deviates from the preset driving track in a first direction, adjust the torque of at least one of the two groups of wheels to drive the vehicle to rotate in a second direction; wherein the directions of the first direction and the second direction are opposite; When the actual driving track deviates from the preset driving track in the second direction, adjust the torque of at least one of the two groups of wheels to drive the vehicle to rotate in the first direction.

5. The control method according to any one of claims 2 to 4, characterized by, The adjustment of the torque of at least one of the two groups of wheels to drive the vehicle to rotate in the direction opposite to the deviation direction comprises: When adjusting the torque of the first group of wheels to reduce the deviation of the actual driving track from the preset driving track, one of the first wheel and the second wheel outputs a driving torque, and the other outputs a braking torque, to drive the vehicle to rotate in the direction opposite to the deviation direction; When adjusting the torque of the second group of wheels to reduce the deviation of the actual driving track from the preset driving track, one of the third wheel and the fourth wheel outputs a driving torque, and the other outputs a braking torque, to drive the vehicle to rotate in the direction opposite to the deviation direction.

6. The control method according to claim 5, characterized by, The vehicle is a four-wheel electric vehicle, a first motor on the vehicle is used to output torque to the first wheel, a second motor on the vehicle is used to output torque to the second wheel, a third motor on the vehicle is used to output torque to the third wheel, and a fourth motor on the vehicle is used to output torque to the fourth wheel; The output of the driving torque to one of the first wheel and the second wheel and the output of the braking torque to the other comprise: controlling one of the first motor and the second motor to output the driving torque and the other to output the braking torque; The method of outputting driving torque to one of the third wheel and the fourth wheel, and outputting braking torque to the other wheel, includes: controlling one of the third motor and the fourth motor to output the driving torque, and the other motor to output the braking torque.

7. The control method according to claim 5, characterized by, The magnitude of the driving torque is equal to the magnitude of the braking torque.

8. The control method according to claim 1, characterized by, Adjusting the torque of at least one set of wheels in the two sets of wheels of the vehicle to reduce the deviation of the actual driving trajectory from the preset driving trajectory includes: Adjust the torque of at least one set of wheels in the two sets of wheels until the actual driving trajectory does not deviate from the preset driving trajectory.

9. The control method according to claim 8, characterized by, Adjusting the torque of at least one set of wheels in the two sets of wheels until the actual driving trajectory of the vehicle does not deviate from the preset driving trajectory includes: Using a motion control algorithm, with the preset driving trajectory as the target, the torque of at least one of the two sets of wheels is adjusted until the actual driving trajectory does not deviate from the preset driving trajectory.

10. The control method according to claim 1, characterized by, Adjusting the torque of at least one set of wheels in the two sets of wheels of the vehicle to reduce the deviation of the actual driving trajectory from the preset driving trajectory includes: With the steering angle of the vehicle's steering wheels remaining constant, the torque of at least one set of wheels in the two sets of wheels is adjusted to reduce the deviation of the actual driving trajectory from the preset driving trajectory.

11. The control method according to claim 1, characterized by, Adjusting the torque of at least one set of wheels in the two sets of wheels of the vehicle to reduce the deviation of the actual driving trajectory from the preset driving trajectory includes: Select one of the two sets of wheels as the correction set; Adjust the torque of the wheels of the correction group to reduce the deviation of the actual driving trajectory from the preset driving trajectory.

12. The control method according to claim 11, characterized by, While adjusting the torque of the wheels of the correction group to reduce the deviation of the actual driving trajectory from the preset driving trajectory, the control method further includes: Select the other set of wheels from the two sets of wheels as the driving set of wheels; The vehicle's movement is controlled by the wheels of the driving group.

13. The control method according to claim 12, characterized by, The method of controlling the vehicle's movement via the wheels of the travel group includes: Based on the acceleration command input from the accelerator pedal, the vehicle accelerates through the wheels of the driving group; and / or, The vehicle brakes and moves according to the braking command input from the vehicle's brake pedal, controlled by the wheels of the driving group.

14. The control method according to claim 1, characterized by, Selecting one of the two sets of wheels as the correction set includes: Select the set of wheels that currently meets the preset conditions from the two sets of wheels as the correction set of wheels.

15. The control method according to claim 14, characterized by, The preset conditions include at least some of the following conditions: no tire blowout, the change in road surface adhesion coefficient does not exceed a first preset value, and the change in road surface adhesion does not exceed a second preset value.

16. A control device of a vehicle characterized by comprising: include: A storage medium and a processor, wherein the storage medium stores a computer program executed by the processor, the computer program, when executed by the processor, causes the processor to perform the vehicle control method as described in any one of claims 1 to 15.

17. A vehicle characterized by comprising: include: The vehicle control device as described in claim 16.

18. The vehicle of claim 17, wherein, The vehicle in question is a four-wheel drive electric vehicle.

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