Vehicle control method and device, storage medium, vehicle controller and vehicle

Abstract

The invention provides a vehicle control method and device, a storage medium, a vehicle controller and a vehicle. According to the vehicle control method provided by the invention, during the off-road or slope climbing period of the vehicle, the slip rate and the vehicle speed corresponding to each wheel are obtained; when it is monitored that the slip rate of any wheel is larger than a preset slip rate threshold value and the vehicle speed is smaller than a preset speed threshold value, a corresponding suspension adjusting strategy is generated based on the slip rate corresponding to each wheel, and then the vehicle suspension state is adjusted based on the suspension adjusting strategy. The wheel end load of the wheel with the minimum slip rate is increased, the wheel with the low slip rate can provide more propulsive force for the vehicle by increasing the load of the wheel with the low slip rate, and the gradeability and the cross-country ability of the vehicle are enhanced.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a vehicle control method, device, storage medium, vehicle controller, and vehicle. Background Technology

[0002] The Traction Control System (TCS) monitors the slip ratio of each wheel of the vehicle and adjusts the driving torque and set torque applied to the drive wheels according to the slip ratio to prevent wheel slippage.

[0003] In off-road scenarios, vehicles rely too heavily on the TSC system when climbing hills. The TCS system can suppress wheel slippage and improve the vehicle's off-road capabilities. However, for some vehicles with poor off-road capabilities, even using the TCS system may not be enough to climb slopes. Summary of the Invention

[0004] Based on this, the present invention provides a vehicle control method, device, storage medium, vehicle controller and vehicle. Using this vehicle control method, the wheel end load can be changed by adjusting the vehicle suspension state. By increasing the load on the wheel with a lower slip ratio, the wheel with a lower slip ratio can provide more propulsion to the vehicle, thereby enhancing the vehicle's ability to get out of trouble and its off-road capability.

[0005] On one hand, the present invention provides a vehicle control method, the method comprising:

[0006] Obtain the slip ratio for each wheel;

[0007] When the slip ratio of any wheel is greater than a preset slip ratio threshold and the vehicle speed is less than a preset speed threshold, a corresponding suspension adjustment strategy is generated based on the slip ratio of each wheel.

[0008] The vehicle suspension is adjusted based on the suspension adjustment strategy to increase the wheel-end load of the wheel with the smallest slip ratio.

[0009] Furthermore, in some embodiments, adjusting the vehicle suspension state based on the suspension adjustment strategy includes:

[0010] Determine the diagonal wheel located at the diagonal position of the wheel with the minimum slip ratio;

[0011] Raise the suspension height at the diagonal wheels.

[0012] Furthermore, in some embodiments, the method further includes:

[0013] Lower the suspension height near the wheels other than the diagonal wheels and the wheel with the lowest slip ratio.

[0014] Furthermore, in some embodiments, the method further includes:

[0015] A corresponding torque distribution strategy is generated based on the suspension adjustment strategy;

[0016] The torque output of the vehicle is adjusted based on the torque distribution strategy to increase the driving torque of the wheel with the smallest slip ratio.

[0017] Furthermore, in some embodiments, generating the corresponding suspension adjustment strategy based on the slip ratio of each wheel includes:

[0018] Obtain road surface slope, road surface adhesion coefficient, and vehicle weight;

[0019] A corresponding suspension adjustment strategy is generated based on the road surface slope, the road surface adhesion coefficient, the vehicle weight, and the slip ratio of each wheel.

[0020] Furthermore, in some embodiments, the suspension adjustment strategy includes the suspension height corresponding to each of the wheels;

[0021] The step of adjusting the vehicle suspension state based on the suspension adjustment strategy to increase the wheel-end load of the wheel with the minimum slip ratio includes:

[0022] The suspension height of the suspension near each wheel is adjusted based on the suspension height of each wheel to increase the wheel-end load of the wheel with the smallest slip ratio.

[0023] On the other hand, the present invention provides a vehicle control device, comprising:

[0024] The slip ratio acquisition module is used to acquire the slip ratio of each wheel.

[0025] The suspension strategy generation module is used to generate a corresponding suspension adjustment strategy based on the slip ratio of each wheel when the slip ratio of any wheel is greater than a preset slip ratio threshold and the vehicle speed is less than a preset speed threshold.

[0026] The suspension state adjustment module is used to adjust the vehicle suspension state based on the suspension adjustment strategy to increase the wheel end load of the wheel with the smallest slip ratio.

[0027] On the other hand, the present invention provides a storage medium storing a computer program adapted to be loaded by a processor and to execute the steps of the above-described method.

[0028] On the other hand, the present invention also provides a vehicle controller, comprising: a processor and a memory; wherein the memory stores computer-readable instructions adapted to be loaded by the processor and to execute the steps of the method described above.

[0029] On the other hand, the present invention also provides a vehicle including the above-described vehicle control device or vehicle controller.

[0030] According to the vehicle control method provided by the present invention, when the vehicle is difficult to move forward due to wheel slippage during off-road or hill climbing, the slip ratio of each wheel is obtained. When the slip ratio of any wheel is greater than a preset slip ratio threshold, a corresponding suspension adjustment strategy is generated based on the slip ratio of each wheel. The vehicle suspension state is then adjusted based on the suspension adjustment strategy to increase the wheel-end load of the wheel with the smallest slip ratio. This increases the wheel-end load so that the wheel with the smallest slip ratio can provide more propulsion to the vehicle, thereby improving the vehicle's ability to get out of trouble and its off-road capability.

[0031] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0032] Figure 1 This is a flowchart illustrating a vehicle control method provided in an embodiment of the present invention.

[0033] Figure 2 This is a schematic diagram illustrating an example of suspension adjustment provided by an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram illustrating an example of suspension adjustment provided by an embodiment of the present invention;

[0035] Figure 4 This is a flowchart illustrating a vehicle control method provided in an embodiment of the present invention.

[0036] Figure 5 This is a schematic diagram illustrating an example of suspension adjustment and torque control provided by an embodiment of the present invention;

[0037] Figure 6 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present invention;

[0038] Figure 7 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present invention;

[0039] Figure 8 This is a schematic diagram of the structure of a vehicle controller provided in an embodiment of the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0041] In the description of one or more embodiments of the present invention, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0042] Please see Figure 1 This is a flowchart illustrating a vehicle control method provided in an embodiment of the present invention. The executing entity of this process can be a program for vehicle start control, or it can be a vehicle or domain controller equipped with the aforementioned program, or other devices capable of communicating with the vehicle, domain controller, etc., without specific limitations.

[0043] The following is about Figure 1 The process shown will be described in detail. The vehicle control method may specifically include the following steps:

[0044] Step S102: Obtain the slip ratio and vehicle speed corresponding to each wheel;

[0045] Slip ratio is an important indicator for evaluating the proportion of slippage in a wheel's motion. Specifically, it can be calculated as the percentage difference between the wheel's actual slip speed and its ideal rolling speed, relative to the ideal rolling speed. The slip ratio reflects the degree to which a wheel deviates from pure rolling during operation.

[0046] Specifically, during off-road driving or hill climbing, wheel speed is monitored by wheel speed sensors located at each wheel, and the slip ratio of each wheel is calculated based on the wheel speed and wheel radius. The vehicle speed is obtained based on the speed sensor and is the actual speed at which the vehicle moves.

[0047] Step S104: When the slip ratio of any wheel is greater than a preset slip ratio threshold and the vehicle speed is less than a preset speed threshold, a corresponding suspension adjustment strategy is generated based on the slip ratio of each wheel.

[0048] It should be noted that, in this embodiment of the invention, a wheel slip ratio greater than a preset slip ratio threshold indicates that the wheel is in a state of severe slippage, which will cause the wheel to be unable to provide sufficient propulsion to the vehicle, causing the vehicle to be unable to continue moving forward.

[0049] Specifically, during off-road driving or hill climbing, the slip ratio of each wheel is monitored in real time. When the slip ratio of any wheel is greater than a preset slip ratio threshold and the vehicle speed is less than a preset speed threshold, it indicates that the vehicle lacks sufficient propulsion to move forward due to wheel slippage. At this time, a corresponding suspension adjustment strategy is generated based on the slip ratio of each wheel.

[0050] Step S106: Adjust the vehicle suspension state based on the suspension adjustment strategy to increase the wheel end load of the wheel with the smallest slip ratio.

[0051] Specifically, suspension adjustment strategies are used to adjust the vehicle's suspension state. By adjusting the vehicle's suspension state, the vehicle load can be transferred, so that more of the vehicle load is transferred to the wheel with the smallest slip ratio, that is, increasing the wheel-end load of the wheel with the smallest slip ratio.

[0052] It's easy to understand that the wheel with the lowest slip ratio has greater traction with the ground. By increasing the wheel-end load of the wheel with the lowest slip ratio, it can provide more propulsion to the vehicle, thus driving it forward.

[0053] In this embodiment of the invention, when a vehicle experiences difficulty moving forward due to wheel slippage during off-road driving or climbing a slope, the slip ratio of each wheel is obtained. When the slip ratio of any wheel is greater than a preset slip ratio threshold, a corresponding suspension adjustment strategy is generated based on the slip ratio of each wheel. The vehicle suspension state is then adjusted based on the suspension adjustment strategy to increase the wheel-end load of the wheel with the smallest slip ratio. This increases the wheel-end load so that the wheel with the smallest slip ratio can provide more propulsion to the vehicle, thereby improving the vehicle's ability to get out of trouble and its off-road capability.

[0054] In one embodiment, step S106, adjusting the vehicle suspension state based on the suspension adjustment strategy to increase the wheel-end load of the wheel with the minimum slip ratio, can specifically be: determining the diagonal wheel located at the diagonal position of the wheel with the minimum slip ratio, and raising the suspension height at the diagonal wheel.

[0055] By raising the suspension height near the diagonal wheel located opposite the wheel with the lowest slip ratio, more of the vehicle load can be transferred to the wheel end of the wheel with the lowest slip ratio. This gives the wheel with the lowest slip ratio greater traction with the ground, providing greater propulsion for the vehicle and improving its ability to get out of trouble and its off-road capabilities.

[0056] Please see Figure 2This is a schematic diagram illustrating an example of suspension adjustment provided by an embodiment of the present invention. Figure 2 As shown, the vehicle includes wheels L1, L2, L3, and L4. Among them, wheel L1 has the smallest slip ratio. By raising the suspension height near wheel L4, which is located diagonally opposite wheel L1, more of the vehicle load can be transferred to wheel L1, giving wheel L1 greater traction with the ground. Wheel L1 can provide greater propulsion for the vehicle to move forward, improving the vehicle's ability to get out of trouble and its off-road capabilities.

[0057] In one embodiment, step S106, adjusting the vehicle suspension state based on the suspension adjustment strategy to increase the wheel-end load of the wheel with the smallest slip ratio, can specifically be: determining the diagonal wheel located diagonally opposite the wheel with the smallest slip ratio, raising the suspension height at the diagonal wheel, and lowering the suspension height of the suspension near other wheels besides the diagonal wheel and the wheel with the smallest slip ratio.

[0058] It's easy to understand that by raising the suspension height near the diagonal wheel (located diagonally opposite the wheel with the lowest slip ratio) and lowering the suspension height near other wheels (excluding the diagonal wheel and the wheel with the lowest slip ratio), more of the vehicle's load can be transferred to the wheel end of the wheel with the lowest slip ratio. This gives the wheel with the lowest slip ratio greater traction with the ground, providing greater propulsion for the vehicle and improving its ability to get out of trouble and its off-road capabilities.

[0059] Compared to simply raising the suspension height near the diagonal wheel located at the diagonal position of the wheel with the lowest slip ratio, further lowering the suspension height near the other wheels besides the diagonal wheel and the wheel with the lowest slip ratio allows more of the vehicle load to be transferred to the wheel end of the wheel with the lowest slip ratio.

[0060] Please see Figure 3 This is a schematic diagram illustrating an example of suspension adjustment provided by an embodiment of the present invention. Figure 3 As shown, the vehicle includes wheels L1, L2, L3, and L4. Wheel L1 has the smallest slip ratio. By raising the suspension height near wheel L4, which is located diagonally opposite wheel L1, and lowering the suspension height near wheels L2 and L3, more of the vehicle load can be transferred to wheel L1, giving wheel L1 greater traction with the ground. Wheel L1 can provide greater propulsion for the vehicle, improving the vehicle's ability to get out of trouble and its off-road capabilities.

[0061] In one embodiment, please refer to Figure 4 This is a flowchart illustrating a vehicle control method provided in an embodiment of the present invention. Figure 4 As shown, it includes the following steps:

[0062] Step S202: Obtain the slip ratio corresponding to each wheel;

[0063] Specifically, for step S202, please refer to the detailed description of step S102 in another embodiment of the present invention, which will not be repeated here.

[0064] Step S204: When the slip ratio of any wheel is greater than a preset slip ratio threshold and the vehicle speed is less than a preset speed threshold, a corresponding suspension adjustment strategy is generated based on the slip ratio of each wheel.

[0065] Specifically, for step S204, please refer to the detailed description of step S104 in another embodiment of the present invention, which will not be repeated here.

[0066] Step S206: Adjust the vehicle suspension state based on the suspension adjustment strategy to increase the wheel end load of the wheel with the smallest slip ratio;

[0067] Specifically, for step S206, please refer to the detailed description of step S106 in another embodiment of the present invention, which will not be repeated here.

[0068] Step S208: Generate a corresponding torque distribution strategy based on the suspension adjustment strategy, and adjust the torque output of the vehicle based on the torque distribution strategy to increase the driving torque of the wheel with the smallest slip ratio.

[0069] Specifically, when a vehicle lacks sufficient propulsion due to wheel slippage, the suspension adjustment strategy adjusts the vehicle's suspension state to change the load distribution. Simultaneously, a corresponding torque distribution strategy is generated based on this strategy, and the vehicle's torque output is adjusted to increase the driving torque of the wheel with the lowest slip ratio. In other words, by increasing the wheel-end load of the wheel with the lowest slip ratio according to the suspension adjustment strategy, and simultaneously increasing the wheel-end torque of that wheel, the vehicle can provide sufficient propulsion to move forward.

[0070] Furthermore, torque distribution strategies can include increasing the output torque of the engine / electric motor to increase the wheel-end torque of the wheel with the lowest slip ratio; alternatively, a torque distribution strategy can be implemented by braking the opposite wheel on the same axle as the wheel with the lowest slip ratio using a differential lock to alter the torque distribution and thus increase the wheel-end torque of that wheel. For example, in a coaxial front-wheel-drive vehicle, braking is applied to one side of the wheels to increase the wheel-end torque of the other side.

[0071] Please see Figure 5 This is a schematic diagram illustrating an example of suspension adjustment and torque control provided by an embodiment of the present invention. Figure 5As shown, wheel L1 is the wheel with the smallest slip ratio. After raising the suspension height near wheel L4, which is located diagonally opposite wheel L1, and lowering the suspension height near wheels L2 and L3, the torque output of wheel L1 can be increased by braking wheel L2 for coaxial wheels L1 and L2.

[0072] In this embodiment of the invention, when a vehicle experiences difficulty moving forward due to wheel slippage during off-road driving or climbing a slope, the slip ratio of each wheel is obtained. When the slip ratio of any wheel exceeds a preset slip ratio threshold, a corresponding suspension adjustment strategy is generated based on the slip ratio of each wheel. This strategy adjusts the vehicle's suspension state to increase the wheel-end load of the wheel with the lowest slip ratio. A corresponding torque distribution strategy is also generated based on the suspension adjustment strategy, and the vehicle's torque output is adjusted to increase the driving torque of the wheel with the lowest slip ratio. This increases the wheel-end load and driving torque, allowing the wheel with the lowest slip ratio to provide more propulsion to the vehicle, thereby improving the vehicle's ability to get out of trouble and its off-road capability.

[0073] In one feasible embodiment, during off-road driving or hill climbing, the TCS system, with the IPBECU monitoring the slip ratio of each wheel in real time, determines that insufficient propulsion is present when wheel slippage is detected and the vehicle speed is below a preset speed threshold. Based on the slip ratio, a corresponding suspension adjustment strategy is generated and sent to the suspension ECU to adjust the suspension state, thereby changing the vehicle's load distribution. Simultaneously, a corresponding torque distribution strategy is generated based on the suspension adjustment strategy. This strategy increases the driving torque of the wheel with the lowest slip ratio, allowing the wheel with the lowest slip ratio to provide more propulsion after the wheel-end load and driving torque are increased, thus improving the vehicle's ability to overcome obstacles and its off-road capabilities.

[0074] In one embodiment, the vehicle control method is applied in a scenario where the vehicle climbs a slope. In step S104, a corresponding suspension adjustment strategy is generated based on the slip ratio of each wheel. Specifically, this can be achieved by: obtaining the road slope, road adhesion coefficient, and vehicle weight; and generating a corresponding suspension adjustment strategy based on the road slope, road adhesion coefficient, vehicle weight, and slip ratio of each wheel.

[0075] Specifically, during vehicle climbing a slope, if the slip ratio of any wheel is greater than a preset slip ratio threshold and the vehicle speed is less than a preset speed threshold, it indicates that the vehicle lacks sufficient propulsion to move forward due to wheel slippage. At this time, the road slope, road adhesion coefficient, and vehicle weight are obtained. Based on the road slope and vehicle weight, the gravity component caused by gravity along the slope can be calculated. The necessary condition for the vehicle to climb the slope stably is that the adhesion between the wheel with the lowest slip ratio and the road surface should be greater than this gravity component. Based on this necessary condition, the load distribution coefficient corresponding to the wheel with the lowest slip ratio can be calculated based on the road slope, road adhesion coefficient, vehicle weight, and gravity component. The corresponding suspension adjustment strategy is generated based on this load distribution coefficient, where different load distribution coefficients correspond to different suspension adjustment strategies.

[0076] In this embodiment, the load distribution coefficient can be determined based on the following formula:

[0077] λ*mg*cosθ*μ≥mg*sinθ

[0078] Where mg is the vehicle weight, θ is the slope angle, μ is the road adhesion coefficient corresponding to the wheel, and λ is the load distribution coefficient. mg*sinθ is the downward component of gravity acting on the vehicle along the slope, and λ*mg*cosθ*μ represents the maximum adhesion between the wheel and the road surface. This formula can be used to estimate the range of values ​​for the load distribution coefficient λ.

[0079] In one feasible implementation, a mapping relationship between load distribution coefficients and suspension adjustment strategies with different values ​​can be set. During application, the corresponding suspension adjustment strategy is automatically selected based on the load distribution coefficient to change the vehicle suspension state.

[0080] Furthermore, the suspension adjustment strategy can include the suspension height corresponding to each wheel, with different suspension height values ​​corresponding to different load distribution coefficients. After obtaining the suspension adjustment strategy, it is sent to the vehicle's suspension ECU, which adjusts the suspension height near the corresponding wheel based on the suspension height of each wheel to increase the wheel-end load of the wheel with the lowest slip ratio. This results in greater traction between the wheel with the lowest slip ratio and the ground, providing greater propulsion for the vehicle and improving its ability to get out of trouble and its off-road capabilities.

[0081] It should be further noted that the vehicle control method proposed in one or more embodiments of the present invention can be applied to front-wheel drive vehicles, rear-wheel drive vehicles, or four-wheel drive vehicles. For front-wheel drive vehicles, when the vehicle's propulsion is insufficient, a front wheel with a lower slip ratio can be selected from the coaxial drive front wheels. The suspension height can be adjusted to apply more load to this wheel, and the other front wheel can be braked according to a torque distribution strategy to increase the wheel-end torque of the wheel with the lower slip ratio, thus providing greater propulsion. For rear-wheel drive vehicles, a rear wheel with a lower slip ratio can be selected from the coaxial drive rear wheels. When the vehicle's propulsion is insufficient, the suspension height can be adjusted to apply more load to this wheel, and the other rear wheel can be braked according to a torque distribution strategy to increase the wheel-end torque of this wheel, thus providing greater propulsion. For four-wheel drive vehicles, a wheel with a lower slip ratio can be selected from all drive wheels (this wheel can be either a front or rear wheel). The suspension height can be adjusted to apply more load to this wheel, and the other wheels can be braked according to a torque distribution strategy to increase the wheel-end torque of this wheel, thus providing greater propulsion.

[0082] Please see Figure 6 This is a structural schematic diagram of a vehicle control device provided in an embodiment of the present invention. Figure 6 As shown, the vehicle control device 01 can be implemented as all or part of a vehicle controller through software, hardware, or a combination of both. According to some embodiments, the vehicle control device 01 may include a slip ratio acquisition module 11, a suspension strategy generation module 12, and a suspension state adjustment module 13, specifically including:

[0083] The slip ratio acquisition module 11 is used to acquire the slip ratio corresponding to each wheel.

[0084] The suspension strategy generation module 12 is used to generate a corresponding suspension adjustment strategy based on the slip ratio of each wheel when the slip ratio of any wheel is greater than a preset slip ratio threshold and the vehicle speed is less than a preset speed threshold.

[0085] The suspension state adjustment module 13 is used to adjust the vehicle suspension state based on the suspension adjustment strategy to increase the wheel end load of the wheel with the smallest slip ratio.

[0086] Optionally, the suspension state adjustment module 13 is specifically used for:

[0087] Determine the diagonal wheel located at the diagonal position of the wheel with the minimum slip ratio;

[0088] Raise the suspension height at the diagonal wheels.

[0089] Optionally, the suspension-shaped adjustment module 13 is further used for:

[0090] Lower the suspension height near the wheels other than the diagonal wheels and the wheel with the lowest slip ratio.

[0091] Optional, please see Figure 7 The device further includes a torque output control module 14, specifically used for:

[0092] A corresponding torque distribution strategy is generated based on the suspension adjustment strategy;

[0093] The torque output of the vehicle is adjusted based on the torque distribution strategy to increase the driving torque of the wheel with the smallest slip ratio.

[0094] Optionally, the suspension strategy generation module 12, when executing the generation of corresponding suspension adjustment strategies based on the slip ratios of each wheel, is specifically used for:

[0095] Obtain road surface slope, road surface adhesion coefficient, and vehicle weight;

[0096] A corresponding suspension adjustment strategy is generated based on the road surface slope, the road surface adhesion coefficient, the vehicle weight, and the slip ratio of each wheel.

[0097] Optionally, the suspension adjustment strategy includes the suspension height corresponding to each of the wheels; the suspension adjustment module 13 is specifically used for:

[0098] The suspension height of the suspension near each wheel is adjusted based on the suspension height of each wheel to increase the wheel-end load of the wheel with the smallest slip ratio.

[0099] The above-described apparatus embodiments correspond to the method embodiments, and detailed descriptions can be found in the description of the method embodiments section, which will not be repeated here. The apparatus embodiments are derived based on the corresponding method embodiments and have the same technical effects as the corresponding method embodiments; detailed descriptions can be found in the corresponding method embodiments.

[0100] The present invention also provides a storage medium that can store multiple instructions, which are adapted to be loaded by a processor and executed as in the vehicle control methods of the above embodiments. For the specific execution process, please refer to the detailed descriptions in the above embodiments, which will not be repeated here.

[0101] In one embodiment, the present invention also provides Figure 8 The diagram shows the structure of the vehicle controller. Figure 8At the hardware level, the vehicle controller includes a processor 21, an internal bus 22, a network interface 23, memory 24, and non-volatile memory 25, and may also include other hardware required for business operations. The vehicle controller can be installed in the vehicle, where the processor 21 reads the corresponding computer program from the non-volatile memory 25 into memory and then runs it to implement the aforementioned vehicle control method.

[0102] In one embodiment, the present invention also provides a vehicle that may include a vehicle control device or vehicle controller as described above, to perform a vehicle control method to achieve suspension control during vehicle operation.

[0103] Finally, the various embodiments in this invention are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments.

[0104] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A vehicle control method, comprising: Obtain the slip ratio and vehicle speed for each wheel; When the slip ratio of any wheel is greater than a preset slip ratio threshold and the vehicle speed is less than a preset speed threshold, a corresponding suspension adjustment strategy is generated based on the slip ratio of each wheel. The vehicle suspension is adjusted based on the suspension adjustment strategy to increase the wheel-end load of the wheel with the smallest slip ratio.

2. The method according to claim 1, wherein adjusting the vehicle suspension state based on the suspension adjustment strategy includes: Determine the diagonal wheel located at the diagonal position of the wheel with the minimum slip ratio; Raise the suspension height at the diagonal wheels.

3. The method according to claim 2, further comprising: Lower the suspension height near the wheels other than the diagonal wheels and the wheel with the lowest slip ratio.

4. The method according to claim 1, further comprising: A corresponding torque distribution strategy is generated based on the suspension adjustment strategy; The torque output of the vehicle is adjusted based on the torque distribution strategy to increase the driving torque of the wheel with the smallest slip ratio.

5. The method according to claim 1, wherein generating a corresponding suspension adjustment strategy based on the slip ratio corresponding to each of the wheels includes: Obtain road surface slope, road surface adhesion coefficient, and vehicle weight; A corresponding suspension adjustment strategy is generated based on the road surface slope, the road surface adhesion coefficient, the vehicle weight, and the slip ratio of each wheel.

6. The method according to claim 5, wherein the suspension adjustment strategy includes the suspension height corresponding to each of the wheels; The step of adjusting the vehicle suspension state based on the suspension adjustment strategy to increase the wheel-end load of the wheel with the minimum slip ratio includes: The suspension height of the suspension near each wheel is adjusted based on the suspension height of each wheel to increase the wheel-end load of the wheel with the smallest slip ratio.

7. A vehicle control device, comprising: The slip ratio acquisition module is used to acquire the slip ratio of each wheel. The suspension strategy generation module is used to generate a corresponding suspension adjustment strategy based on the slip ratio of each wheel when the slip ratio of any wheel is greater than a preset slip ratio threshold and the vehicle speed is less than a preset speed threshold. The suspension state adjustment module is used to adjust the vehicle suspension state based on the suspension adjustment strategy to increase the wheel end load of the wheel with the smallest slip ratio.

8. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 6.

9. A vehicle controller, comprising: A processor and a memory; wherein the memory stores computer-readable instructions adapted to be loaded by the processor and to perform the steps of the method as claimed in any one of claims 1 to 6.

10. A vehicle comprising the vehicle control device as claimed in claim 7 or the vehicle controller as claimed in claim 9.

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