Vehicle lateral movement control method, control device, electronic device, and storage medium
By combining the motion characteristics of split-axle torque and front and rear wheel steering, the lateral movement of the vehicle is controlled, solving the problem of high difficulty in parallel parking, realizing simple and easy parking operations, reducing costs and improving user experience.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZHEJIANG GEELY HLDG GRP CO LTD
- Filing Date
- 2026-02-26
- Publication Date
- 2026-05-29
Smart Images
Figure CN121716692B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of vehicle technology, and in particular to a vehicle lateral movement control method, a vehicle lateral movement control device, an electronic device, and a computer-readable storage medium. Background Technology
[0002] With the increasing number of cars on the road, parking difficulties have become a widespread problem. Parallel parking requires maneuvering, reversing, and other complex and cumbersome operations. Parallel parking is a frequent scenario in daily driving, and for most drivers, it is a challenging task. Having a vehicle with lateral movement capabilities would greatly reduce the difficulty of parallel parking. However, currently, there are no mass-produced vehicles on the market with lateral movement functionality. Summary of the Invention
[0003] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to propose a vehicle lateral movement control method that, by combining the motion characteristics of axle torque and front and rear wheel steering, enables lateral movement of the vehicle, reduces operating costs, simplifies parallel parking, is simple and convenient to operate, and improves the user experience.
[0004] The second objective of this invention is to provide a vehicle lateral movement control device.
[0005] The third objective of this invention is to provide an electronic device.
[0006] The fourth objective of this invention is to provide a computer-readable storage medium.
[0007] To achieve the above objectives, a first aspect of the present invention provides a vehicle lateral movement control method, comprising: acquiring a target lateral movement speed and a target lateral movement acceleration for a target vehicle; controlling the wheels of the target vehicle to lateralize based on the target lateral movement speed and the target lateral movement acceleration; acquiring the actual lateral movement speed of the target vehicle during the lateral movement process; and adjusting the control parameters for controlling the target vehicle to lateralize at the next moment based on the actual lateral movement speed and the target lateral movement speed.
[0008] In addition, the vehicle lateral movement control method according to the above embodiments of the present invention may also have the following additional technical features:
[0009] According to some embodiments of the present invention, before controlling the wheels of the target vehicle to lateralize according to the target lateral speed and the target lateral acceleration, the method further includes: determining whether the target vehicle is stationary and whether there are obstacles in the lateral movement path of the target vehicle; in response to the target vehicle being stationary and the absence of obstacles in the lateral movement path of the target vehicle, determining to perform the operation of controlling the wheels of the target vehicle to lateralize according to the target lateral speed and the target lateral acceleration.
[0010] According to some embodiments of the present invention, the above method further includes: determining the front axle longitudinal moment, rear axle longitudinal moment, front axle steering angle and rear axle steering angle of the target vehicle based on the target lateral velocity; and determining the target lateral acceleration based on the front axle longitudinal moment, rear axle longitudinal moment, front axle steering angle and rear axle steering angle.
[0011] According to some embodiments of the present invention, the target lateral acceleration is expressed as:
[0012]
[0013] in, For the target's lateral acceleration, This is the longitudinal torque of the front axle. This is the longitudinal moment of the rear axle. For the wheel radius, This refers to the front axle steering angle. Rear axle steering angle This refers to the front axle track or the rear axle track.
[0014] According to some embodiments of the present invention, the above method further includes: when controlling the wheels of the target vehicle to move laterally, controlling the longitudinal torque of the front axle to be equal in magnitude to the longitudinal torque of the rear axle, the sum of the longitudinal torque of the front axle and the longitudinal torque of the rear axle to be zero, the steering angle of the front axle to be equal in magnitude to the steering angle of the rear axle, and the sum of the steering angle of the front axle and the steering angle of the rear axle to be zero.
[0015] According to some embodiments of the present invention, adjusting the control parameters for controlling the target vehicle to lateralize at the next moment based on the actual lateral speed and the target lateral speed includes: calculating the difference between the actual lateral speed and the target lateral speed; determining a compensating lateral acceleration based on the difference; and determining the control parameters for controlling the target vehicle to lateralize at the next moment based on the compensating lateral acceleration.
[0016] According to some embodiments of the present invention, the method further includes: in response to receiving a braking signal for the target vehicle, ending the lateral movement control for the target vehicle after the target vehicle has come to a stop.
[0017] The vehicle lateral movement control method according to an embodiment of the present invention includes: acquiring a target lateral movement speed and a target lateral movement acceleration for a target vehicle; controlling the wheels of the target vehicle to lateralize based on the target lateral movement speed and the target lateral movement acceleration; acquiring the actual lateral movement speed of the target vehicle during the lateral movement process; and adjusting the control parameters for controlling the lateral movement of the target vehicle at the next moment based on the actual lateral movement speed and the target lateral movement speed. Therefore, this method can achieve lateral movement of the vehicle by combining the motion characteristics of the axle torque and the steering of the front and rear wheels, reducing operating costs, simplifying parallel parking, and improving user experience.
[0018] The second objective of this invention is to provide a vehicle lateral movement control device that can achieve lateral movement of the vehicle by combining the motion characteristics of the split axle torque and the front and rear wheel steering, thereby reducing usage costs, simplifying the difficulty of parallel parking, and providing a simple and convenient operation to improve the user experience.
[0019] To achieve the above objectives, a second aspect of the present invention provides a vehicle lateral movement control device, comprising: a first acquisition module configured to acquire a target lateral movement speed and a target lateral movement acceleration for a target vehicle; a control module configured to control the wheels of the target vehicle to lateral movement based on the target lateral movement speed and the target lateral movement acceleration; a second acquisition module configured to acquire the actual lateral movement speed of the target vehicle during the lateral movement process; and an adjustment module configured to adjust the control parameters for controlling the target vehicle to lateral movement at the next moment based on the actual lateral movement speed and the target lateral movement speed.
[0020] A vehicle lateral movement control device according to an embodiment of the present invention includes: a first acquisition module configured to acquire a target lateral movement speed and a target lateral movement acceleration for a target vehicle; a control module configured to control the wheels of the target vehicle to laterally move according to the target lateral movement speed and the target lateral movement acceleration; a second acquisition module configured to acquire the actual lateral movement speed of the target vehicle during the lateral movement process; and an adjustment module configured to adjust the control parameters for controlling the lateral movement of the target vehicle at the next moment according to the actual lateral movement speed and the target lateral movement speed. Therefore, this device can achieve lateral movement of the vehicle by combining the motion characteristics of the axle torque and the steering of the front and rear wheels, reducing operating costs, simplifying parallel parking, and improving user experience.
[0021] To achieve the above objectives, a third aspect of the present invention provides an electronic device, comprising: a processor and a memory, wherein the memory stores a program or instructions executable on the processor, and the program or instructions, when executed by the processor, implement the steps of the above-described vehicle lateral movement control method.
[0022] According to the embodiments of the present invention, the electronic device, by executing the above-described vehicle lateral movement control method, can realize the lateral movement of the vehicle by combining the motion characteristics of the split axle torque and the front and rear wheel steering, thereby reducing the cost of use, reducing the difficulty of parallel parking, simplifying and facilitating operation, and improving the user experience.
[0023] To achieve the above objectives, a fourth aspect of the present invention provides a computer-readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the vehicle lateral movement control method described above.
[0024] According to the computer-readable storage medium of the present invention, by executing the above-described vehicle lateral movement control method, the lateral movement of the vehicle can be realized by combining the motion characteristics of the axle torque and the front and rear wheel steering, thereby reducing the cost of use, reducing the difficulty of parallel parking, simplifying and facilitating operation, and improving the user experience.
[0025] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description
[0026] Figure 1 A flowchart of a vehicle lateral movement control method according to some embodiments of the present invention;
[0027] Figure 2(a) is a schematic diagram of a vehicle with an outward-pointing configuration, consisting of one front motor and two rear motors, according to some embodiments of the present invention;
[0028] Figure 2(b) is a schematic diagram of a vehicle with an outward-pointing configuration, consisting of a front motor and a rear motor, according to some embodiments of the present invention;
[0029] Figure 2(c) is a schematic diagram of a vehicle with an outward-pointing configuration and two front motors and one rear motor, according to some embodiments of the present invention;
[0030] Figure 2(d) is a schematic diagram of a vehicle with an inward-pointing toe configuration and one front motor and two rear motors according to some embodiments of the present invention;
[0031] Figure 2(e) is a schematic diagram of a vehicle with an inward-pointing configuration and one front motor and one rear motor according to some embodiments of the present invention;
[0032] Figure 2(f) is a schematic diagram of a vehicle with an inward-pointing configuration and two front motors and one rear motor, according to some embodiments of the present invention;
[0033] Figure 3 This is a schematic diagram of the longitudinal torque of the front axle, the longitudinal torque of the rear axle, the front axle steering angle, and the rear axle steering angle in an inward-pointing manner according to some embodiments of the present invention.
[0034] Figure 4 This is a schematic diagram of the central control screen display interface of a target vehicle according to some embodiments of the present invention;
[0035] Figure 5 This is a schematic diagram of the central control screen display interface of a target vehicle according to other embodiments of the present invention;
[0036] Figure 6 This is a schematic diagram of a vehicle lateral movement control device according to some embodiments of the present invention;
[0037] Figure 7 This is a block diagram of an electronic device according to some embodiments of the present invention. Detailed Implementation
[0038] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.
[0039] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this invention should have the ordinary meaning understood by those skilled in the art. The terms "first," "second," and similar terms used in the embodiments of this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.
[0040] As discussed in the background section, with the increase in car ownership, parking difficulties have become a widespread problem. Parallel parking requires maneuvering such as changing direction and reversing, which is complex and cumbersome. Parallel parking is a frequent scenario in daily driving, and for most drivers, it is a relatively difficult task. Having a vehicle with lateral movement capabilities would greatly reduce the difficulty of parallel parking. However, currently, there are no mass-produced vehicles on the market that achieve lateral movement. Currently, vehicles used to demonstrate lateral movement are equipped with Magna wheels fitted with special tires, which are not suitable for everyday driving. This invention combines the characteristics of split-axle torque and forward and rearward rotation to achieve lateral movement of the vehicle.
[0041] In related technologies, a hardware solution for achieving lateral vehicle movement is described using a combination of four-wheel independent steering and multiple gearboxes. This technology differs from our invention in several hardware aspects. First, the steering systems differ: our invention uses a front-to-rear axle steering system, while this related technology uses four-wheel independent steering. Second, our invention uses a split-axle torque drive system without an inter-axle gearbox. This related technology achieves torque transmission between axles through multiple gearboxes.
[0042] Therefore, the vehicle of this invention has front-wheel steering, with the front wheels possessing lateral steering capability. It is also equipped with rear-wheel steering, with the rear wheels also possessing lateral steering capability. The fusion of front and rear steering capabilities with split-axle drive achieves a low-cost lateral movement solution.
[0043] The vehicle lateral movement control method, vehicle lateral movement control device, electronic device, and computer-readable storage medium proposed in the embodiments of the present invention are described below with reference to the accompanying drawings.
[0044] refer to Figure 1 This is a flowchart of a vehicle lateral movement control method according to some embodiments of the present invention.
[0045] In some embodiments, the present invention can be applied to six hardware structures to realize the lateral movement of a vehicle. Referring to Figure 2(a), it is a schematic diagram of a vehicle with a V-shape and one front motor and two rear motors according to some embodiments of the present invention. The first type is a vehicle with a V-shape and one front motor and two rear motors (3 motors) along the lateral movement direction. Referring to Figure 2(b), it is a schematic diagram of a vehicle with a V-shape and one front motor and one rear motor according to some embodiments of the present invention. The second type is a vehicle with a V-shape and one front motor and one rear motor (2 motors) along the lateral movement direction. Referring to Figure 2(c), it is a schematic diagram of a vehicle with a V-shape and two front motors and one rear motor according to some embodiments of the present invention. The third type is a vehicle with a V-shape and one front motor and one rear motor (2 motors) along the lateral movement direction. The vehicle has three types of motors: a front-two-rear-one (three motors) configuration; Figure 2(d) is a schematic diagram of a vehicle with a front-one-two-rear-one configuration according to some embodiments of the present invention; Figure 2(e) is a schematic diagram of a vehicle with a front-one-two-rear-one configuration according to some embodiments of the present invention; Figure 2(f) is a schematic diagram of a vehicle with a front-one-two-rear-one configuration according to some embodiments of the present invention; Figure 2(d) is a schematic diagram of a vehicle with a front-one-two-rear-one configuration according to some embodiments of the present invention; Figure 2(d) is a schematic diagram of a vehicle with a front-one-two-rear-one configuration according to some embodiments of the present invention; Figure 2(f) is a schematic diagram of a vehicle with a front-one-two-rear-one configuration according to some embodiments of the present invention; Figure 2(d) is a schematic diagram of a vehicle with a front-one-two-rear-one configuration according to some embodiments of the present invention.
[0046] The above six hardware configurations enable axle-by-axle torque control, allowing independent control of the magnitude and direction of torque on both the front and rear axles. Both the front and rear axles can also independently control vehicle steering. Through steering control of the front and rear axles, equal and opposite turning angles can be achieved. Controlling the torque ensures equal and opposite torque magnitudes on both axles, resulting in zero net force in the longitudinal direction, creating a lateral force that overcomes inertia and allows the vehicle to move laterally.
[0047] like Figure 1 As shown, the vehicle lateral movement control method of this invention may include the following steps:
[0048] S101, obtain the target lateral velocity and target lateral acceleration for the target vehicle.
[0049] Specifically, the target lateral velocity and target lateral acceleration of the target vehicle can be determined based on the desired path and the state of the target vehicle, thereby obtaining the target lateral velocity and target lateral acceleration for the target vehicle. Based on the target lateral acceleration, the magnitude and direction of the torque on the front and rear axles and the steering angle of the front and rear axles are controlled to drive the wheels to steer and rotate, causing the entire vehicle to move laterally.
[0050] S102, control the wheels of the target vehicle to move laterally based on the target lateral speed and the target lateral acceleration.
[0051] Specifically, after obtaining the target lateral velocity and target lateral acceleration, the wheels of the target vehicle are controlled to move laterally according to the target lateral velocity and target lateral acceleration, so that the wheels of the target vehicle travel in the set ideal state.
[0052] S103, obtain the actual lateral speed of the target vehicle during the lateral movement process.
[0053] Specifically, the actual lateral speed of the target vehicle during the lateral movement process can be obtained through the vehicle's lateral speed sensor.
[0054] S104, adjust the control parameters for controlling the target vehicle to move laterally at the next moment based on the actual lateral speed and the target lateral speed.
[0055] Specifically, after obtaining the actual lateral speed and the target lateral speed, the control parameters for controlling the target vehicle to lateralize at the next moment are adjusted according to the actual lateral speed and the target lateral speed. The control parameters for controlling the target vehicle to lateralize at the next moment are used to control the wheels of the target vehicle to lateralize. The control parameters for controlling the target vehicle to lateralize can be the front axle longitudinal moment, the rear axle longitudinal moment, the front axle steering angle, and the rear axle steering angle of the target vehicle.
[0056] In some embodiments of the present invention, before controlling the wheels of the target vehicle to move laterally based on the target lateral speed and the target lateral acceleration, the method further includes: determining whether the target vehicle is stationary and whether there are obstacles in the lateral movement path of the target vehicle; in response to the target vehicle being stationary and the absence of obstacles in the lateral movement path of the target vehicle, determining to perform the operation of controlling the wheels of the target vehicle to move laterally based on the target lateral speed and the target lateral acceleration.
[0057] Specifically, before controlling the wheels of the target vehicle to move laterally based on the target lateral speed and acceleration, it is necessary to determine whether the target vehicle is stationary (or, whether the target vehicle's speed is zero) and whether there are obstacles in the target vehicle's lateral movement path (i.e., whether the road surface is flat and unobstructed). When the target vehicle is stationary and there are no obstacles in the target vehicle's lateral movement path, it can be said that the road surface and vehicle status are in a safe state, meeting the safety conditions for lateral movement. At this time, the wheels of the target vehicle can be controlled to move laterally based on the target lateral speed and acceleration, enabling the vehicle to move laterally and improving the user experience.
[0058] In some embodiments, before controlling the wheels of the target vehicle to lateralize based on the target lateral velocity and target lateral acceleration, it is also necessary to determine whether the user has activated the U-turn switch for the target vehicle and whether the target vehicle is stationary. When the user has activated the U-turn switch and the target vehicle is stationary, it is further determined whether the road surface is flat and unobstructed. If the road surface is flat and unobstructed, it is also necessary to determine whether the target vehicle's forward and reverse turning are malfunctioning, whether the target vehicle's motor, battery, and engine are malfunctioning, whether the target vehicle's display screen signal is malfunctioning, whether the target vehicle's tire pressure is normal, and whether the target vehicle's yaw sensor signal is malfunctioning. If the target vehicle's forward and reverse turning are not malfunctioning, the target vehicle's motor, battery, and engine are not malfunctioning, the target vehicle's display screen is not malfunctioning, the target vehicle's tire pressure is normal, and the target vehicle's yaw sensor signal is normal, then the vehicle's yaw sensor signal is normal. If the signal is functioning correctly, the system then checks if the target vehicle is in drive and if the user has applied the brakes. If the target vehicle is in drive and the user has applied the brakes, it checks if the user has released the brakes and if the user has applied the accelerator. If the user has released the brakes and applied the accelerator, the target vehicle's hazard lights can be activated. The target lateral movement speed is calculated based on the depth of the accelerator pedal and the road surface adhesion. An amplitude limit for the target lateral movement speed is set. The longitudinal torque of the front axle and the longitudinal torque of the rear axle of the target vehicle are calculated based on the target lateral movement speed and the actual lateral movement speed. The target vehicle's wheels are then controlled to move laterally based on the target lateral movement speed and the target lateral movement acceleration. Finally, it checks again if the user has applied the brakes and if the user has clicked the exit switch. The lateral movement operation ends when the user applies the brakes and clicks the exit switch.
[0059] In some embodiments of the present invention, the above method further includes: determining the front axle longitudinal moment, rear axle longitudinal moment, front axle steering angle and rear axle steering angle of the target vehicle based on the target lateral velocity; and determining the target lateral acceleration based on the front axle longitudinal moment, rear axle longitudinal moment, front axle steering angle and rear axle steering angle.
[0060] Furthermore, in some embodiments of the present invention, the target lateral acceleration is expressed as:
[0061]
[0062] in, For the target's lateral acceleration, This is the longitudinal torque of the front axle. This is the longitudinal moment of the rear axle. For the wheel radius, This refers to the front axle steering angle. Rear axle steering angle This refers to the front axle track or the rear axle track.
[0063] Specifically, refer to Figure 3 This is a schematic diagram of the longitudinal torque of the front axle, the longitudinal torque of the rear axle, the front axle steering angle, and the rear axle steering angle in an inward-pointing manner according to some embodiments of the present invention.
[0064] After obtaining the target's lateral velocity, based on the target's lateral velocity... Obtain the longitudinal torque of the front axle of the target vehicle Rear axle longitudinal torque Front axle steering angle and rear axle steering angle Based on the longitudinal moment of the front axle of the target vehicle Rear axle longitudinal torque Front axle steering angle and rear axle steering angle Through formula Obtain the target's lateral acceleration And control the torque of the front and rear axles according to the longitudinal torque of the front axle. Rear axle longitudinal torque Rotation, and control of the front and rear axle steering angles according to the front axle steering angle. and rear axle steering angle Steering, thereby achieving lateral movement of the vehicle. That is, during the rotation phase, the target lateral acceleration... It is the longitudinal moment of the front axle of the target vehicle Rear axle longitudinal torque Front axle steering angle and rear axle steering angle Integrated provision.
[0065] In some embodiments of the present invention, the above method further includes: when controlling the wheels of the target vehicle to move laterally, controlling the longitudinal torque of the front axle to be equal in magnitude to the longitudinal torque of the rear axle, the sum of the longitudinal torque of the front axle and the longitudinal torque of the rear axle to be zero, the steering angle of the front axle to be equal in magnitude to the steering angle of the rear axle, and the sum of the steering angle of the front axle and the steering angle of the rear axle to be zero.
[0066] Specifically, when controlling the wheels of the target vehicle to move laterally, the longitudinal torque of the front axle is equal to the longitudinal torque of the rear axle (i.e., The sum of the longitudinal torque of the front axle and the longitudinal torque of the rear axle is zero (i.e., The front axle steering angle is equal to the rear axle steering angle (i.e., ) and the sum of the front axle steering angle and the rear axle steering angle is zero (i.e. ).
[0067] In some embodiments of the present invention, adjusting the control parameters for controlling the target vehicle to lateralize at the next moment based on the actual lateral speed and the target lateral speed includes: calculating the difference between the actual lateral speed and the target lateral speed, determining a compensation lateral acceleration based on the difference, and determining the control parameters for controlling the target vehicle to lateralize at the next moment based on the compensation lateral acceleration.
[0068] Specifically, the difference between the actual lateral speed and the target lateral speed is calculated. A compensating lateral acceleration is determined based on this difference. The actual lateral speed of the target vehicle is then adjusted according to the compensating lateral acceleration to make the actual lateral speed equal to the target lateral speed. Finally, the control parameters for controlling the target vehicle's lateral movement at the next moment (i.e., the front axle longitudinal moment, rear axle longitudinal moment, front axle steering angle, and rear axle steering angle) are determined based on the compensating lateral acceleration.
[0069] In some embodiments of the present invention, the method further includes: in response to receiving a braking signal for the target vehicle, ending the lateral movement control for the target vehicle after the target vehicle has come to a stop.
[0070] Specifically, the controller determines whether it has received a braking signal for the target vehicle. When the controller receives a braking signal for the target vehicle, it indicates that the user has applied the brakes and the vehicle speed is zero, fulfilling the exit condition of turning off the lateral movement switch. At this point, the lateral movement control for the target vehicle ends after the target vehicle comes to a stop; this can also be understood as actively exiting the lateral movement mode. Furthermore, if safety-affecting conditions such as motor overheating or critical signals becoming invalid occur during the vehicle's lateral movement, a safety warning will pop up on the target vehicle's screen, and the lateral movement mode will be actively exited.
[0071] In some embodiments, reference Figure 4This is a schematic diagram of the central control screen display interface of a target vehicle according to some embodiments of the present invention. When the controller receives a braking signal for the target vehicle, and the vehicle speed drops to zero while the lateral movement switch is in the off state, the system determines that the conditions for normal active exit from the lateral movement mode are met. The central control screen of the target vehicle immediately pops up a prominent dialog box, the content of which is: "It has been detected that you have applied the brakes and the vehicle speed is zero. The lateral movement switch is off. The system will end the lateral movement mode." The text is in bold black font, with a moderate font size to ensure that the driver can clearly read it under different lighting conditions. A "Confirm" button is provided below the dialog box, and the button is oval in shape. After the driver clicks the "Confirm" button, the system officially ends the lateral movement mode and records the relevant information of this mode exit in the background. At the same time, the target vehicle issues a gentle voice prompt through the in-vehicle voice system: "The lateral movement mode is about to end. Please pay attention to the vehicle status." The voice tone is steady and the speed is moderate to avoid interfering with the driver.
[0072] In other embodiments, reference is made to Figure 5 This is a schematic diagram of the central control screen display interface of a target vehicle according to other embodiments of the present invention. During lateral movement of the vehicle, if the motor temperature exceeds a safety threshold (causing motor overheating), or if critical signals (such as steering sensor signals, wheel speed sensor signals, etc.) become invalid, the system determines that an abnormal situation affecting safety has occurred and needs to actively exit the lateral movement mode. The central control screen of the target vehicle quickly pops up a warning dialog box to attract the driver's attention. The dialog box reads, "Warning! Motor overheating (or critical signal abnormality) detected. To ensure safety, the system will immediately exit the lateral movement mode." The text is in bold black font and a large size to ensure the driver can see the critical information immediately. Below the warning dialog box are two buttons: an "Immediate Stop" button and a "Learn More" button, both also oval in shape. If the driver clicks the "Immediate Stop" button, the vehicle will automatically initiate an emergency braking procedure, slowly bringing the vehicle to a safe position, and after stopping, will prompt the driver with voice and text, "The vehicle has stopped safely. Please check the vehicle's condition."
[0073] If the driver clicks the "Learn More" button, the system will display a detailed fault information page on the large screen, showing the specific value of the motor temperature, the specific type of abnormality in key signals, and other relevant information. It will also provide some simple troubleshooting suggestions, such as "Check if the motor cooling system is working properly" and "Restart the vehicle to see if the signals are restored." After viewing the details, the driver can manually click the "Back" button to return to the main interface. The system will remain in the state of exiting lateral movement mode.
[0074] Simultaneously with the pop-up warning dialog box, the in-vehicle voice system emits a rapid alarm sound and repeatedly broadcasts, "Danger! Motor overheating (or critical signal abnormality), please take immediate action!" to remind the driver to handle the situation promptly. After the alarm continues for a period of time, if the driver does not take any action, the system will automatically execute an emergency braking procedure to ensure vehicle safety.
[0075] This invention does not require special tires. For conventional vehicles equipped with axle torque and front and rear steering, the function can be achieved by controlling the torque direction and the front and rear steering direction.
[0076] In summary, the vehicle lateral movement control method according to embodiments of the present invention includes: acquiring a target lateral movement speed and a target lateral movement acceleration for a target vehicle; controlling the wheels of the target vehicle to lateralize based on the target lateral movement speed and the target lateral movement acceleration; acquiring the actual lateral movement speed of the target vehicle during the lateral movement process; and adjusting the control parameters for controlling the lateral movement of the target vehicle at the next moment based on the actual lateral movement speed and the target lateral movement speed. Therefore, this method can achieve lateral movement of the vehicle by combining the motion characteristics of the axle torque and the steering of the front and rear wheels, reducing operating costs, simplifying parallel parking, and improving user experience.
[0077] It should be noted that the method of this embodiment can be executed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method of this embodiment, and the multiple devices will interact with each other to complete the above method.
[0078] It should be noted that the above description describes some embodiments of the present invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims may be performed in a different order than that shown in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
[0079] Corresponding to the above embodiments, the present invention also proposes a vehicle lateral movement control device.
[0080] like Figure 6 As shown, the vehicle lateral movement control device of this embodiment includes: a first acquisition module 610, a control module 620, a second acquisition module 630, and an adjustment module 640.
[0081] The first acquisition module 610 is configured to acquire the target lateral speed and target lateral acceleration of the target vehicle; the control module 620 is configured to control the wheels of the target vehicle to move laterally based on the target lateral speed and target lateral acceleration; the second acquisition module 630 is configured to acquire the actual lateral speed of the target vehicle during the lateral movement; and the adjustment module 640 is configured to adjust the control parameters for controlling the target vehicle to move laterally at the next moment based on the actual lateral speed and the target lateral speed.
[0082] In some embodiments of the present invention, before controlling the wheels of the target vehicle to move laterally according to the target lateral speed and the target lateral acceleration, the control module 620 is further configured to determine whether the target vehicle is stationary and whether there are obstacles in the lateral movement path of the target vehicle; in response to the target vehicle being stationary and the target vehicle's lateral movement path being free of obstacles, it determines to perform the operation of controlling the wheels of the target vehicle to move laterally according to the target lateral speed and the target lateral acceleration.
[0083] In some embodiments of the present invention, the first acquisition module 610 is further configured to determine the front axle longitudinal moment, rear axle longitudinal moment, front axle steering angle and rear axle steering angle of the target vehicle based on the target lateral velocity; and to determine the target lateral acceleration based on the front axle longitudinal moment, rear axle longitudinal moment, front axle steering angle and rear axle steering angle.
[0084] In some embodiments of the present invention, the target lateral acceleration is expressed as:
[0085]
[0086] in, For the target's lateral acceleration, This is the longitudinal torque of the front axle. This is the longitudinal moment of the rear axle. For the wheel radius, This refers to the front axle steering angle. Rear axle steering angle This refers to the front axle track or the rear axle track.
[0087] In some embodiments of the present invention, the control module 620 is further configured to, when controlling the wheels of the target vehicle to move laterally, control the longitudinal torque of the front axle to be equal in magnitude to the longitudinal torque of the rear axle, the sum of the longitudinal torque of the front axle and the longitudinal torque of the rear axle to be zero, the steering angle of the front axle to be equal in magnitude to the steering angle of the rear axle, and the sum of the steering angle of the front axle and the steering angle of the rear axle to be zero.
[0088] In some embodiments of the present invention, the adjustment module 640 adjusts the control parameters for controlling the target vehicle to move laterally at the next moment based on the actual lateral speed and the target lateral speed. Specifically, it is used to: calculate the difference between the actual lateral speed and the target lateral speed, determine the compensation lateral acceleration based on the difference, and determine the control parameters for controlling the target vehicle to move laterally at the next moment based on the compensation lateral acceleration.
[0089] In some embodiments of the present invention, the control module 620 is further configured to, in response to receiving a braking signal for the target vehicle, terminate the lateral movement control for the target vehicle after the target vehicle has come to a stop.
[0090] It should be noted that for details not disclosed in the vehicle lateral movement control device of the present invention, please refer to the details disclosed in the vehicle lateral movement control method of the present invention, which will not be repeated here.
[0091] In summary, the vehicle lateral movement control device according to an embodiment of the present invention includes: a first acquisition module configured to acquire a target lateral movement speed and a target lateral movement acceleration for a target vehicle; a control module configured to control the wheels of the target vehicle to lateralize based on the target lateral movement speed and the target lateral movement acceleration; a second acquisition module configured to acquire the actual lateral movement speed of the target vehicle during the lateral movement process; and an adjustment module configured to adjust the control parameters for controlling the lateral movement of the target vehicle at the next moment based on the actual lateral movement speed and the target lateral movement speed. Therefore, this device can achieve lateral movement of the vehicle by combining the motion characteristics of the axle torque and the front and rear wheel steering, reducing operating costs, simplifying parallel parking, and improving user experience.
[0092] For ease of description, the above system is described by dividing it into various modules based on their functions. Of course, in implementing this invention, the functions of each module can be implemented in one or more software and / or hardware components.
[0093] The system described in the above embodiments is used to implement the corresponding method in any of the foregoing embodiments and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.
[0094] Corresponding to the above embodiments, the present invention also proposes an electronic device.
[0095] refer to Figure 7The diagram below is a block diagram of an electronic device according to some embodiments of the present invention. It illustrates a more specific hardware structure of an electronic device provided in this embodiment. The device may include: a processor 710, a memory 720, an input / output interface 730, a communication interface 740, and a bus 750. The processor 710, memory 720, input / output interface 730, and communication interface 740 are interconnected internally via the bus 750.
[0096] The processor 710 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.
[0097] The memory 720 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 720 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 720 and is called and executed by the processor 710.
[0098] The input / output interface 730 is used to connect input / output modules to enable information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.
[0099] The communication interface 740 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).
[0100] Bus 750 includes a pathway for transmitting information between various components of the device, such as processor 710, memory 720, input / output interface 730, and communication interface 740.
[0101] It should be noted that although the above-described device only shows the processor 710, memory 720, input / output interface 730, communication interface 740, and bus 750, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.
[0102] The electronic devices described above are used to implement the corresponding methods in any of the foregoing embodiments and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.
[0103] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, the present invention also provides a computer-readable storage medium storing computer instructions for causing a computer to perform the methods of any of the above embodiments.
[0104] The aforementioned computer-readable storage medium can be any available medium or data storage device that a computer can access, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical storage (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).
[0105] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to perform the methods of any of the above exemplary method sections, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.
[0106] Furthermore, although the operations of the method of the present invention are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all of the operations shown must be performed to achieve the desired result. Rather, the steps depicted in the flowchart may be performed in a different order. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.
[0107] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.
[0108] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this invention should have the ordinary meaning understood by those skilled in the art. The terms "first," "second," and similar terms used in the embodiments of this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.
[0109] While the spirit and principles of the invention have been described with reference to several specific embodiments, it should be understood that the invention is not limited to the disclosed specific embodiments, and the division of aspects does not imply that features in these aspects cannot be combined for benefit; such division is merely for ease of description. The invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. The scope of the appended claims is to be interpreted in the broadest sense, thereby encompassing all such modifications and equivalent structures and functions.
Claims
1. A vehicle lateral movement control method, characterized in that, include: Obtaining the target lateral velocity and target lateral acceleration for a target vehicle includes: determining the front axle longitudinal moment, rear axle longitudinal moment, front axle steering angle, and rear axle steering angle of the target vehicle based on the target lateral velocity; The target lateral acceleration is determined based on the front axle longitudinal moment, the rear axle longitudinal moment, the front axle steering angle, and the rear axle steering angle. The wheels of the target vehicle are controlled to move laterally based on the target lateral velocity and the target lateral acceleration. Obtain the actual lateral speed of the target vehicle during the lateral movement process; The control parameters for controlling the target vehicle to move laterally at the next moment are adjusted based on the actual lateral speed and the target lateral speed.
2. The vehicle lateral movement control method according to claim 1, characterized in that, Before controlling the wheels of the target vehicle to lateralize according to the target lateral velocity and the target lateral acceleration, the method further includes: Determine whether the target vehicle is stationary and whether there are obstacles in the lateral movement path of the target vehicle; In response to the target vehicle being stationary and the target vehicle's lateral movement path being free of obstacles, it is determined to perform an operation to control the wheels of the target vehicle to move laterally based on the target lateral movement speed and the target lateral movement acceleration.
3. The vehicle lateral movement control method according to claim 1, characterized in that, The target's lateral acceleration is expressed as: in, For the target's lateral acceleration, This is the longitudinal torque of the front axle. This is the longitudinal moment of the rear axle. For the wheel radius, This refers to the front axle steering angle. This refers to the rear axle steering angle. This refers to the front axle track or the rear axle track.
4. The vehicle lateral movement control method according to claim 3, characterized in that, The method further includes: When controlling the wheels of the target vehicle to move laterally, the longitudinal torque of the front axle is controlled to be equal to the longitudinal torque of the rear axle, the sum of the longitudinal torque of the front axle and the longitudinal torque of the rear axle is zero, the steering angle of the front axle is equal to the steering angle of the rear axle, and the sum of the steering angle of the front axle and the steering angle of the rear axle is zero.
5. The vehicle lateral movement control method according to claim 2, characterized in that, The step of adjusting the control parameters for controlling the target vehicle to move laterally at the next moment based on the actual lateral speed and the target lateral speed includes: Calculate the difference between the actual lateral velocity and the target lateral velocity, and determine the compensation lateral acceleration based on the difference; The control parameters for controlling the target vehicle to move laterally at the next moment are determined based on the compensated lateral acceleration.
6. The vehicle lateral movement control method according to claim 2, characterized in that, The method further includes: In response to receiving a braking signal for the target vehicle, the lateral movement control for the target vehicle is terminated after the target vehicle comes to a stop.
7. A vehicle lateral movement control device, characterized in that, include: The first acquisition module is configured to acquire the target lateral velocity and target lateral acceleration of the target vehicle, including: determining the front axle longitudinal moment, rear axle longitudinal moment, front axle steering angle and rear axle steering angle of the target vehicle based on the target lateral velocity; The target lateral acceleration is determined based on the front axle longitudinal moment, the rear axle longitudinal moment, the front axle steering angle, and the rear axle steering angle. The control module is configured to control the wheels of the target vehicle to move laterally based on the target lateral velocity and the target lateral acceleration; The second acquisition module is configured to acquire the actual lateral speed of the target vehicle during the lateral movement process. The adjustment module is configured to adjust the control parameters for controlling the target vehicle to move laterally at the next moment based on the actual lateral speed and the target lateral speed.
8. An electronic device, characterized in that, include: A processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the vehicle lateral movement control method as described in any one of claims 1 to 6.
9. A computer-readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the vehicle lateral movement control method as described in any one of claims 1 to 6.