Vehicle control method, electronic device, storage medium, program product and vehicle

Abstract

The invention discloses a vehicle control method, electronic equipment, a storage medium, a program product and a vehicle. The method comprises the following steps: acquiring a preset rotation angle of the vehicle; determining a rotation compensation angle corresponding to the preset rotation angle; and controlling the vehicle to rotate according to the rotation compensation angle and the preset rotation angle. It can be seen that by compensating the preset rotation angle, accurate control over the rotation angle of the vehicle during steering can be achieved, the rotation angle deviation is reduced, and the requirement of a user for the rotation angle is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle control, and in particular to a vehicle control method, an electronic device, a storage medium, a program product and a vehicle. BACKGROUND

[0002] In the driving process of a vehicle, especially when turning, U-turning or performing complex steering operations, accurately grasping the turning angle change state of the vehicle is of great significance for precise control, safe driving of the vehicle and development of automatic driving technology. At present, the vehicle control is mainly focused on the detection of vehicle mass center offset and vehicle rotation center to improve the controllability of the vehicle, but the demand of the user for the steering angle cannot be met.

[0003] SUMMARY

[0004] The present application provides a vehicle control method, an electronic device, a storage medium, a program product and a vehicle, which can realize precise angle control and more precise turning angle control, reduce the turning angle deviation, and thus meet the precise demand of the user for steering.

[0005] To solve the above technical problem, the first aspect of the present application discloses a vehicle control method, which comprises:

[0006] obtaining a preset turning angle of a vehicle;

[0007] determining a turning compensation angle corresponding to the preset turning angle;

[0008] controlling the vehicle to turn according to the turning compensation angle and the preset turning angle.

[0009] As an optional implementation, in the first aspect of the present application, the method comprises:

[0010] when the vehicle performs a steering-in-place function or activates a preset steering function, controlling the vehicle to turn according to the turning compensation angle and the preset turning angle.

[0011] Optionally, in some embodiments of the present application, the method further comprises: when the vehicle meets any one of preset conditions, updating the preset turning angle of the vehicle,

[0012] the preset conditions comprise at least one of the following: the gear of the vehicle is not in a target gear; and / or obtaining a preset turning angle signal; and / or activating a preset steering function.

[0013] Optionally, the determination of the turning compensation angle corresponding to the preset turning angle comprises:

[0014] determining the turning compensation angle corresponding to the preset turning angle according to a steering compensation preset table.

[0015] Optionally, the method comprises:

[0016] determining the first rotation compensation angle according to the average wheel speed of each motor, the road adhesion coefficient and a first preset table.

[0017] Optionally, the first preset table comprises a corresponding relationship between the first rotation compensation angle and the average wheel speed of each motor and the road adhesion coefficient.

[0018] Optionally, the method comprises:

[0019] determining the second rotation compensation angle according to the yaw rate of the vehicle, the road adhesion coefficient and a second preset table.

[0020] Optionally, the second preset table comprises a corresponding relationship between the second rotation compensation angle and the yaw rate of the vehicle and the road adhesion coefficient.

[0021] Optionally, in some embodiments of the present application, the method comprises:

[0022] determining the road adhesion coefficient according to the switch information, the switch information being used to represent the determination manner of the road adhesion coefficient.

[0023] Optionally, the determination of the road adhesion coefficient according to the switch information comprises:

[0024] when the switch information is first switch information, the road adhesion coefficient is determined according to the road adhesion of each wheel;

[0025] when the switch information is second switch information, the road adhesion coefficient is determined according to the road adhesion estimation value when the vehicle rotates.

[0026] Optionally, in some embodiments of the present application, the method comprises:

[0027] determining the yaw rate according to the yaw rate of the vehicle when the vehicle rotates and a yaw angle correction coefficient.

[0028] Optionally, in some embodiments of the present application, the method comprises:

[0029] determining the yaw rate according to the yaw rate of the vehicle when the vehicle rotates, the yaw angle correction coefficient and a yaw angle filtering coefficient.

[0030] Optionally, the yaw angle correction coefficient is determined according to the yaw rate of the vehicle when the vehicle rotates and a third preset table, wherein the third preset table comprises a corresponding relationship between the yaw angle correction coefficient and the yaw rate of the vehicle when the vehicle rotates.

[0031] Optionally, in some embodiments of the present application, the method comprises:

[0032] collecting a yaw rate signal of the IMU sensor during the rotation, and determining a yaw rate zero drift value corresponding to the yaw rate signal of the IMU sensor;

[0033] determining the yaw rate according to the yaw rate signal and the yaw rate zero drift value.

[0034] Optionally, the above-mentioned controlling the vehicle to rotate according to the rotation compensation angle and the preset rotation angle comprises:

[0035] determining a target rotation torque and / or a target rotation speed according to the rotation compensation angle and the preset rotation angle;

[0036] controlling the vehicle to rotate according to the target rotation torque and / or the target rotation speed.

[0037] The second aspect of the present application discloses an electronic device, the electronic device comprising:

[0038] a processor, a memory, and a program or instructions stored in the memory and executable on the processor, the program or instructions being executed by the processor to implement any of the vehicle control methods provided by the embodiments of the present application.

[0039] According to the third aspect of the present application, a computer-readable storage medium is provided, comprising a computer program, when the computer program is executed on a controller, the computer program is used to make the controller execute any of the vehicle control methods provided by the embodiments of the present application.

[0040] According to the fourth aspect of the present application, a computer program product is provided, comprising a computer program or instructions, the computer program or instructions being executed by a processor to implement any of the vehicle control methods provided by the embodiments of the present application.

[0041] According to the fifth aspect of the present application, a vehicle is provided, the vehicle comprising a vehicle to execute any of the vehicle control methods provided by the embodiments of the present application, or the electronic device, or the computer-readable storage medium.

[0042] Compared with the prior art, the present application has the following beneficial effects:

[0043] In the present application, the rotation angle when the vehicle is parked is obtained, and the vehicle is controlled to rotate according to the rotation angle and the estimated parking angle. It can be seen that the present application can realize more accurate rotation angle control of precise angle control, reduce the rotation angle deviation, and meet the user's demand for the parking rotation angle. BRIEF DESCRIPTION OF DRAWINGS

[0044] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic flowchart of a vehicle control method disclosed in an embodiment of this application;

[0046] Figure 2 This is a schematic diagram of the structure of a vehicle control device disclosed in an embodiment of this application;

[0047] Figure 3 This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of this application;

[0048] Figure 4 This is a schematic diagram of the structure of a computer-readable storage medium disclosed in an embodiment of this application.

[0049] Figure 5 This is a schematic diagram of the structure of a computer program product disclosed in an embodiment of this application. Detailed Implementation

[0050] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0051] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0052] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0053] This application discloses a vehicle control method, electronic device, medium, program product, and vehicle. This vehicle control method, electronic device, medium, and program product can achieve precise control of the vehicle's turning angle during steering by compensating for a preset turning angle, reducing turning angle deviation to meet user requirements for the turning angle and thus improving user experience. These will be described in detail below.

[0054] Example 1

[0055] Please see Figure 1 , Figure 1 This is a schematic flowchart of a vehicle control method disclosed in an embodiment of this application. Wherein, Figure 1 The described method can be applied to vehicle control devices, which can be standalone devices, integrated into electronic processing devices, or vehicle controllers; this application does not limit the specific implementation. Figure 1 As shown, the vehicle control method may include the following operations:

[0056] 101. Obtain the vehicle's preset rotation angle.

[0057] In this embodiment, a preset rotation angle of the vehicle is obtained. This preset rotation angle can be determined by receiving driver operation information. For example, the driver can determine the preset rotation angle by inputting or rotating the vehicle through a display device, or by inputting a target rotation angle via voice or the steering wheel, which is then used as the preset rotation angle. Taking the steering wheel as an example, vehicles are typically equipped with a steering wheel angle sensor, which is coaxially arranged with the steering wheel shaft. When the user rotates the steering wheel, the sensor outputs a voltage signal that is linearly related to the rotation angle. By calibrating the correspondence between the voltage signal and the rotation angle, the vehicle can accurately obtain the preset rotation angle set by the driver.

[0058] 102. Determine the rotation compensation angle corresponding to the preset rotation angle.

[0059] In this embodiment, when the vehicle's preset rotation angle is obtained, the corresponding rotation compensation angle can be determined by looking up the preset rotation angle in a table, or by model training, where the preset rotation angle is used as input and the model outputs the corresponding rotation compensation angle. Alternatively, the vehicle can monitor the actual steering angle in real time and compare it with the preset rotation angle to calculate the rotation compensation angle. The determined rotation compensation angle is used as the compensation angle when the vehicle performs steering, U-turns, parking, and other driving scenarios at the preset rotation angle. This solves the problem that during vehicle rotation, due to various factors (such as mechanical clearance, tire lateral stiffness, suspension system characteristics, etc.), the actual rotation angle deviates from the preset rotation angle value, making it impossible to accurately perform steering according to the user's preset rotation angle, potentially causing the vehicle to scrape against surrounding obstacles due to rotation errors. Therefore, the vehicle determines the rotation compensation angle and adjusts the steering control signal to correct the deviation.

[0060] 103. Control the vehicle rotation according to the rotation compensation angle and the preset rotation angle.

[0061] In this embodiment, before or after controlling the vehicle based on the vehicle's rotation compensation angle and preset rotation angle, it is necessary to receive vehicle wheel speed, vehicle speed signals, slope signals, and other status information. The vehicle speed and slope information are then filtered and output to the vehicle state parameter estimation module to determine the vehicle's current state, such as the slope the vehicle is on or whether it is stationary. The vehicle can only be controlled to rotate if the preset conditions are met. The entire control process described above can be set as a function, such as a preset steering function or a stationary steering function. When the vehicle receives an activated function status, which may include executing the stationary steering function or activating the preset steering function, the vehicle is controlled to rotate based on the rotation compensation angle and the preset rotation angle. The introduction of the rotation compensation angle allows the vehicle to adapt to different vehicle states and external conditions, thereby maintaining stable rotation performance under various steering conditions.

[0062] As can be seen, the method described in the embodiments of this application can determine the rotation compensation angle corresponding to the estimated rotation angle, and then correct and compensate the preset rotation angle according to the rotation compensation angle, so as to control the deviation of the vehicle rotation angle, achieve precise angle control, meet the user / driver's needs for rotation angle, and improve the user's driving experience.

[0063] In an optional embodiment, controlling the vehicle rotation based on the rotation compensation angle and a preset rotation angle includes:

[0064] Determine the target rotational torque and / or target rotational speed based on the rotational compensation angle and the preset rotational angle;

[0065] Control the vehicle rotation based on the target rotational torque and / or target rotational speed.

[0066] In this embodiment, the target rotational torque and / or target rotational speed are determined based on the rotational compensation angle and the preset rotational angle. After determining the target rotational torque and / or target rotational speed, these values ​​are output to the output signal processing module, which then provides input to the downstream end for execution. The downstream end can then control the vehicle's rotation based on the target rotational speed and / or target rotational torque. The downstream end can refer to electronic devices such as controllers or ECUs. The preset rotational angle is corrected and compensated based on the rotational compensation angle. Finally, the target rotational speed and / or target rotational torque calculated from both the rotational compensation angle and the preset rotational angle control the deviation of the vehicle's rotational angle, achieving precise angle control. The target rotational speed and / or target rotational torque values ​​are calculated based on the vehicle's mechanical characteristics and dynamics model to ensure that the vehicle can achieve the expected rotational angle in a stable and accurate manner.

[0067] As can be seen, the method described in the embodiments of this application can convert the deviation caused by vehicle rotation into the corresponding target rotation torque and / or target rotation torque to control the vehicle, and the vehicle can achieve precise control of vehicle rotation.

[0068] In an optional embodiment, the method may include the following operations:

[0069] When the vehicle meets any of the preset conditions, update the vehicle's preset rotation angle.

[0070] The preset conditions include at least one of the following: the vehicle is not in the target gear; and / or a preset rotation angle signal is obtained; and / or a preset steering function is activated.

[0071] In this embodiment, after obtaining the vehicle's preset rotation angle, the preset rotation angle can be updated by receiving a signal from the driver after the vehicle receives the preset rotation angle signal. If no signal is received, the signal is invalid, and the original preset rotation angle signal is processed to output a target rotation angle. The target rotation angle is invalid by default. When the preset rotation angle is not invalid, the target rotation angle equals the preset rotation angle, and this value is latched until the update condition is met. The update condition can be set by engineers to update the vehicle's preset rotation angle when any one of the preset conditions is met. The preset conditions include at least one of the following: the vehicle gear is not in the target gear; or a preset rotation angle signal is obtained; or the preset steering function is activated. Specifically, a. a preset rotation angle change is detected; b. the vehicle power supply is not in the OK position; c. the function is detected as inactive. When the vehicle meets any of the above conditions, the preset rotation angle is updated. By setting preset conditions to update the preset rotation angle, the vehicle's preset rotation angle can be updated promptly based on the vehicle's status and the user's operation.

[0072] In an optional embodiment, determining the rotation compensation angle corresponding to the preset rotation angle includes:

[0073] Determine the rotation compensation angle corresponding to the preset rotation angle based on the steering compensation preset table.

[0074] In this embodiment, the vehicle maintains a steering compensation preset table, which contains the corresponding steering compensation angles for different preset rotation angles. The steering compensation preset table can be derived based on the vehicle's mechanical characteristics, dynamic model, and extensive experimental data to ensure accurate compensation angles under various conditions. For example, when the vehicle needs to determine the steering compensation angle corresponding to a certain preset rotation angle, it queries this steering compensation preset table. By finding the corresponding position of the preset rotation angle in the table, the vehicle can quickly obtain the corresponding steering compensation angle. When the vehicle is driving on wet, muddy, or uneven roads, its steering performance is significantly affected. For example, the vehicle can adjust the steering compensation angle based on the current road surface adhesion coefficient and motor wheel speed, or it can determine the steering compensation angle based on the vehicle's yaw rate and road surface adhesion coefficient. The steering compensation angle can include a first steering compensation angle and a second steering compensation angle. The first steering compensation angle can be determined based on the average wheel speed of each motor, the road surface adhesion coefficient, and the first preset table, while the second compensation angle can be determined based on the vehicle's yaw rate, the road surface adhesion coefficient, and the second preset table. In this application, the difference between the first rotation compensation angle and the second rotation compensation angle can be used as the final compensation angle. For example, the rotation compensation angle = first rotation compensation angle - second rotation compensation angle. The actual target rotation angle = preset rotation angle (assuming 360°) + first rotation compensation angle (obtained from Table 1 below, for example, 6°) - second rotation compensation angle (obtained from Table 2 below, for example, 2.75°). This invention, by comprehensively considering key factors such as the vehicle's yaw rate and road surface adhesion coefficient, can more accurately determine the vehicle's rotation compensation angle, and dynamically adjust the vehicle's rotation control parameters based on the rotation compensation angle and the estimated rotation angle, thereby achieving more precise steering control.

[0075] As can be seen, the method described in this application embodiment determines the rotation compensation angle corresponding to the preset rotation angle by storing a steering compensation preset table, thereby achieving precise control of vehicle rotation and having high efficiency.

[0076] In an optional embodiment, the method may include the following operations:

[0077] The first rotation compensation angle is determined based on the average wheel speed of each motor of the vehicle, the road surface adhesion coefficient, and the first preset table.

[0078] In this embodiment, when a preset vehicle rotation angle is determined, the current driving state and external environment information are obtained. Since the accuracy of the rotation angle is affected by the vehicle's state and the external environment, it is necessary to obtain the average wheel speed of each motor and the road surface adhesion coefficient. Based on the average wheel speed of each motor, the road surface adhesion coefficient, and a first preset table, a first rotation compensation angle is determined. The first preset table includes the correspondence between the first rotation compensation angle and the average wheel speed of each motor and the road surface adhesion coefficient, as shown in Table 1. When a vehicle travels on wet, muddy, or uneven roads, its steering performance is significantly affected. The method provided in this embodiment adjusts the rotation compensation angle based on the current road surface adhesion coefficient and motor wheel speed, ensuring stable steering control under various road conditions. Specifically, the first preset table is stored in the vehicle or queried from the cloud. This table contains the first rotation compensation angle corresponding to different average wheel speeds of each motor and road surface adhesion coefficients. When the vehicle needs to determine the first rotation compensation angle, the corresponding compensation angle is looked up in the first preset table based on the currently obtained average wheel speeds of each motor and road surface adhesion coefficient. By finding the corresponding positions of these parameters in the table, the corresponding first rotation compensation angle can be quickly obtained. For example, when the average wheel speed of each motor in the vehicle is 2.0 and the road surface adhesion coefficient is 0.1, the corresponding first rotation compensation angle is 2.5°. After obtaining the first rotation compensation angle, the vehicle combines it with a preset rotation angle to determine the target rotation torque and / or target rotation speed. In this embodiment, the sum of the preset rotation angle and the first rotation compensation angle is used as the actual rotation angle, which is then used as the actual target rotation angle. The target rotation torque or target rotation speed can be determined based on the actual target rotation angle to control the vehicle's rotation.

[0079] Table 1

[0080]

[0081] As can be seen, the method described in the embodiments of this application can quickly look up and apply the rotation compensation angle by looking up a table, thereby improving the system's response speed and efficiency.

[0082] In an optional embodiment, the method may include the following operations:

[0083] The second rotation compensation angle is determined based on the vehicle's yaw rate, the road surface adhesion coefficient, and the second preset table.

[0084] In this embodiment, the vehicle's yaw rate and road adhesion coefficient are obtained. Yaw rate reflects the vehicle's rotational speed around its vertical axis and is an important indicator for evaluating vehicle stability. Road adhesion coefficient reflects the friction between the road surface and the tires, significantly impacting the vehicle's braking, acceleration, and steering performance. The vehicle system maintains a second preset table internally or communicates with a cloud-based second preset table. This second preset table contains the corresponding second rotation compensation angles for different yaw rates and road adhesion coefficients. The second preset table includes the correspondence between the second rotation compensation angle and the vehicle's yaw rate and road adhesion coefficient, as shown in Table 2. This table is derived from the vehicle's mechanical characteristics, dynamic model, and extensive experimental data, aiming to ensure accurate compensation angles under various dynamic conditions to improve vehicle stability and handling. When the vehicle needs to determine the second rotation compensation angle, it searches for the corresponding compensation angle in the second preset table based on the currently obtained yaw rate and road adhesion coefficient. By finding the corresponding positions of these parameters in the table, the vehicle can quickly obtain the corresponding second rotation compensation angle. For example, when the vehicle's yaw rate is 30 radians / second and the road adhesion coefficient is 0.1, the corresponding second rotational compensation angle is 0. To reduce calibration time, the vehicle yaw angle and road adhesion coefficient can be calibrated according to a range, for example, the yaw angle can vary in ranges of 10 radians / second (30, 40, 50, 60, etc.). After obtaining the second rotational compensation angle, the vehicle combines it with a preset rotation angle and the second rotational compensation angle. In this application, by calculating the difference between the preset rotation angle and the second rotational compensation angle, the target rotational torque and / or target rotational speed can be determined based on their difference, and then output to the vehicle's control system to achieve precise control of the vehicle's rotation.

[0085] Table 2

[0086]

[0087] As can be seen, in this embodiment of the application, the second rotation compensation angle is determined by comprehensively considering the vehicle's yaw rate, the road surface adhesion coefficient, and the second preset table, thereby achieving precise control of the vehicle's rotation.

[0088] In an optional embodiment, the method may include the following operations:

[0089] The yaw rate is determined based on the yaw rate and yaw correction factor when the vehicle is rotating.

[0090] In yet another alternative embodiment, the method may include the following operations:

[0091] The yaw rate is determined based on the yaw rate, yaw correction factor, and yaw filtering factor when the vehicle is rotating.

[0092] The yaw rate correction coefficient is determined based on the yaw rate of the vehicle during rotation and a third preset table. The third preset table includes the correspondence between the yaw rate correction coefficient and the yaw rate of the vehicle during rotation. (The default yaw rate correction coefficient is 1). In actual implementation, a yaw rate correction coefficient corresponding to the yaw rate input signal can be determined based on calibration combined with actual conditions, as shown in Table 3.

[0093] Table 3

[0094]

[0095] When a vehicle is rotating, its yaw rate will fluctuate, so in general use, the yaw rate of the vehicle will be compensated and corrected.

[0096] In an optional embodiment, the method may include the following operations:

[0097] The IMU sensor yaw rate signal is collected when the vehicle is rotating, and the yaw rate zero drift value corresponding to the IMU sensor yaw rate signal is determined.

[0098] The yaw rate is determined based on the yaw rate signal and the yaw rate zero drift value.

[0099] Furthermore, in this embodiment, the road surface adhesion coefficient is determined based on switch information, which indicates the method for determining the road surface adhesion coefficient. Different switch information results in different methods for determining the road surface adhesion coefficient. When the switch information is the first switch information, the road surface adhesion coefficient is determined based on the road surface adhesion of each wheel; when the switch information is the second switch information, the road surface adhesion coefficient is determined based on the estimated road surface adhesion value when the vehicle is rotating. For example, when the vehicle is stationary and performing a stationary rotation, if the road surface adhesion coefficient selection switch is 0, the road surface adhesion coefficient of the vehicle during rotation is the filtered value of the average road surface adhesion of each wheel; if the vehicle is stationary and rotating, if the road surface adhesion coefficient selection switch is 1, the road surface adhesion coefficient of the vehicle during rotation is the estimated road surface adhesion value before rotation. The default value of the road surface adhesion coefficient calibration switch is 1, meaning the road surface adhesion coefficient is the road surface adhesion coefficient before rotation.

[0100] In an optional embodiment, controlling the vehicle rotation based on the rotation compensation angle and a preset rotation angle includes:

[0101] Determine the target rotational torque and / or target rotational speed based on the rotational compensation angle and the preset rotational angle;

[0102] Control the vehicle rotation based on the target rotational torque and / or target rotational speed.

[0103] In this embodiment, precise vehicle rotation is achieved through a rotation compensation angle and a preset rotation angle. Specifically, based on the rotation compensation angle and the preset rotation angle, a precise estimated rotation angle can be obtained, ensuring that the deviation between the vehicle's fixed wheels and the preset rotation angle is minimized. This also easily mitigates the risk of the vehicle scraping against surrounding obstacles due to inaccurate vehicle rotation angles or other errors. The target rotation torque and / or target rotation speed are determined based on the rotation compensation angle and the preset rotation angle. Then, algorithms such as PID can be used to implement open-loop or closed-loop control of the rotation angle, target rotation torque, and / or target rotation speed to meet the user's parking steering needs while reducing the driver's workload.

[0104] Example 2

[0105] Please see Figure 2 , Figure 2 This is a schematic diagram of the structure of a vehicle control device disclosed in an embodiment of this application. Figure 2 The described device can be a standalone device or integrated into an electronic processing device; this application does not limit this. It should be noted that the vehicle control device refers to the steps of a vehicle control method described in Embodiment 1; detailed descriptions will not be repeated in this embodiment. Figure 2 As shown, the vehicle control device may include:

[0106] The acquisition module 201 is used to acquire the preset rotation angle of the vehicle;

[0107] The determining module 202 is used to determine the rotation compensation angle corresponding to the preset rotation angle;

[0108] The control module 203 is used to control the vehicle rotation according to the rotation compensation angle and the preset rotation angle.

[0109] As can be seen, the device described in the embodiments of this application can determine the rotation compensation angle corresponding to the estimated rotation angle, and then correct and compensate the preset rotation angle according to the rotation compensation angle, so as to control the deviation of the vehicle rotation angle, achieve precise angle control, meet the user / driver's needs for rotation angle, and improve the user's driving experience.

[0110] In an optional embodiment, such as Figure 2 As shown, the determining module 202 may include: determining the rotation compensation angle corresponding to the preset rotation angle according to the steering compensation preset table.

[0111] At this point, the determining module 202 is also used to: determine the first rotation compensation angle based on the average wheel speed of each motor of the vehicle, the road surface adhesion coefficient, and the first preset table. The first preset table includes the correspondence between the first rotation compensation angle and the average wheel speed of each motor and the road surface adhesion coefficient.

[0112] At this point, the determining module 202 is also used to: determine the second rotation compensation angle based on the vehicle's yaw rate, the road surface adhesion coefficient, and the second preset table. The second preset table includes the correspondence between the second rotation compensation angle and the vehicle's yaw rate and the road surface adhesion coefficient.

[0113] At this time, the determining module 202 is also used to: determine the road surface adhesion coefficient based on the switch information, wherein the switch information is used to indicate the method of determining the road surface adhesion coefficient.

[0114] When the switch information is the first switch information, the road surface adhesion coefficient is determined based on the road surface adhesion of each wheel;

[0115] When the switch information is the second switch information, the road surface adhesion coefficient is determined based on the road surface adhesion estimate when the vehicle is rotating.

[0116] At this time, the determining module 202 is also used to: determine the yaw rate based on the yaw rate and yaw correction coefficient when the vehicle is rotating.

[0117] The determining module 202 is also used to: determine the yaw rate based on the yaw rate, yaw correction coefficient, and yaw filter coefficient when the vehicle is rotating.

[0118] In this embodiment of the application, the yaw angle correction coefficient is determined based on the yaw rate of the vehicle during rotation and a third preset table, wherein the third preset table includes the correspondence between the yaw angle correction coefficient and the yaw rate of the vehicle during rotation.

[0119] The determination module 202 is also used to: determine the zero drift value of the yaw rate corresponding to the yaw rate signal of the IMU sensor based on the yaw rate signal of the IMU sensor during rotation, and determine the yaw rate based on the yaw rate signal and the zero drift value of the yaw rate.

[0120] As can be seen, the device described in this application embodiment can achieve precise vehicle rotation through rotation compensation angle and preset rotation angle. Specifically, based on the rotation compensation angle and preset rotation angle, a precise estimated rotation angle can be obtained, thereby ensuring that the deviation between the vehicle's fixed wheels and the preset rotation angle is not significant. It can also easily solve the risk of the vehicle scraping against surrounding obstacles caused by inaccurate vehicle rotation angle or other errors.

[0121] The effects of the device described above are consistent with the effects of the implementation scheme described in Embodiment 1, so they will not be repeated here.

[0122] Example 3

[0123] Reference Figure 3 The diagram illustrates an electronic device according to an embodiment of this application, including: at least one processor and a memory storing a computer program executable on the processor, wherein the processor executes the computer program to perform the vehicle parking method described in the embodiment. Figure 3 The described electronic device can be a standalone device or integrated into the vehicle's controller processing equipment; this application does not limit the scope of the embodiments.

[0124] Reference Figure 4 The diagram illustrates a computer-readable storage medium provided in an embodiment of this application. The computer-readable storage medium stores a computer program / instruction, wherein the computer program / instruction, when executed by a processor, performs the vehicle control method described in Embodiment 1 of this application.

[0125] Reference Figure 5 The diagram illustrates a computer program product provided in an embodiment of this application, including a computer program / instructions that, when executed by a processor, implement the vehicle control method described in the embodiment.

[0126] This application also provides a vehicle, which includes the vehicle control device described in the embodiments and executes the vehicle control method described in this embodiment.

[0127] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0128] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0129] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0130] It should be noted that the computer program code required for the operation of each part of this manual can be written in any one or more programming languages, including object-oriented programming languages ​​such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, Python, etc.; conventional procedural programming languages ​​such as C, Visual Basic, Fortran2003, Perl, COBOL 2002, PHP, ABAP; dynamic programming languages ​​such as Python, Ruby, and Groovy; or other programming languages. This program code can run entirely on a computer (PC, embedded intelligent device, etc.), or as a standalone software package on the user's computer, or partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer can be connected to the user's computer through any network, such as a local area network (LAN) or wide area network (WAN), or connected to an external computer (e.g., via the Internet), or in a cloud computing environment, or used as a service such as Software as a Service (SaaS).

[0131] Finally, it should be noted that the vehicle control method, electronic device, medium, program product, and vehicle disclosed in the embodiments of this application are merely preferred embodiments of this application and are only used to illustrate the technical solutions of this application, not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: Obtain the vehicle's preset rotation angle; Determine the rotation compensation angle corresponding to the preset rotation angle; The vehicle rotation is controlled based on the rotation compensation angle and the preset rotation angle.

2. The method according to claim 1, characterized in that, The method includes: When the vehicle performs the stationary steering function or activates the preset steering function, the vehicle rotation is controlled according to the rotation compensation angle and the preset rotation angle.

3. The method according to claim 1, characterized in that, The method includes: When the vehicle meets any of the preset conditions, the preset rotation angle of the vehicle is updated. The preset conditions include at least one of the following: the vehicle gear is not in the target gear; and / or a preset rotation angle signal is obtained; and / or a preset steering function is activated.

4. The method according to claim 1, characterized in that, Determining the rotation compensation angle corresponding to the preset rotation angle includes: The rotation compensation angle corresponding to the preset rotation angle is determined according to the steering compensation preset table.

5. The method according to any one of claims 1-4, characterized in that, The method includes: The first rotation compensation angle is determined based on the average wheel speed of each motor of the vehicle, the road surface adhesion coefficient, and the first preset table.

6. The method according to claim 5, characterized in that, The first preset table includes the correspondence between the first rotation compensation angle and the average wheel speed of each motor and the road surface adhesion coefficient.

7. The method according to any one of claims 1-4, characterized in that, The method further includes: The second rotation compensation angle is determined based on the vehicle's yaw rate, the road surface adhesion coefficient, and the second preset table.

8. The method according to claim 7, characterized in that, The second preset table includes the correspondence between the second rotation compensation angle and the vehicle's yaw rate and road surface adhesion coefficient.

9. The method according to any one of claims 5-8, characterized in that, The method includes: Based on the switch information, the road surface adhesion coefficient is determined. The switch information indicates the method for determining the road surface adhesion coefficient.

10. The method according to claim 9, characterized in that, The step of determining the road surface adhesion coefficient based on the switch information includes: When the switch information is the first switch information, the road surface adhesion coefficient is determined based on the road surface adhesion of each wheel; When the switch information is the second switch information, the road surface adhesion coefficient is determined based on the road surface adhesion estimate when the vehicle is rotating.

11. The method according to claim 7, characterized in that, The method includes: The yaw rate is determined based on the yaw rate and yaw correction factor when the vehicle is rotating.

12. The method according to claim 7, characterized in that, The method further includes: The yaw rate is determined based on the yaw rate, yaw correction coefficient, and yaw filtering coefficient of the vehicle during rotation.

13. The method according to claim 11 or 12, characterized in that, The yaw correction coefficient is determined based on the yaw rate of the vehicle during rotation and a third preset table, wherein the third preset table includes the correspondence between the yaw correction coefficient and the yaw rate of the vehicle during rotation.

14. The method according to claim 11 or 12, characterized in that, The method includes: Acquire the yaw rate signal from the IMU sensor during rotation, and determine the zero drift value of the yaw rate corresponding to the yaw rate signal from the IMU sensor; The yaw rate is determined based on the yaw rate signal and the yaw rate zero drift value.

15. The method according to claim 1, characterized in that, The step of controlling the vehicle rotation based on the rotation compensation angle and the preset rotation angle includes: The target rotational torque and / or target rotational speed are determined based on the rotational compensation angle and the preset rotational angle. The vehicle rotation is controlled according to the target rotational torque and / or target rotational speed.

16. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the method as described in any one of claims 1-15.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the method as described in any one of claims 1-15.

18. A computer program product, characterized in that, It includes a computer program or instructions that are executed by a processor to implement the vehicle control method according to any one of claims 1-15.

19. A vehicle, characterized in that, The vehicle may perform the vehicle control method as described in any one of claims 1-15, or the electronic device as described in claim 16, or the computer-readable storage medium as described in claim 17.

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