Vehicle control methods, devices, readable storage media, and vehicles

Abstract

This application discloses a vehicle control method, apparatus, readable storage medium, and vehicle, relating to the field of new energy vehicle technology. The vehicle control method includes: during vehicle steering, determining the control state of the vehicle by a stability control system, wherein when the vehicle exceeds the control range of the stability control system, the control state is unstable; when the vehicle does not exceed the control range of the stability control system, the control state is stable; in the case of an unstable control state, controlling the stability control system to send an assistance request command to a driver assistance system; upon receiving the assistance request command, controlling the driver assistance system to send a steering angle command corresponding to the assistance request command to a power steering system; upon receiving the steering angle command, controlling the power steering system to execute the steering angle command, so that the vehicle completes steering under the control of the power steering system and the stability control system. This application improves the driving stability of the vehicle.

Description

Technical Field

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

[0002] The vehicle's internal stability control system generates yaw moment by applying braking to one side of the wheels to suppress understeer or oversteer. However, at high steering speeds, the stability control system's adjustment capability is severely limited, leading to vehicle instability. Therefore, existing vehicle control methods suffer from technical problems such as poor vehicle stability. Summary of the Invention

[0003] This application provides a vehicle control method, device, readable storage medium, and vehicle to solve technical problems such as poor vehicle driving stability in the prior art.

[0004] A first aspect of this application provides a vehicle control method, the vehicle including a stability control system, a driving assistance system, and a power steering system, wherein the driving assistance system is connected to the stability control system and the power steering system respectively, the method comprising: During the vehicle's steering process, the control state of the stability control system is determined. When the vehicle exceeds the control range of the stability control system, the control state is unstable, and when the vehicle does not exceed the control range of the stability control system, the control state is stable. When the control state is unstable, the stability control system sends an assistance request command to the driver assistance system. When the driver assistance system receives an assistance request command, the driver assistance system is controlled to send the steering angle command corresponding to the assistance request command to the power steering system; When the power steering system receives a steering angle command, it controls the power steering system to execute the steering angle command so that the vehicle can complete the steering under the control of the power steering system and the stability control system.

[0005] In this embodiment, the vehicle control method determines the control state of the stability control system during vehicle steering. If the control state is unstable, the stability control system sends an assistance request command to the driver assistance system and sends a corresponding angle command to the power steering system. The power steering system then executes the angle command, enabling both the power steering system and the stability control system to simultaneously control the vehicle to complete the steering. This closed-loop control chain—comprising the assistance request command between the stability control system and the driver assistance system, and the angle command between the power steering system and the driver assistance system—forms a "stability control system request, driver assistance system decision, power steering system execution" chain. This closed-loop control chain, involving the stability control system, driver assistance system, and power steering system, ensures stable vehicle operation even when the stability control system cannot independently maintain vehicle stability. The assistance of the stability control system and the power steering system helps maintain vehicle stability, achieving a stable control state and improving vehicle driving stability.

[0006] A second aspect of this application provides a vehicle control device, including a processor and a memory. The memory stores a computer program, which, when executed by the processor, implements the steps of the vehicle control method as described in any of the above embodiments. Therefore, this vehicle control device possesses all the beneficial effects of the vehicle control method in any of the above embodiments, which will not be elaborated further here.

[0007] A third aspect of this application provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the vehicle control method as described in any of the above embodiments. Therefore, this readable storage medium possesses all the beneficial effects of the vehicle control method in any of the above embodiments, which will not be elaborated further here.

[0008] A fourth aspect of this application provides a vehicle comprising: a vehicle control device as described in any of the above embodiments, and / or a readable storage medium as described in any of the above embodiments. Therefore, the vehicle possesses all the beneficial effects of the vehicle control device as described in any of the above embodiments, and / or the readable storage medium as described in any of the above embodiments, which will not be elaborated further here. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 A flowchart of a vehicle control method provided in an embodiment of this application; Figure 2 Functional block diagram of the vehicle control device provided in the embodiments of this application; Figure 3 This is a structural block diagram of a vehicle control device provided in an embodiment of this application. Detailed Implementation

[0011] To better understand the technical solutions provided in the embodiments of this specification, the following detailed description of the technical solutions in the embodiments of this specification is provided in the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions in the embodiments of this specification, rather than limitations on the technical solutions in this specification. Unless otherwise specified, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0012] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element. The term "two or more" includes two or more cases.

[0013] In some embodiments, Figure 1 This is a flowchart of a vehicle control method provided in an embodiment of this application. In this embodiment, the vehicle includes a stability control system, a driving assistance system, and a power steering system. The stability control system is responsible for the stability control of the vehicle, the driving assistance system is responsible for the driving assistance of the vehicle, and the power steering system is responsible for the steering assistance of the vehicle. The driving assistance system is connected to the stability control system and the power steering system respectively.

[0014] For example, a communication connection is established between the driver assistance system and the stability control system, and a communication connection is established between the driver assistance system and the power steering system.

[0015] For example, stability control, driver assistance, and power steering are three key electronic control systems in modern automobiles, responsible for vehicle stability control, driver assistance, and steering assistance, respectively, working together to improve driving safety and driving experience.

[0016] For example, the stability control system can be ESC (Electronic Stability Control). The function of ESC is to monitor the vehicle's driving status (such as steering angle, vehicle speed, lateral acceleration, etc.) and automatically apply braking to one or more wheels and adjust engine output when the vehicle shows signs of slipping, skidding, or loss of control, in order to help the driver regain control of the vehicle.

[0017] Application scenarios for ESC: turning on slippery roads, emergency avoidance, high-speed lane changes, and other scenarios where control is easily lost.

[0018] For example, a driver assistance system can be an ADAS (Advanced Driver Assistance Systems). The core functions of ADAS include: Information-assisted functions: Lane departure warning, traffic sign recognition, blind spot monitoring; Control assistance features: Adaptive cruise control, automatic emergency braking, lane keeping assist, and automatic parking.

[0019] The technical components of ADAS are: relying on sensors such as cameras, radar, and lidar to perceive the environment, making decisions in conjunction with a central processing unit, and achieving control through actuators (such as braking and steering systems).

[0020] For example, the power steering system can be EPS (Electric Power Steering). The function of EPS is to provide steering assistance directly through an electric motor, replacing the traditional hydraulic system and achieving "on-demand power supply".

[0021] like Figure 1 As shown, the vehicle control methods include: Step S101: During the vehicle's steering process, determine the stability control system's control state over the vehicle.

[0022] In this embodiment, during the vehicle's steering process, the control state of the stability control system over the vehicle is determined, where the control state represents the stability control system's control capability over the vehicle.

[0023] Specifically, when the vehicle exceeds the control range of the stability control system, the control state is unstable; when the vehicle does not exceed the control range of the stability control system, the control state is stable.

[0024] For example, the control state can be specifically an unstable state, which means that the driving state of the vehicle has exceeded the control capability of the stability control system, that is, the stability control system cannot maintain the stable driving of the vehicle.

[0025] For example, the control state can be specifically a stable state, which means that the driving state of the vehicle does not exceed the control capability of the stability control system, that is, the stability control system can maintain the stable driving of the vehicle.

[0026] For example, during the vehicle's steering process, the vehicle's speed and rotation angle can be acquired in real time, and the control state of the stability control system on the vehicle can be determined based on the vehicle's speed and rotation angle.

[0027] For example, during the vehicle's steering process, the road conditions of the road surface where the vehicle is located can be obtained in real time, and the control state of the stability control system on the vehicle can be determined based on the road conditions.

[0028] In step S102, when the control state is unstable, the stability control system sends an assistance request command to the driving assistance system.

[0029] When the control state is unstable, the stability control system sends an assistance request command to the driver assistance system. The assistance request command is a command from the stability control system to request the power steering system to provide assistance.

[0030] For example, the reason for the control state being unsteady could be a low-adhesion road surface (such as ice, snow, water, or sand), a tire-ground friction coefficient μ < 0.3, saturated braking force, and an inability to generate sufficient yaw moment.

[0031] For example, the reason for the control state being unstable could be that in high-speed obstacle avoidance conditions, the required yaw response rate exceeds the physical limit of the ESC brake actuator.

[0032] For example, the reason for the control state being unstable could be that the road surface is split, and the difference in adhesion between the left and right wheels causes braking intervention, resulting in deviation or even instability.

[0033] For example, when the control state is unstable, the stability control system needs to issue an assistance request command to the driver assistance system so that other vehicle assistance systems (such as power steering) can cooperate in stability control.

[0034] Step S103: When the driving assistance system receives an assistance request command, control the driving assistance system to send the steering angle command corresponding to the assistance request command to the power steering system.

[0035] The driver assistance system receives assistance request commands sent by the stability control system.

[0036] When the driver assistance system receives an assistance request command, it controls the driver assistance system to generate a steering angle command corresponding to the assistance request command, and controls the driver assistance system to send the steering angle command to the power steering system. The steering angle command is the command that the power steering system needs to execute.

[0037] For example, the driving assistance system is the comprehensive judgment center of the vehicle. The driving assistance system can communicate data with the stability control system and the power steering system, and realize the transmission of commands between the stability control system and the power steering system.

[0038] Step S104: When the power steering system receives a steering angle command, control the power steering system to execute the steering angle command so that the vehicle can complete the steering under the control of the power steering system and the stability control system.

[0039] The power steering system receives steering angle commands from the driver assistance system.

[0040] When the power steering system receives a steering angle command, it controls the power steering system to execute the steering angle command so that the power steering system and the stability control system can simultaneously control the vehicle to complete the steering.

[0041] For example, the power steering system is a control system that provides steering assistance power directly through an electric motor. When the stability control system is unable to maintain stable vehicle operation, the power steering system can output auxiliary power corresponding to the steering angle command to enable stable vehicle steering.

[0042] In this embodiment, the vehicle control method determines the control state of the stability control system during vehicle steering. If the control state is unstable, the stability control system sends an assistance request command to the driver assistance system and sends a corresponding angle command to the power steering system. The power steering system then executes the angle command, enabling both the power steering system and the stability control system to simultaneously control the vehicle to complete the steering. This closed-loop control chain—comprising the assistance request command between the stability control system and the driver assistance system, and the angle command between the power steering system and the driver assistance system—forms a "stability control system request, driver assistance system decision, power steering system execution" chain. This closed-loop control chain, involving the stability control system, driver assistance system, and power steering system, ensures stable vehicle operation even when the stability control system cannot independently maintain vehicle stability. The assistance of the stability control system and the power steering system helps maintain vehicle stability, achieving a stable control state and improving vehicle driving stability.

[0043] In some embodiments, this application provides a vehicle control method for determining the control state of a stability control system for a vehicle, which may include: Obtain the vehicle's real-time speed and steering wheel angle, and obtain the target lateral acceleration required for the vehicle to complete the turn; Obtain the target lateral acceleration required for the vehicle to complete the steering, where the target lateral acceleration is the lateral acceleration that enables the vehicle to steer stably.

[0044] For example, based on the ideal two-degree-of-freedom model, the target lateral acceleration can be determined. The ideal two-degree-of-freedom model is the most basic and widely used simplified model in vehicle dynamics analysis, mainly used to study the lateral (sideways) and yaw (rotation about the vertical axis) motion characteristics of a car in a plane. This model simplifies the complex vehicle system to two core degrees of freedom through reasonable assumptions, greatly improving the efficiency of theoretical analysis and simulation. It is the theoretical cornerstone for understanding vehicle handling stability and developing electronic stability control (ESC) and advanced driver assistance systems (ADAS).

[0045] The real-time lateral acceleration of the vehicle is determined based on the real-time speed and steering wheel angle. The real-time lateral acceleration of the vehicle is determined based on the real-time speed and steering wheel angle, where the real-time lateral acceleration is the vehicle's real-time lateral acceleration.

[0046] Determine the difference between the target lateral acceleration and the real-time lateral acceleration to obtain the angular velocity difference; Obtain the angular velocity threshold corresponding to the stable control system.

[0047] For example, the angular velocity threshold can be determined based on the current road surface adhesion coefficient. Specifically, when the road surface adhesion coefficient is low (such as on wet, slippery, or icy roads), the friction between the tires and the ground decreases, making the vehicle more prone to skidding or loss of control. Therefore, the angular velocity threshold needs to be lowered to allow the stability control system and power steering system to intervene earlier. When the road surface adhesion coefficient is high, the friction between the tires and the ground is greater, making the vehicle easier to control. Therefore, the angular velocity threshold can be appropriately increased.

[0048] The difference between the target lateral acceleration and the real-time lateral acceleration is determined to obtain the angular velocity difference, where the angular velocity difference is the difference between the target lateral acceleration and the real-time lateral acceleration.

[0049] If the angular velocity difference is greater than the angular velocity threshold, the control state is determined to be an unsteady state. If the angular velocity difference is greater than the angular velocity threshold, it indicates that the vehicle's current lateral acceleration has exceeded the controllable acceleration range of the stability control system. In other words, the current state of the vehicle has exceeded the controllability of the stability control system, and the control state is determined to be an unstable state.

[0050] If the difference in angular velocity is less than or equal to the angular velocity threshold, the control state is determined to be a steady state.

[0051] If the angular velocity difference is less than or equal to the angular velocity threshold, it means that the vehicle's current lateral acceleration has not exceeded the controllable acceleration range of the stability control system, that is, the current state of the vehicle has not exceeded the controllability of the stability control system, and the control state is determined to be a stable state.

[0052] For example, if |ay,required|>k×μ×g, the control state can be determined to be an unstable state; if |ay,required|≤k×μ×g, the control state can be determined to be an unstable state.

[0053] Where ay,required is the difference in angular velocity, k is the parameter coefficient (approximately 0.8), μ is the current road surface adhesion coefficient, and g is the gravitational acceleration.

[0054] In some embodiments, this application provides a vehicle control method for determining the control state of a stability control system for a vehicle, which may include: Obtain the vehicle's real-time speed and steering wheel angle, and obtain the maximum adjustment time of the stability control system; In this embodiment, the real-time speed and steering wheel angle of the vehicle are obtained, and the maximum adjustment time of the stability control system is obtained, wherein the maximum adjustment time is the maximum time that the stability control system is allowed to adjust.

[0055] For example, the maximum adjustment time can be specifically 0.8 seconds.

[0056] For example, the maximum settling time can represent the maximum response time of a stable control system.

[0057] The estimated adjustment time of the stability control system is determined based on real-time speed and steering wheel angle. Based on real-time speed and steering wheel angle, the estimated adjustment time of the stability control system is determined, where the estimated adjustment time is the time it takes for the stability control system to adjust the vehicle to stable driving.

[0058] If the expected settling time is greater than the maximum settling time, the control state is determined to be an unsteady state. If the expected settling time is longer than the maximum settling time, it indicates that the current state of the vehicle has exceeded the controllability of the stability control system, and the control state is determined to be an unstable state.

[0059] If the expected settling time is less than or equal to the maximum settling time, the control state is determined to be a steady state.

[0060] If the expected settling time is less than or equal to the maximum settling time, it indicates that the current state of the vehicle has not exceeded the controllability of the stability control system, and the control state is determined to be a stable state.

[0061] In some embodiments, this application provides a vehicle control method in which a stability control system sends an assistance request command to a driver assistance system, which may include: Obtain the vehicle's real-time lateral acceleration and the target lateral acceleration required for the vehicle to complete the turn; In this embodiment, the real-time lateral acceleration of the vehicle is obtained, and the target lateral acceleration required for the vehicle to complete the steering is also obtained.

[0062] Determine the difference between the target lateral acceleration and the real-time lateral acceleration to obtain the angular velocity difference; The difference between the target's lateral acceleration and the real-time lateral acceleration can be used to obtain the angular velocity difference.

[0063] The angular velocity difference is encapsulated into a request signal to obtain an auxiliary request command; The angular velocity difference is encapsulated into a request signal to obtain an auxiliary request command.

[0064] For example, the expected settling time of the stability control system can be encapsulated as a request signal to obtain an auxiliary request command.

[0065] Control the stability control system and send assistance request commands to the driver assistance system.

[0066] The stability control system sends assistance request commands to the driver assistance system.

[0067] For example, the auxiliary request command is sent to ADAS via the CAN (Controller Area Network, CAN) bus.

[0068] In some embodiments, this application provides a vehicle control method that controls a driving assistance system to send a steering angle command corresponding to an assistance request command to a power steering system, including: The driver assistance system performs signal parsing and processing on the assistance request command to obtain the angular velocity difference value in the assistance request command; In this embodiment, the driving assistance system performs signal parsing processing on the assistance request command to obtain the angular velocity difference value in the assistance request command.

[0069] For example, a driving assistance system can perform signal unpacking processing on the assistance request command to obtain the angular velocity difference in the assistance request command.

[0070] Based on the difference in angular velocity, determine the corresponding auxiliary steering angle increment for the power steering system; Based on the angular velocity difference, the corresponding auxiliary steering angle increment of the power steering system is determined, where the auxiliary steering angle increment is the angle value that the power steering system needs to assist.

[0071] For example, the formula for calculating the auxiliary angle increment is: ay=v 2 / R≈v 2 ×Δδ / L; Where ay is the angular velocity difference, v is the real-time speed of the vehicle, Δδ is the auxiliary steering angle increment, L is the wheelbase, and R is the steering wheel angle.

[0072] The auxiliary angle increment is encapsulated as a request signal to obtain the angle command; The driver assistance system sends steering angle commands to the power steering system.

[0073] The auxiliary steering angle increment is encapsulated as a request signal to obtain steering angle commands, and the driving assistance system is controlled to send steering angle commands to the power steering system.

[0074] For example, a driver assistance system can perform comprehensive judgment and corner planning. Upon receiving a request, the driver assistance system can integrate the following information for safety verification: Curvature of the road ahead (from camera / map); Lane boundaries and obstacle locations; Current steering system status (EPS torque, angle).

[0075] In some embodiments, this application provides a vehicle control method that controls a power steering system to execute steering angle commands, including: The power steering system analyzes and processes the steering angle command to obtain the auxiliary steering angle increment in the steering angle command; The power steering system is controlled to perform steering operations according to the increment of the auxiliary steering angle.

[0076] In this embodiment, the power steering system performs signal parsing processing on the steering angle command to obtain the auxiliary steering angle increment in the steering angle command.

[0077] For example, the power steering system can unpack the steering angle command to obtain the auxiliary steering angle increment in the steering angle command.

[0078] The power steering system is controlled to perform steering operations according to the increment of the auxiliary steering angle.

[0079] For example, the power steering system controls the output torque of the motor according to the auxiliary steering angle increment, and the reduction mechanism transmits it to the steering rack to assist the driver in completing the steering.

[0080] In some embodiments of this application, a vehicle control method is provided. After controlling the power steering system to execute a steering angle command, the method further includes: The stability control system detects the stability of the vehicle to obtain the stability test results. In this embodiment, the stability control system detects the stability of the vehicle to obtain a stability detection result, which represents the current stability state of the vehicle.

[0081] For example, the stability test result can be specifically whether the vehicle is stable or not.

[0082] If the stability test results indicate that the vehicle is stable, the stability control system stops sending auxiliary request commands.

[0083] If the stability test results indicate that the vehicle is stable, the stability control system stops sending auxiliary request commands.

[0084] For example, if the stability test result indicates that the vehicle is not stable, the stability control system continuously sends assistance request commands.

[0085] For example, a vehicle is traveling at 70 km / h on an icy or snowy road (μ≈0.25). The driver suddenly steers to avoid an obstacle. The ESC detects oversteer and attempts to brake the right rear wheel, but due to low adhesion, the lateral acceleration is only 1.5 m / s², far below the target value of 3.0 m / s². The ESC assesses that the adjustment time will exceed 1.2 seconds, indicating insufficient judgment capability, and sends a request to the ADAS with ay,req=+1.5 m / s². The ADAS confirms that the left lane is clear and the road curvature allows it, and calculates that a left turn angle of 2.5° needs to be added. The EPS executes the auxiliary steering angle, and the vehicle's yaw quickly converges. After 0.5 seconds, the ESC detects that stability has recovered, withdraws the request, and the system returns to normal mode.

[0086] In some embodiments of this application, a vehicle control method is provided. After determining the control state of the vehicle by the stability control system, the method further includes: When the control state is stable, the stability control system executes the operation procedure to stabilize the vehicle, so that the vehicle can complete the steering under the control of the stability control system.

[0087] In this embodiment, when the control state is stable, it is explained that the stability control system can independently control the vehicle to drive stably, and control the stability control system to execute the operation process of stabilizing the vehicle so that the vehicle can complete the steering under the control of the stability control system.

[0088] For example, a vehicle control method may include: ESC continuously assesses whether it can achieve lateral stability of the target through braking within a preset time.

[0089] If the judgment capability is insufficient, a lateral acceleration request is generated and sent to ADAS.

[0090] ADAS generates safe turning instructions based on the request, combined with the road environment ahead and the vehicle's status.

[0091] EPS executes steering commands to assist the vehicle in restoring lateral stability.

[0092] ESC continuously monitors the vehicle's status and terminates the request once stability is restored.

[0093] For example, the criteria for determining insufficient ESC capability include: the required lateral acceleration exceeds the maximum allowable value of the current road surface adhesion coefficient, or the expected adjustment time exceeds a threshold.

[0094] For example, before generating a steering command, ADAS verifies lane boundaries, obstacle distances, and road curvature to ensure that assisted steering will not lead to a collision or lane departure.

[0095] For example, the technical effects brought about by this embodiment include: Significantly improves stability under extreme operating conditions: provides a second layer of protection in ESC failure scenarios.

[0096] Reduced dependence on the coefficient of adhesion: Steering assist is not limited by braking force saturation.

[0097] Enhanced system robustness: Braking and steering functions complement each other, covering a wider range of operating conditions.

[0098] Ensuring driving safety: ADAS environment calibration prevents assisted steering from causing new risks.

[0099] In some embodiments, Figure 2 A functional block diagram of the vehicle control device provided in the embodiments of this application, such as... Figure 2 As shown, an embodiment of this application provides a vehicle control device 200, including: The first control unit 202 is used to determine the control state of the stability control system on the vehicle during the vehicle's steering process. When the vehicle exceeds the control range of the stability control system, the control state is unstable, and when the vehicle does not exceed the control range of the stability control system, the control state is stable. The second control unit 204 is used to control the stability control system to send an assistance request command to the driving assistance system when the control state is unstable. The third control unit 206 is used to control the driving assistance system to send the steering angle command corresponding to the assistance request command to the power steering system when the driving assistance system receives the assistance request command; The fourth control unit 208 is used to control the power steering system to execute the steering angle command when the power steering system receives the steering angle command, so that the vehicle can complete the steering under the control of the power steering system and the stability control system.

[0100] In some embodiments of this application, a vehicle control device 200 is provided, wherein the first control unit 202 is further configured to: Obtain the vehicle's real-time speed and steering wheel angle, and obtain the target lateral acceleration required for the vehicle to complete the turn; The real-time lateral acceleration of the vehicle is determined based on the real-time speed and steering wheel angle. Determine the difference between the target lateral acceleration and the real-time lateral acceleration to obtain the angular velocity difference; If the angular velocity difference is greater than the angular velocity threshold, the control state is determined to be an unsteady state. If the difference in angular velocity is less than or equal to the angular velocity threshold, the control state is determined to be a steady state.

[0101] In some embodiments of this application, a vehicle control device 200 is provided, wherein the second control unit 204 is further configured to: Obtain the vehicle's real-time speed and steering wheel angle, and obtain the maximum adjustment time of the stability control system; The estimated adjustment time of the stability control system is determined based on real-time speed and steering wheel angle. If the expected settling time is greater than the maximum settling time, the control state is determined to be an unsteady state. If the expected settling time is less than or equal to the maximum settling time, the control state is determined to be a steady state.

[0102] In some embodiments of this application, a vehicle control device 200 is provided, wherein the second control unit 204 is further configured to: Obtain the vehicle's real-time lateral acceleration and the target lateral acceleration required for the vehicle to complete the turn; Determine the difference between the target lateral acceleration and the real-time lateral acceleration to obtain the angular velocity difference; The angular velocity difference is encapsulated into a request signal to obtain an auxiliary request command; Control the stability control system and send assistance request commands to the driver assistance system.

[0103] In some embodiments of this application, a vehicle control device 200 is provided, wherein the third control unit 206 is further configured to: The driver assistance system performs signal parsing and processing on the assistance request command to obtain the angular velocity difference value in the assistance request command; Based on the difference in angular velocity, determine the corresponding auxiliary steering angle increment for the power steering system; The auxiliary angle increment is encapsulated as a request signal to obtain the angle command; The driver assistance system sends steering angle commands to the power steering system.

[0104] In some embodiments of this application, a vehicle control device 200 is provided, wherein the fourth control unit 208 is further configured to: The power steering system analyzes and processes the steering angle command to obtain the auxiliary steering angle increment in the steering angle command; The power steering system is controlled to perform steering operations according to the increment of the auxiliary steering angle.

[0105] In some embodiments of this application, a vehicle control device 200 is provided, further comprising a fifth control unit, for: The stability control system detects the stability of the vehicle to obtain the stability test results. If the stability test results indicate that the vehicle is stable, the stability control system stops sending auxiliary request commands.

[0106] In some embodiments of this application, a vehicle control device 200 is provided, wherein the fourth control unit 208 is further configured to: When the control state is stable, the stability control system executes the operation procedure to stabilize the vehicle, so that the vehicle can complete the steering under the control of the stability control system.

[0107] In some embodiments, Figure 3 A structural block diagram of the vehicle control device provided in the embodiments of this application is shown below. Figure 3As shown, a vehicle control device 300 is proposed. The vehicle control device 300 includes a processor 302 and a memory 304. The memory 304 stores a computer program, which, when executed by the processor 302, implements the steps of the vehicle control method as described in any of the above embodiments. Therefore, the vehicle control device 300 possesses all the beneficial effects of the vehicle control method in any of the above embodiments, which will not be elaborated further here.

[0108] In some embodiments, a readable storage medium is provided having a program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method as described in any of the above embodiments, and thus has all the beneficial technical effects of the vehicle control method described in any of the above embodiments.

[0109] In some embodiments, a vehicle is provided, including: a vehicle control device as in any of the above embodiments, and / or a readable storage medium as in any of the above embodiments, thus having all the beneficial technical effects of the vehicle control device and / or the readable storage medium as in any of the above embodiments, which will not be elaborated further here.

[0110] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0111] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.

[0112] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that instructions controlling the processor of the computer or other programmable data processing apparatus to execute generate instructions for implementing the flowchart. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0113] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0114] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0115] This application also provides a computer program product, which includes computer software instructions that, when executed on a processing device, cause the processing device to execute a process of a vehicle control method.

[0116] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state disks (SSDs)).

[0117] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0118] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections controlling some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0119] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0120] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0121] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0122] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended 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.

[0123] Although preferred embodiments have been described in this specification, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this specification.

[0124] Obviously, those skilled in the art can make various modifications and variations to this specification without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, this specification is also intended to include such modifications and variations.

Claims

1. A method for controlling a vehicle, characterized in that, The vehicle includes a stability control system, a driving assistance system, and a power steering system, wherein the driving assistance system is connected to the stability control system and the power steering system respectively, and the method includes: During the vehicle's steering process, the control state of the stability control system for the vehicle is determined. When the vehicle exceeds the control range of the stability control system, the control state is unstable, and when the vehicle does not exceed the control range of the stability control system, the control state is stable. When the control state is the unstable state, the stability control system is controlled to send an assistance request command to the driving assistance system; When the driving assistance system receives the assistance request instruction, it controls the driving assistance system to send the steering angle instruction corresponding to the assistance request instruction to the power steering system; When the power steering system receives the steering angle command, it controls the power steering system to execute the steering angle command so that the vehicle completes steering under the control of the power steering system and the stability control system.

2. The method according to claim 1, characterized in that, Determining the control state of the stability control system for the vehicle includes: The real-time speed and steering wheel angle of the vehicle are obtained, and the target lateral acceleration required for the vehicle to complete the steering is obtained. The real-time lateral acceleration of the vehicle is determined based on the real-time speed and the steering wheel angle. The difference between the target lateral acceleration and the real-time lateral acceleration is determined to obtain the angular velocity difference. If the angular velocity difference is greater than the angular velocity threshold, the control state is determined to be the unstable state. Under the condition that the angular velocity difference is less than or equal to the angular velocity threshold, the control state is determined to be the stable state.

3. The method according to claim 1, characterized in that, Determining the control state of the stability control system for the vehicle includes: The real-time speed and steering wheel angle of the vehicle are obtained, and the maximum adjustment time of the stability control system is obtained. The estimated adjustment time of the stability control system is determined based on the real-time speed and the steering wheel angle. If the expected adjustment time is greater than the maximum adjustment time, the control state is determined to be the unstable state. The control state is determined to be the stable state when the expected adjustment time is less than or equal to the maximum adjustment time.

4. The method according to claim 1, characterized in that, The control of the stability control system to send an assistance request command to the driving assistance system includes: The real-time lateral acceleration of the vehicle is obtained, and the target lateral acceleration required for the vehicle to complete the steering is obtained; The difference between the target lateral acceleration and the real-time lateral acceleration is determined to obtain the angular velocity difference. The angular velocity difference is encapsulated into a request signal to obtain the auxiliary request instruction; The stability control system sends the assistance request command to the driving assistance system.

5. The method according to claim 4, characterized in that, The step of controlling the driving assistance system to send the steering angle command corresponding to the assistance request command to the power steering system includes: The driving assistance system is controlled to perform signal parsing processing on the assistance request command to obtain the angular velocity difference value in the assistance request command; Based on the angular velocity difference, the corresponding auxiliary steering angle increment of the power steering system is determined; The auxiliary angle increment is encapsulated as a request signal to obtain the angle command; The driver assistance system is controlled to send the steering angle command to the power steering system.

6. The method according to claim 5, characterized in that, The control of the power steering system to execute the steering angle command includes: The power steering system performs signal parsing and processing on the steering angle command to obtain the auxiliary steering angle increment in the steering angle command; The power steering system is controlled to perform steering operations according to the incremental auxiliary steering angle.

7. The method according to any one of claims 1 to 6, characterized in that, After controlling the power steering system to execute the steering angle command, the method further includes: The stability control system is controlled to detect the stability of the vehicle in order to obtain the stability detection result of the vehicle. If the stability detection result indicates that the vehicle has stabilized, control the stability control system to stop sending the assistance request command; After determining the control state of the vehicle by the stability control system, the method further includes: When the control state is the stable state, the stability control system is controlled to execute the operation procedure to stabilize the vehicle, so that the vehicle completes the steering under the control of the stability control system.

8. A vehicle control device, characterized in that, include: processor; A memory, which stores programs or instructions, wherein a processor, when executing the programs or instructions in the memory, implements the steps of the vehicle control method as described in any one of claims 1 to 7.

9. A readable storage medium, characterized in that, A program or instructions are stored on a readable storage medium, which, when executed by a processor, implement the steps of the vehicle control method as described in any one of claims 1 to 7.

10. A vehicle, characterized in that, include: The vehicle control device as described in claim 8; and / or The readable storage medium as described in claim 9.

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