Vehicle control method, recording medium, and vehicle

Abstract

A vehicle control method, a recording medium, and a vehicle. The method includes acquiring a vehicle speed and a running stability of the vehicle in response to a driver's operation to turn on a racing track mode, determining whether the vehicle satisfies a starting condition for the racing track mode in response to at least the vehicle speed and the running stability, and controlling the vehicle to enter the racing track mode when it is determined that the vehicle satisfies the starting condition for the racing track mode.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This disclosure claims priority to Chinese Patent Application No. 202211667200.3, entitled "Vehicle Control Method, Recording Medium, and Vehicle," filed with the State Intellectual Property Office of the People's Republic of China on December 22, 2022, which is incorporated herein by reference in its entirety.

[0002] The present disclosure relates to the technical field of vehicle control, and more particularly to a vehicle control method, a recording medium, and a vehicle. [Background technology]

[0003] At present, the driving performance of electric vehicles is focused on economy and is designed to meet the driver's demand for continuous driving distance as much as possible. In addition, some commercially available electric vehicles are equipped with a racing driving mode, which allows the vehicle to output power according to its maximum power capacity, thereby meeting the driver's demand for racing driving mode.

[0004] In existing electric vehicles, racing mode is enabled by operating the accelerator pedal switch, center console switch, or vehicle key. Speed ​​information and vehicle stability are not considered. As a result, potential safety risks increase when the vehicle is driven in harsh environments after racing mode is enabled. For example, a vehicle with racing mode enabled on a snowy road may start with extremely large torque, reducing vehicle stability. Summary of the Invention

[0005] An object of the present disclosure is to provide a vehicle control method, a recording medium, and a vehicle, in which the vehicle is controlled to enter a racing mode based on the vehicle's speed and running stability, thereby reducing potential safety risks when the vehicle is in the racing mode.

[0006] To achieve the above object, according to a first aspect, the present disclosure provides a vehicle control method, which includes the following steps:

[0007] The speed and running stability of the vehicle are acquired in response to the operation of enabling the racing mode.

[0008] Whether or not the vehicle satisfies the racing mode valid condition is determined based on at least the speed and running stability.

[0009] If the vehicle satisfies the racing mode enable condition, the vehicle is controlled to enter the racing mode.

[0010] Optionally, the step of obtaining the speed and driving stability of the vehicle includes the following operations.

[0011] The vehicle's accelerator pedal position, speed, steering angle, yaw rate, and lateral acceleration are acquired.

[0012] The vehicle's driving stability is determined using a vehicle linear dynamic model according to the accelerator pedal opening, speed, steering angle, yaw rate, and lateral acceleration, and includes at least one of the vehicle's sideslip angle, front wheel slip angle, and sideslip angular velocity.

[0013] Optionally, the driving stability includes a sideslip angle of the vehicle. The step of determining whether the vehicle satisfies the racing mode enable condition based on the speed and the driving stability includes the following operations.

[0014] If the speed is greater than the speed threshold, the sideslip angle is less than the first sideslip angle threshold, and there are no fault signals on the vehicle, it is determined that the vehicle satisfies a racing mode enable condition.

[0015] Optionally, the vehicle control method further includes the following steps:

[0016] After the vehicle enters the racing mode, the electronic stability system of the vehicle is degraded in response to the electronic stability system on signal, wherein the trigger sensitivity of the electronic stability system in the degraded on state is greater than the trigger sensitivity of the electronic stability system in the normal on state, and / or the performance intensity of the electronic stability system in the degraded on state is less than the performance intensity of the electronic stability system in the normal state.

[0017] Optionally, the vehicle control method further includes the following steps:

[0018] In response to the vehicle entering racing mode, the motor control unit of the vehicle is controlled to output maximum torque when the vehicle's electronic stability system is in an off state.

[0019] Then, the vehicle's battery management system is controlled to output maximum discharge power.

[0020] Optionally, the actions that enable racing mode include at least one of the following:

[0021] The accelerator pedal depression of the vehicle is continuously greater than the first depression threshold and exceeds the first time threshold.

[0022] The vehicle's center console racing mode switch is in the ON position.

[0023] The vehicle's racing mode physical control keys are triggered.

[0024] Optionally, the vehicle control method further includes the following steps:

[0025] After the vehicle enters the racing mode, if the acquired accelerator pedal opening degree of the vehicle is continuously less than the first opening degree threshold and exceeds the second time threshold, it is determined whether the vehicle's driving stability satisfies the racing mode invalid condition.

[0026] If the running stability of the vehicle does not satisfy the racing mode invalidation condition, the vehicle is maintained in the racing mode.

[0027] Optionally, the driving stability includes a sideslip angle, a front wheel slip angle, and a sideslip angular velocity. The step of determining whether the driving stability of the vehicle satisfies the racing mode disable condition includes the following operations.

[0028] If the sideslip angle is greater than a second sideslip angle threshold, or if the front wheel slip angle is greater than a front wheel slip angle threshold, or if the sideslip angular velocity is greater than a sideslip angular velocity threshold, it is determined that the vehicle satisfies the racing mode disable condition.

[0029] According to a second aspect, the present disclosure provides a vehicle control device, the device comprising:

[0030] an acquisition module configured to acquire a speed and a driving stability of the vehicle in response to a driver's operation to enable the racing mode;

[0031] a determination module configured to determine whether the vehicle satisfies a racing mode enable condition based on at least a speed and a driving stability;

[0032] and a control module configured to control the vehicle to enter the racing mode when the vehicle satisfies a racing mode enable condition.

[0033] According to a third aspect, the present disclosure provides a recording medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method according to the first aspect.

[0034] According to a fourth aspect, the present disclosure provides a vehicle including:

[0035] a memory in which a computer program is stored;

[0036] a processor configured to execute a computer program in the memory to perform the steps of the method according to the first aspect.

[0037] According to the above technical solution of the present disclosure, whether the vehicle satisfies the racing mode enable condition is determined based on the vehicle speed and running stability, and if it is determined that the vehicle satisfies the racing mode enable condition, the vehicle is controlled to enter the racing mode, thereby avoiding vehicle instability due to excessive starting torque when the vehicle is running in a harsh environment, and improving vehicle running safety.

[0038] Other features and advantages of the present disclosure are described in detail in the detailed description section below. Additional aspects and advantages of the present disclosure will be set forth in the description that follows, and in part will be obvious from the description, or may be learned by practice of the present disclosure. [Brief explanation of the drawings]

[0039] The above and / or additional aspects and advantages of the present disclosure will become apparent and easier to understand in the following description taken in conjunction with the accompanying drawings. [Figure 1] FIG. 1 is a flowchart of a vehicle control method according to one embodiment of the present disclosure. [Figure 2] FIG. 2 is another flowchart of a vehicle control method according to an embodiment of the present disclosure. [Figure 3] FIG. 3 is a block diagram of a vehicle control device according to one embodiment of the present disclosure. [Figure 4] FIG. 4 is a block diagram of an in-vehicle system of a vehicle according to one embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0040] Specific implementations of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the specific implementations described herein are used only for purposes of illustrating and explaining the present disclosure, and are not intended to limit the present disclosure.

[0041] It should be noted that all operations of signal, information, or data acquisition in this disclosure are performed subject to compliance with the data protection regulatory policies corresponding to the country and are performed with the permission of the owner of the corresponding device.

[0042] As described in the background art, existing electric vehicles are controlled to enter racing mode depending on the switch angle of the vehicle's accelerator pedal, the state of the center console switch, and whether the physical key is triggered. If the vehicle is driven in a harsh environment after the racing mode is enabled, there is a potential safety risk.

[0043] Furthermore, in existing electric vehicles, activating the racing mode turns off the electronic stability system, which means that if the vehicle becomes significantly unstable in racing mode, the electronic stability system will not function, making driving safety unsatisfactory.

[0044] Furthermore, in existing electric vehicles, the racing mode is disabled depending on the accelerator pedal position and time. Considering the real-time changes in the vehicle's stable state, this affects the driving time and driving sensation in racing mode.

[0045] In view of this, the present disclosure provides a vehicle control method, a recording medium, and a vehicle, in which the vehicle is controlled to enter a racing mode based on the vehicle's speed and running stability, thereby reducing potential safety risks when the vehicle runs in the racing mode.

[0046] 1 illustrates an exemplary vehicle control method according to an embodiment of the present disclosure. The vehicle control method is applied to, for example, an electric vehicle. The method includes the following steps:

[0047] In step S101, the speed and running stability of the vehicle are acquired in response to an operation to enable the racing mode.

[0048] For example, information on the vehicle speed and parameters related to the vehicle's running stability, such as steering angle, yaw rate, and lateral acceleration, may be acquired via an on-board sensor.

[0049] In step S102, it is determined whether the vehicle satisfies the racing mode valid condition based on at least the speed and running stability.

[0050] For example, information such as speed, steering angle, yaw velocity, and lateral acceleration is filtered to reduce the influence of noise on the determination result and improve the reliability of the determination result.

[0051] The filtering process can be performed using existing filtering methods such as mean filtering, median filtering, and Kakman filtering.

[0052] In step S103, if it is determined that the vehicle satisfies the racing mode enabling condition, the vehicle is controlled to enter the racing mode.

[0053] In the present disclosure, the speed and running stability of a vehicle acquired using an on-board sensor module are filtered, and based on the filtered speed and running stability, it is determined whether the vehicle satisfies a racing mode enabling condition, and if the racing mode enabling condition is satisfied, the vehicle is controlled to enter racing mode, thereby reducing potential safety risks of the vehicle in racing mode. Also, by controlling whether the vehicle is in racing mode according to the speed and running stability, it is possible to avoid enabling the racing mode when the vehicle condition is poor, thereby improving safety during driving.

[0054] To help those skilled in the art understand the vehicle control method provided in the present disclosure, the aforementioned steps are described in detail below using examples.

[0055] In a possible embodiment, in step S101, obtaining the speed and running stability of the vehicle includes the following operations:

[0056] The accelerator pedal position, speed, steering angle, yaw rate, and lateral acceleration of the vehicle are acquired.

[0057] The vehicle's driving stability is determined using a vehicle linear dynamic model according to the accelerator pedal opening, speed, steering angle, yaw rate, and lateral acceleration, and includes at least one of the vehicle's sideslip angle, front wheel slip angle, and sideslip angular velocity.

[0058] Illustratively, the side slip angle may be measured directly using on-board sensors or may be estimated according to the yaw rate and steering angle.

[0059] The vehicle linear dynamic model is an existing vehicle dynamic model, which is not a limitation of this disclosure.

[0060] In a possible embodiment, in step S102, the running stability includes the vehicle's sideslip angle. The step of determining whether the vehicle satisfies the racing mode enable condition according to at least the speed and the running stability includes the following operations:

[0061] The vehicle is determined to satisfy a racing mode enable condition when the speed is greater than the speed threshold, the sideslip angle is less than the first sideslip angle threshold, and there are no fault signals on the vehicle.

[0062] For example, the speed threshold and the first sideslip angle threshold may be preset depending on the running state of the vehicle in the racing mode, although this is not a limitation of the present disclosure.

[0063] For example, the speed threshold is preset to V1, and the first sideslip angle threshold is preset to B1. If the speed V is greater than V1, the sideslip angle is less than B1, and there is no fault signal in the vehicle, it is determined that the vehicle meets the conditions for enabling the racing mode.

[0064] In the present disclosure, whether or not a vehicle satisfies the racing mode enable condition is determined based on information such as vehicle speed, sideslip angle, and vehicle fault signal, and the vehicle is controlled to enter racing mode after the racing mode enable condition is satisfied, thereby avoiding the vehicle becoming unstable due to a relatively large torque when starting, allowing the racing mode to be enabled in a safe state for the vehicle, and improving driving safety.

[0065] In a possible embodiment, the vehicle control method further includes the following steps:

[0066] After the vehicle enters the racing mode, in response to the electronic stability system on signal, the electronic stability system of the vehicle is degraded, and the trigger sensitivity of the electronic stability system in the degraded on state is greater than the trigger sensitivity of the electronic stability system in the normal on state, and / or the execution strength of the electronic stability system in the degraded on state is less than the execution strength of the electronic stability system in the normal state.

[0067] For example, after the vehicle enters a racing mode, when the vehicle is in an unstable state, the electronic stability system of the vehicle generates an ON signal, and in response to the ON signal of the electronic stability system of the vehicle, the trigger sensitivity of the electronic stability system is increased and / or the execution intensity of the electronic stability system is decreased, so that the trigger sensitivity of the electronic stability system in the racing mode is higher than the trigger sensitivity of the electronic stability system when not in the racing mode, and / or the execution intensity of the electronic stability system in the racing mode is lower than the trigger sensitivity of the electronic stability system when not in the racing mode, thereby decreasing the electronic stability system.

[0068] In the present disclosure, when the vehicle is in racing mode, the electronic stability system is activated, improving the driving safety of the vehicle while allowing the driver to experience racing mode.

[0069] In a possible embodiment, the vehicle control method further includes the following steps:

[0070] In response to the vehicle entering racing mode, the motor control unit of the vehicle is controlled to output maximum torque when the vehicle's electronic stability system is in an off state.

[0071] The vehicle's battery management system is then controlled to output maximum discharge power.

[0072] For example, in the case of a two-wheeled vehicle having only either a front wheel motor control unit (F_MCU) or a rear wheel motor control unit (R_MCU), when the vehicle enters racing mode, the power chassis region control unit (PDCU) sends a torque control signal to the F_MCU or R_MCU of the two-wheeled vehicle, and the F_MCU or R_MCU outputs maximum torque in response to the torque control signal.

[0073] For example, in the case of a four-wheeled vehicle having both an F_MCU and an R_MCU, when the vehicle enters racing mode, the PDCU transmits a torque control signal to both the F_MCU and the R_MCU of the four-wheeled vehicle, and the F_MCU and the R_MCU output maximum torque in response to the torque control signal. Meanwhile, the PDCU transmits a discharge capacity control signal to the vehicle's battery management system (BMS), and the BMS outputs maximum discharge capacity power in accordance with the discharge capacity control signal.

[0074] In the present disclosure, when the vehicle is in racing mode, the vehicle's motor control unit is controlled to output maximum torque and the vehicle's battery management system is controlled to output maximum discharge power, making the vehicle's torque output more aggressive, thereby improving the driver's driving experience.

[0075] In a possible embodiment, in step S101, the operation of enabling the racing mode includes at least one of the following:

[0076] The accelerator pedal depression of the vehicle is continuously greater than the first depression threshold and exceeds the first time threshold.

[0077] The vehicle's center console racing mode switch is in the ON position.

[0078] The vehicle's racing mode physical control keys are triggered.

[0079] For example, racing mode can be enabled in three ways. In the first method, the racing mode enable signal is monitored using a racing mode switch located at the bottom of the accelerator pedal. The racing mode switch is located at the bottom of the accelerator pedal. A detection circuit is located inside the racing mode switch. The detection circuit is connected to the vehicle's PDCU. When the driver presses the accelerator pedal, the racing mode switch is triggered. At this moment, the PDU monitors the racing mode enable signal. In the second method, the racing mode enable signal is monitored using a virtual switch on the center console. The virtual switch is located on the center console. The center console is connected to the center console entertainment system controller. When the driver presses the virtual switch, the center console entertainment system controller sends a racing mode enable signal to the PDCU. The PDCU monitors the racing mode enable signal. In the third method, a racing mode physical control key is used. The physical control key is located in the vehicle. The physical control key is connected to the PDCU using a circuit. When the driver presses the physical control key, the PDCU detects the physical key press via the circuit. Specifically, the racing mode enable signal is monitored.

[0080] In the present disclosure, the driver can enable the racing mode in one of three ways depending on their driving habits, which allows them to enjoy the racing mode and improves the user experience.

[0081] If the vehicle is controlled to disable the racing mode based only on the duration of the racing mode after the vehicle has entered the racing mode, the vehicle will have already disabled the racing mode before the driver has had sufficient time to experience the various performance states of the vehicle in the racing mode. Therefore, it is necessary to control the vehicle to disable the racing mode based on the running stability of the vehicle.

[0082] In a possible embodiment, the vehicle control method further comprises the following steps:

[0083] After the vehicle enters the racing mode, whether the vehicle's driving stability satisfies the racing mode disable condition is determined when the accelerator pedal opening degree acquired by the vehicle is continuously less than the second opening degree threshold and exceeds the second time threshold.

[0084] If the running stability of the vehicle does not satisfy the racing mode disable condition, the vehicle is maintained in the racing mode.

[0085] Illustratively, the second opening threshold is smaller than the first opening threshold.

[0086] For example, the second time threshold is T2, and the second opening threshold is A2. If the accelerator pedal opening A of the vehicle is less than A2 and the duration exceeds T2, it is determined whether the vehicle's running stability satisfies the racing mode disabling condition. If the vehicle's running stability does not satisfy the racing mode disabling condition, the vehicle is maintained in racing mode.

[0087] The duration for which the vehicle has racing mode enabled is dynamically adjusted in the present disclosure depending on the vehicle's stability, further improving the driver's driving sensation.

[0088] In a possible embodiment, the driving stability includes a sideslip angle, a front wheel slip angle, and a sideslip angular velocity. The step of determining whether the driving stability of the vehicle satisfies the racing mode disable condition includes the following operations.

[0089] If the sideslip angle is greater than a second sideslip angle threshold, or if the front wheel slip angle is greater than a front wheel slip angle threshold, or if the sideslip angular velocity is greater than a sideslip angular velocity threshold, it is determined that the vehicle satisfies the racing mode disable condition.

[0090] The second sideslip angle threshold is greater than the first sideslip angle threshold.

[0091] For example, the front wheel slip angle may be obtained by consulting a pre-set comparison table of steering angle and side slip angle according to the steering angle.

[0092] For example, if the current second sideslip angle threshold is B2, the front wheel slip angle threshold is C1, and the sideslip angular velocity is ω1, it is determined that the vehicle satisfies the racing mode disable condition if B is greater than B2, C is greater than C1, or ω is greater than ω1.

[0093] According to the disclosed vehicle control method, whether a vehicle satisfies a racing mode enable condition is determined based on the vehicle's speed and driving stability, and if the racing mode enable condition is met, the vehicle is controlled to enter racing mode. This prevents the vehicle from becoming unstable due to a relatively large torque when starting, enables the vehicle to enter racing mode in a safe state, and improves driving safety. After the vehicle enters racing mode, the driver experiences the racing mode by referring to the reduced state of the electronic stability system, thereby improving vehicle driving safety. The duration of the state in which the vehicle activates racing mode is dynamically adjusted according to the vehicle's stability, further improving the driver's driving feel.

[0094] For example, referring to FIG. 2, a vehicle control method includes the following steps.

[0095] In step S201, the vehicle's speed and driving stability are obtained according to whether the vehicle's accelerator pedal opening is continuously greater than a first opening threshold and exceeds a first time threshold, or whether the vehicle's center console racing mode switch is in an on state, or whether the vehicle's racing mode physical control key is triggered.

[0096] The driving stability includes the vehicle's sideslip angle, front wheel slip angle, and sideslip angular velocity.

[0097] In step S202, it is determined whether the vehicle satisfies the racing mode enable condition when the speed is greater than the speed threshold, the sideslip angle is less than the first sideslip angle threshold, and there is no fault signal on the vehicle.

[0098] In step S203, if the vehicle satisfies the racing mode valid condition, the vehicle is controlled to enter the racing mode.

[0099] In step S204, the on state of the vehicle's electronic stability system is determined.

[0100] In step S205, if the vehicle electronic stability system is in an on state, the electronic stability system is decreased in response to the on signal of the vehicle electronic stability system.

[0101] In step S206, if the vehicle's electronic stability system is in an off state, the vehicle's motor control unit is controlled to output maximum torque, and the vehicle's battery management system is controlled to output maximum discharge power.

[0102] In step S207, if the acquired accelerator pedal opening degree of the vehicle is continuously less than the first opening degree threshold and exceeds the second time threshold, it is determined whether the vehicle's running stability satisfies the racing mode invalid condition.

[0103] In step S208, if the running stability of the vehicle does not satisfy the racing mode invalidation condition, the vehicle is maintained in the racing mode.

[0104] In step S209, if the vehicle's driving stability satisfies the racing mode disable condition, the vehicle's electronic stability system is controlled to the state before the decrease.

[0105] Based on the same inventive concept, the present disclosure further provides a vehicle control device. Referring to Figure 3, the device 300 includes an acquisition module 301, a determination module 302, and a control module 303.

[0106] The acquisition module 301 is configured to acquire the speed and running stability of the vehicle in response to an operation to enable the racing mode.

[0107] The determination module 302 is configured to determine whether the vehicle satisfies the racing mode enable condition according to at least the speed and the driving stability.

[0108] The control module 303 is configured to control the vehicle to enter the racing mode when the vehicle satisfies a racing mode enable condition.

[0109] In the present disclosure, whether a vehicle satisfies a racing mode enable condition is determined by referring to the vehicle's speed and driving stability, and if the racing mode enable condition is met, the vehicle is controlled to enter racing mode, thereby avoiding vehicle instability caused by a relatively large torque when starting, enabling the racing mode in a safe state, and improving driving safety. After the vehicle enters racing mode, the driver experiences the racing mode by referring to the reduced state of the electronic stability system, thereby improving vehicle driving safety. The duration for which the vehicle remains in the racing mode enabled state is dynamically adjusted according to the vehicle's stability, further improving the driver's driving sensation.

[0110] Moreover, the acquisition module 301 is further configured to acquire the accelerator pedal opening, speed, steering angle, yaw rate, and lateral acceleration of the vehicle.

[0111] The vehicle linear dynamic model is used to determine the vehicle's driving stability according to the accelerator pedal opening, speed, steering angle, yaw rate, and lateral acceleration, and the driving stability includes at least one of the vehicle's sideslip angle, front wheel slip angle, and sideslip angular velocity.

[0112] Furthermore, the determination module 302 is further configured to determine that the vehicle satisfies the racing mode enable condition when the speed is greater than the speed threshold, the sideslip angle is less than the first sideslip angle threshold, and there is no fault signal in the vehicle. The driving stability includes the sideslip angle of the vehicle.

[0113] Further, the control module 303 is configured to deactivate the vehicle's electronic stability system in response to the electronic stability system on signal after the vehicle enters the racing mode, wherein the trigger sensitivity of the electronic stability system in the deactivated on state is greater than the trigger sensitivity of the electronic stability system in the normal on state, and / or the execution strength of the electronic stability system in the deactivated on state is less than the execution strength of the electronic stability system in the normal state.

[0114] Furthermore, the determination module 302 is configured to control the motor control unit of the vehicle to output maximum torque when the electronic stability system of the vehicle is in an off state in response to the vehicle entering racing mode.

[0115] The vehicle's battery management system is then controlled to output maximum discharge power.

[0116] Additionally, the actions that enable racing mode include at least one of the following:

[0117] The accelerator pedal depression of the vehicle is continuously greater than the first depression threshold and exceeds the first time threshold.

[0118] The vehicle's center console racing mode switch is in the ON position.

[0119] The vehicle's racing mode physical control keys are triggered.

[0120] Furthermore, the determination module 302 is further configured to determine whether the vehicle's driving stability satisfies the racing mode disable condition when the acquired accelerator pedal opening degree of the vehicle is continuously less than the second opening degree threshold and exceeds the second time threshold after the vehicle enters the racing mode.

[0121] The control module 303 is further configured to maintain the vehicle in the racing mode if the running stability of the vehicle does not satisfy the racing mode disable condition.

[0122] Furthermore, the determination module 302 is further configured to determine that the vehicle satisfies the racing mode disable condition when the sideslip angle is greater than a second sideslip angle threshold, when the front wheel slip angle is greater than a front wheel slip angle threshold, or when the sideslip angular velocity is greater than a sideslip angular velocity threshold. The driving stability includes the sideslip angle, the front wheel slip angle, and the sideslip angular velocity.

[0123] In the apparatus according to the above-described embodiment, the specific manner in which each module performs an operation has already been described in detail in the embodiment related to the method, and the detailed description will not be repeated here.

[0124] Based on the same inventive concept, the present disclosure further provides a vehicle, the vehicle comprising:

[0125] a memory in which a computer program is stored;

[0126] and a processor configured to execute a computer program in the memory to perform the steps of the vehicle control method described above.

[0127] In the present disclosure, whether a vehicle satisfies a racing mode enable condition is determined by referring to the vehicle's speed and driving stability, and the vehicle is controlled to enter racing mode if the racing mode enable condition is met. This prevents the vehicle from becoming unstable due to a relatively large torque when starting, enables the racing mode in a safe state, and improves driving safety. After the vehicle enters racing mode, the driver experiences the racing mode by referring to the reduced state of the electronic stability system, thereby improving driving safety. The duration for which the vehicle remains in the racing mode enabled state is dynamically adjusted according to the vehicle's stability, further improving the driver's driving sensation.

[0128] 4 is a block diagram of an in-vehicle system 400 of a vehicle in accordance with an example embodiment of the present disclosure. As shown in FIG. 4, the in-vehicle system 400 may include a processor 401 and a memory 402. The in-vehicle system 400 may further include one or more of a multimedia component 403, an input / output (I / O) interface 404, and a communication component 405.

[0129] The processor 401 is configured to control the overall operation of the in-vehicle system 400 and complete all or some of the steps of the vehicle control method described above. The memory 402 is configured to store various types of data to support the operation of the in-vehicle system 400. The data may include, for example, instructions for any applications or methods operated on the in-vehicle system 400, as well as application-related data such as contact data, received and sent messages, images, audio, and video. The memory 402 may be implemented by any type of storage device, volatile or non-volatile, or a combination thereof, such as static random access memory (SRAM), electrically erasable and programmable read-only memory (EEPROM), erasable and programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk. The multimedia component 403 may include a screen and an audio component. The screen may be, for example, a touchscreen. The audio component is configured to output and / or input audio signals. For example, the audio component may include a microphone. The microphone is configured to receive an external audio signal. The received audio signal may be further stored in the memory 402 or transmitted using the communication component 405. The audio component further includes at least one speaker configured to output the audio signal. The I / O interface 404 provides an interface between the processor 401 and other interface modules. The other interface modules may be a keyboard, a mouse, buttons, etc. The buttons may be virtual buttons or physical buttons. The communication component 405 is configured for wired or wireless communication between the in-vehicle system 400 and other devices.The wireless communication may be, for example, Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, or a combination of one or more thereof, without being limited herein. Accordingly, the communication component 405 may include a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0130] In an exemplary embodiment, in-vehicle system 400 may be implemented using one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processors (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements to perform the vehicle control methods described above.

[0131] In another exemplary embodiment, a computer-readable storage medium is further provided that includes program instructions. When executed by a processor, the program instructions perform the steps of the vehicle control method described above. For example, the computer-readable storage medium may be a memory 402 that includes program instructions. The program instructions may be executed by a processor 401 of an in-vehicle system 400 to complete the vehicle control method described above.

[0132] In another exemplary embodiment, there is further provided a computer program product, the computer program product including a computer program executable by a programmable device, the computer program having code portions for performing the vehicle control method described above when executed by the programmable device.

[0133] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. A number of simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure. These simple modifications fall within the protection scope of the present disclosure.

[0134] Furthermore, it should be noted that the specific technical features described in the above specific embodiments can be combined in any suitable manner without conflict, and in order to avoid unnecessary repetition, the present disclosure does not describe the various possible combination methods.

[0135] Furthermore, different implementations of the present disclosure can be arbitrarily combined without departing from the ideas of the present disclosure, and these combinations are still considered to be disclosed in the present disclosure.

Claims

1. Acquiring the speed and running stability of the vehicle in response to an operation to enable the racing mode; determining whether the vehicle satisfies a racing mode enable condition based on at least the speed and running stability; When the vehicle satisfies a racing mode enabling condition, control the vehicle to enter a racing mode; A vehicle control method comprising:

2. Obtaining the vehicle speed and driving stability Obtaining accelerator pedal position, speed, steering angle, yaw rate, and lateral acceleration of a vehicle; Determining the running stability of a vehicle using a vehicle linear dynamic model according to an accelerator pedal opening, a speed, a steering angle, a yaw rate, and a lateral acceleration, wherein the running stability includes at least one of a vehicle side slip angle, a front wheel slip angle, and a side slip angular velocity; The vehicle control method according to claim 1 , further comprising:

3. The running stability includes a side slip angle of the vehicle, and determining whether the vehicle satisfies the racing mode enable condition based on at least the speed and the running stability; determining that the vehicle satisfies a racing mode enable condition when the speed is greater than the speed threshold, the sideslip angle is less than a first sideslip angle threshold, and there are no fault signals on the vehicle; The vehicle control method according to claim 1 or 2, comprising:

4. 4. A vehicle control method as claimed in any one of claims 1 to 3, further comprising reducing the vehicle's electronic stability system in response to an electronic stability system on signal after the vehicle has entered racing mode, wherein the trigger sensitivity of the electronic stability system in the reduced on state is greater than the trigger sensitivity of the electronic stability system in the normal on state, and / or the performance intensity of the electronic stability system in the reduced on state is less than the performance intensity of the electronic stability system in the normal state.

5. In response to the vehicle entering a racing mode, controlling a motor control unit of the vehicle to output maximum torque when an electronic stability system of the vehicle is in an off state; Controlling a vehicle battery management system to output maximum discharge power; The vehicle control method according to any one of claims 1 to 4, further comprising:

6. To enable racing mode, The accelerator pedal depression of the vehicle is continuously greater than a first depression threshold and exceeds a first time threshold; The vehicle's center console racing mode switch is in the ON position, and The vehicle's racing mode physical control key is triggered; The vehicle control method according to any one of claims 1 to 5, further comprising at least one of the following:

7. determining whether the running stability of the vehicle satisfies a racing mode invalidation condition when the acquired accelerator pedal opening degree of the vehicle is continuously less than a second opening degree threshold and exceeds a second time threshold after the vehicle has entered the racing mode; If the running stability of the vehicle does not satisfy the racing mode disabling condition, maintaining the vehicle in the racing mode; The vehicle control method according to any one of claims 1 to 6, further comprising:

8. The running stability includes a sideslip angle, a front wheel slip angle, and a sideslip angular velocity, and determining whether the running stability of the vehicle satisfies the racing mode invalid condition includes:

8. The vehicle control method according to claim 7, further comprising determining that the vehicle satisfies the racing mode disable condition when the sideslip angle is greater than a second sideslip angle threshold, or when the front wheel slip angle is greater than the front wheel slip angle threshold, or when the sideslip angular velocity is greater than the sideslip angular velocity threshold.

9. A non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method according to any one of claims 1 to 8.

10. a memory in which a computer program is stored; a processor configured to execute a computer program in a memory to perform the steps of the method according to any one of claims 1 to 8; A vehicle equipped with:

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