Vehicle control method, vehicle and computer-readable storage medium

Abstract

A vehicle control method. The method is applied to a vehicle with four-wheel steering and independent drive for front and rear axles. The method comprises: when a zero-radius turning mode of the vehicle is activated, controlling front and rear wheels to turn in the same direction to respective corresponding target angles; controlling front and rear drive electric motors to output torques of the same magnitude but opposite directions; acquiring the lateral and longitudinal accelerations of the vehicle; determining magnitude relationships between the lateral and longitudinal accelerations and a preset acceleration threshold; and on the basis of the magnitude relationships, adjusting the torques output by the front and rear drive electric motors, the turning angles of the front and rear wheels and the yaw rate of the vehicle, so that longitudinal forces applied to the front and rear axles in a longitudinal direction have the same magnitude but are in opposite directions, and lateral forces applied to the front and rear axles in a lateral direction form a pair of couple. The method can realize the zero-radius turning of the vehicle, solving the problem of difficult U-turns on narrow roads. A vehicle and a computer-readable storage medium are further comprised.

Description

Vehicle control method, vehicle, and computer-readable storage medium

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on November 29, 2023, with application number 2023116177053 and application name “Vehicle Control Method, Vehicle and Computer-readable Storage Medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, a vehicle, and a computer-readable storage medium in the field of vehicle technology. Background Art

[0003] With the rapid development of society and the economy, cars have become an indispensable means of transportation in every household, leading to a growing number of vehicles on the road. However, when drivers try to make a U-turn on a narrow road, they often face difficulties. These maneuvers are not only cumbersome but also highly susceptible to vehicle scratches, significantly reducing the convenience and driving experience.

[0004] Summary of the Invention

[0005] The present application provides a vehicle control method, a vehicle, and a computer-readable storage medium. The present application can not only realize on-the-spot steering of the vehicle and solve the problem of difficulty in turning around on narrow roads, but also reduce the turning radius of the vehicle in off-road scenarios and improve the vehicle's passability.

[0006] In a first aspect, a method for controlling a vehicle is provided, the vehicle comprising a front axle, a rear axle, a front-drive motor for driving the front axle, and a rear-drive motor for driving the rear axle, the control method comprising: when the vehicle's in-place steering mode is activated, controlling the front wheels and the rear wheels to steer in the same direction to their respective corresponding target steering angles; controlling the front-drive motor to output a first torque and controlling the rear-drive motor to output a second torque; wherein the first torque and the second torque are of the same magnitude and opposite in direction; obtaining the vehicle's lateral acceleration and longitudinal acceleration; determining a magnitude relationship between the lateral acceleration and the longitudinal acceleration and a preset acceleration threshold; adjusting the first torque, the second torque, the turning angle of the front wheels, the turning angle of the rear wheels, and the vehicle's yaw angular velocity according to the magnitude relationship, so that the first longitudinal force applied to the front axle in the longitudinal direction and the second longitudinal force applied to the rear axle in the longitudinal direction are of the same magnitude and opposite in direction, and the first lateral force applied to the front axle in the lateral direction and the second lateral force applied to the rear axle in the lateral direction form a pair of force couples.

[0007] In the above technical scheme, the vehicle control method provided in the embodiment of the present application is applied to a vehicle equipped with four-wheel steering and independent drive of the front and rear axles. When the vehicle's in-situ steering mode is activated, the front wheels and rear wheels are controlled to steer in the same direction to their respective corresponding target steering angles, and the front-drive motor and the rear-drive motor are controlled to output torques of the same magnitude and opposite directions to obtain the lateral acceleration and longitudinal acceleration of the vehicle, and the magnitude relationship between the lateral acceleration and the longitudinal acceleration and the preset acceleration threshold is determined. According to the magnitude relationship, the torque output by the front-drive motor and the rear-drive motor, the steering angle of the front wheels, the steering angle of the rear wheels and the yaw angular velocity of the vehicle are adjusted to make the front axle in the longitudinal The first longitudinal force in the longitudinal direction and the second longitudinal force in the longitudinal direction of the rear axle are of the same magnitude and opposite in direction, and the first lateral force in the lateral direction of the front axle and the second lateral force in the lateral direction of the rear axle form a pair of force couples. The technical solution can automatically realize the vehicle's on-the-spot steering, can safely turn around and turn in narrow roads, is conducive to reducing the vehicle's turning radius, can alleviate road congestion to a certain extent, and improve the vehicle's passability. During the vehicle's U-turn or turning, there is no need for the user to control the vehicle, which reduces the difficulty of vehicle operation. It not only enhances the vehicle's sense of luxury and the convenience of vehicle operation, but also enhances the user's driving pleasure and soothes the driving mood.

[0008] In one possible implementation, adjusting the first torque, the second torque, the front wheel angle, the rear wheel angle, and the vehicle's yaw rate based on a magnitude relationship includes: when the magnitude relationship is such that both the lateral acceleration and the longitudinal acceleration are greater than a preset acceleration threshold, reducing the first torque and increasing the second torque so that the longitudinal acceleration reaches the preset acceleration threshold; when the longitudinal acceleration reaches the preset acceleration threshold, obtaining the lateral acceleration again; determining whether the again obtained lateral acceleration reaches the preset acceleration threshold to obtain a first determination result; controlling the torque of the front drive motor and the rear drive motor, and controlling the steering angle of the front and rear wheels based on the first determination result, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determining whether the yaw rate reaches a preset angular velocity; if not, reducing the first torque and the second torque based on a preset torque adjustment ratio when the yaw rate is greater than the preset angular velocity, or increasing the first torque and the second torque based on the preset torque adjustment ratio when the yaw rate is less than the preset angular velocity, so that the yaw rate reaches the preset angular velocity.

[0009] In one possible implementation, performing torque control on the front-drive motor and the rear-drive motor and performing steering angle control on the front and rear wheels based on a first judgment result includes: when the first judgment result is that the lateral acceleration reaches a preset acceleration threshold, controlling the front-drive motor to continuously output a reduced first torque, controlling the rear-drive motor to continuously output an increased second torque, and maintaining the steering angles of the front and rear wheels unchanged; and when the first judgment result is that the lateral acceleration does not reach the preset acceleration threshold, adjusting the first torque, the second torque, and the steering angles of the front and rear wheels so that the lateral acceleration reaches the preset acceleration threshold.

[0010] In one possible implementation, adjusting the first torque, the second torque, the turning angle of the front wheels, the turning angle of the rear wheels and the yaw angular velocity of the vehicle according to the size relationship includes: when the size relationship is that the longitudinal acceleration is greater than a preset acceleration threshold and the lateral acceleration reaches a preset acceleration threshold, increasing the turning angle of the front wheels and the turning angle of the rear wheels, and reducing the first torque and the second torque so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and, determining whether the yaw angular velocity reaches the preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, reducing the first torque and the second torque based on the preset torque adjustment ratio, or, when the yaw angular velocity is less than the preset angular velocity, increasing the first torque and the second torque based on the preset torque adjustment ratio so that the yaw angular velocity reaches the preset angular velocity.

[0011] In one possible implementation, adjusting the first torque, the second torque, the steering angle of the front wheels, the steering angle of the rear wheels, and the yaw rate of the vehicle according to the magnitude relationship includes: when the magnitude relationship is that the longitudinal acceleration is greater than a preset acceleration threshold and the lateral acceleration is less than a preset acceleration threshold, increasing the steering angle of the front wheels and decreasing the steering angle of the rear wheels so that the longitudinal acceleration reaches the preset acceleration threshold; when the longitudinal acceleration reaches the preset acceleration threshold, obtaining the lateral acceleration again; judging whether the lateral acceleration obtained again reaches the preset acceleration threshold, and obtaining a second judgment result; and determining the lateral acceleration according to the second judgment result. The front-drive motor and the rear-drive motor perform torque control, and the front wheels and the rear wheels perform angle control so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and, it is determined whether the yaw angular velocity reaches a preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, the first torque and the second torque are reduced based on a preset torque adjustment ratio, or when the yaw angular velocity is less than the preset angular velocity, the first torque and the second torque are increased based on the preset torque adjustment ratio so that the yaw angular velocity reaches the preset angular velocity.

[0012] In one possible implementation, performing torque control on the front-drive motor and the rear-drive motor, and performing steering angle control on the front wheels and the rear wheels according to the second judgment result includes: when the second judgment result is that the lateral acceleration reaches a preset acceleration threshold, maintaining the output torque of each of the front-drive motor and the rear-drive motor unchanged, and maintaining the increased steering angle of the front wheels unchanged, and maintaining the decreased steering angle of the rear wheels unchanged; when the second judgment result is that the lateral acceleration does not reach the preset acceleration threshold, adjusting the first torque, the second torque, and the steering angle of each of the front wheels and the rear wheels so that the lateral acceleration reaches the preset acceleration threshold.

[0013] In one possible implementation, adjusting the first torque, the second torque, the turning angle of the front wheels, the turning angle of the rear wheels and the yaw rate of the vehicle according to the size relationship includes: when the size relationship is that the longitudinal acceleration reaches a preset acceleration threshold and the lateral acceleration is greater than or less than the preset acceleration threshold, judging whether the yaw rate reaches a preset angular velocity; if not, when the yaw rate is greater than the preset angular velocity, reducing the first torque and the second torque based on the preset torque adjustment ratio, and reducing the turning angle of the front wheels and the turning angle of the rear wheels based on the preset angle adjustment value, or, when the yaw rate is less than the preset angular velocity, increasing the first torque and the second torque based on the preset torque adjustment ratio, and increasing the turning angle of the front wheels and the turning angle of the rear wheels based on the preset angle adjustment value, so that the yaw rate reaches the preset angular velocity, the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force.

[0014] In one possible implementation, adjusting the first torque, the second torque, the turning angle of the front wheels, the turning angle of the rear wheels and the yaw rate of the vehicle according to the size relationship includes: when the size relationship is that the longitudinal acceleration and the lateral acceleration both reach the preset acceleration threshold, determining whether the yaw rate reaches the preset angular velocity; if so, controlling the first torque and the second torque to remain unchanged, and keeping the respective turning angles of the front wheels and the rear wheels unchanged; if not, when the yaw rate is greater than the preset angular velocity, reducing the first torque and the second torque based on the preset torque adjustment ratio, or, when the yaw rate is less than the preset angular velocity, increasing the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw rate reaches the preset angular velocity, the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force.

[0015] In one possible implementation, adjusting the first torque, the second torque, the turning angle of the front wheels, the turning angle of the rear wheels, and the yaw rate of the vehicle according to the magnitude relationship includes: when the magnitude relationship is that the longitudinal acceleration is less than a preset acceleration threshold and the lateral acceleration is greater than a preset acceleration threshold, reducing the turning angle of the front wheels and increasing the turning angle of the rear wheels; judging whether the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; if so, keeping the output torque of the front drive motor and the rear drive motor unchanged, keeping the reduced front wheel turning angle unchanged, and keeping the increased If the yaw rate reaches a preset angular velocity, the first torque and the second torque are reduced based on the preset torque adjustment ratio when the yaw rate is greater than the preset angular velocity, or, if the yaw rate is less than the preset angular velocity, the first torque and the second torque are increased based on the preset torque adjustment ratio so that the yaw rate reaches the preset angular velocity.

[0016] In one possible implementation, adjusting the first torque, the second torque, the steering angle of the front wheels, the steering angle of the rear wheels and the yaw angular velocity of the vehicle according to the size relationship includes: when the size relationship is that the longitudinal acceleration is less than a preset acceleration threshold and the lateral acceleration reaches the preset acceleration threshold, reducing the steering angle of the front wheels and increasing the first torque, or increasing the steering angle of the rear wheels and reducing the second torque, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and, determining whether the yaw angular velocity reaches the preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, reducing the first torque and the second torque based on the preset torque adjustment ratio, or, when the yaw angular velocity is less than the preset angular velocity, increasing the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw angular velocity reaches the preset angular velocity.

[0017] In one possible implementation, adjusting the first torque, the second torque, the turning angle of the front wheels, the turning angle of the rear wheels and the yaw angular velocity of the vehicle according to the size relationship includes: when the size relationship is that the longitudinal acceleration is less than a preset acceleration threshold and the lateral acceleration is less than a preset acceleration threshold, increasing the first torque, reducing the turning angle of the front wheels, reducing the second torque, and increasing the turning angle of the rear wheels, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and, determining whether the yaw angular velocity reaches the preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, reducing the first torque and the second torque based on the preset torque adjustment ratio, or, when the yaw angular velocity is less than the preset angular velocity, increasing the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw angular velocity reaches the preset angular velocity.

[0018] In one possible implementation, when the vehicle's on-the-spot steering mode is activated, controlling the front wheels and the rear wheels to steer in the same direction to their respective corresponding target steering angles includes: when the vehicle's on-the-spot steering mode is activated, obtaining a preset on-the-spot steering direction; obtaining a preset steering angle corresponding to the on-the-spot steering direction, and obtaining the target steering angles corresponding to the front wheels and the rear wheels; and controlling the front wheels and the rear wheels to steer in the same direction to their respective corresponding target steering angles.

[0019] In a second aspect, a control device for a vehicle is provided, wherein the vehicle includes a front axle, a rear axle, a front-drive motor for driving the front axle, and a rear-drive motor for driving the rear axle, wherein the control device includes:

[0020] a first control module, configured to control the front and rear wheels to steer in the same direction to their respective target steering angles when the vehicle's pivot steering mode is activated, and to control the front drive motor to output a first torque and the rear drive motor to output a second torque; wherein the first torque and the second torque are equal in magnitude and opposite in direction;

[0021] An acceleration acquisition module is used to obtain the lateral acceleration and longitudinal acceleration of the vehicle;

[0022] An acceleration comparison module is used to determine the magnitude relationship between the lateral acceleration and the longitudinal acceleration and a preset acceleration threshold;

[0023] The second control module is used to adjust the first torque, the second torque, the turning angle of the front wheels, the turning angle of the rear wheels and the yaw rate of the vehicle according to the relationship between the sizes, so that the first longitudinal force exerted on the front axle in the longitudinal direction and the second longitudinal force exerted on the rear axle in the longitudinal direction are the same in magnitude and opposite in direction, and the first lateral force exerted on the front axle in the lateral direction and the second lateral force exerted on the rear axle in the lateral direction form a pair of force couples.

[0024] In one possible implementation, the second control module is specifically configured to: when the magnitude relationship is such that both the lateral acceleration and the longitudinal acceleration are greater than a preset acceleration threshold, reduce the first torque and increase the second torque so that the longitudinal acceleration reaches the preset acceleration threshold; when the longitudinal acceleration reaches the preset acceleration threshold, obtain the lateral acceleration again; determine whether the again obtained lateral acceleration reaches the preset acceleration threshold to obtain a first judgment result; perform torque control on the front drive motor and the rear drive motor, and perform steering control on the front wheels and the rear wheels based on the first judgment result, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determine whether the yaw angular velocity reaches a preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, reduce the first torque and the second torque based on a preset torque adjustment ratio, or when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio so that the yaw angular velocity reaches the preset angular velocity.

[0025] In one possible implementation, the second control module is specifically used to control the torque of the front-drive motor and the rear-drive motor according to the first judgment result, and to control the steering angle of the front wheels and the rear wheels: when the first judgment result is that the lateral acceleration reaches a preset acceleration threshold, control the front-drive motor to continuously output the first torque after it is reduced, the rear-drive motor to continuously output the second torque after it is increased, and keep the steering angles of the front wheels and the rear wheels unchanged; when the first judgment result is that the lateral acceleration does not reach the preset acceleration threshold, adjust the first torque, the second torque and the steering angles of the front wheels and the rear wheels so that the lateral acceleration reaches the preset acceleration threshold.

[0026] In one possible implementation, the second control module is specifically used to: increase the turning angle of the front wheels and the turning angle of the rear wheels, and reduce the first torque and the second torque when the magnitude relationship is that the longitudinal acceleration is greater than a preset acceleration threshold and the lateral acceleration reaches a preset acceleration threshold, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and, determine whether the yaw angular velocity reaches a preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, reduce the first torque and the second torque based on the preset torque adjustment ratio, or, when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio so that the yaw angular velocity reaches the preset angular velocity.

[0027] In one possible implementation, the second control module is specifically configured to: when the longitudinal acceleration is greater than a preset acceleration threshold and the lateral acceleration is less than a preset acceleration threshold, increase the steering angle of the front wheels and decrease the steering angle of the rear wheels so that the longitudinal acceleration reaches the preset acceleration threshold; when the longitudinal acceleration reaches the preset acceleration threshold, obtain the lateral acceleration again; determine whether the again obtained lateral acceleration reaches the preset acceleration threshold, and obtain a second judgment result; perform torque control on the front drive motor and the rear drive motor, and perform steering angle control on the front wheels and the rear wheels based on the second judgment result, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determine whether the yaw angular velocity reaches a preset angular velocity; if not, reduce the first torque and the second torque based on a preset torque adjustment ratio when the yaw angular velocity is greater than the preset angular velocity, or increase the first torque and the second torque based on the preset torque adjustment ratio when the yaw angular velocity is less than the preset angular velocity, so that the yaw angular velocity reaches the preset angular velocity.

[0028] In one possible implementation, the second control module is specifically used to control the torque of the front-drive motor and the rear-drive motor, and control the steering angle of the front wheels and the rear wheels according to the second judgment result: when the second judgment result is that the lateral acceleration reaches a preset acceleration threshold, keep the output torque of the front-drive motor and the rear-drive motor unchanged, and keep the increased steering angle of the front wheels unchanged and keep the decreased steering angle of the rear wheels unchanged; when the second judgment result is that the lateral acceleration does not reach the preset acceleration threshold, adjust the first torque, the second torque and the steering angle of the front wheels and the rear wheels respectively so that the lateral acceleration reaches the preset acceleration threshold.

[0029] In one possible implementation, the second control module is specifically used to: determine whether the yaw angular velocity reaches a preset angular velocity when the magnitude relationship is that the longitudinal acceleration reaches a preset acceleration threshold and the lateral acceleration is greater than or less than the preset acceleration threshold; if not, when the yaw angular velocity is greater than the preset angular velocity, reduce the first torque and the second torque based on the preset torque adjustment ratio, and reduce the turning angle of the front wheels and the turning angle of the rear wheels based on the preset angle adjustment value; or, when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio, and increase the turning angle of the front wheels and the turning angle of the rear wheels based on the preset angle adjustment value, so that the yaw angular velocity reaches the preset angular velocity, the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force.

[0030] In one possible implementation, the second control module is specifically used to: determine whether the yaw angular velocity reaches a preset angular velocity when the magnitude relationship is such that both the longitudinal acceleration and the lateral acceleration reach a preset acceleration threshold; if so, control the first torque and the second torque to remain unchanged, and keep the respective turning angles of the front wheels and the rear wheels unchanged; if not, when the yaw angular velocity is greater than the preset angular velocity, reduce the first torque and the second torque based on a preset torque adjustment ratio, or, when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw angular velocity reaches the preset angular velocity, the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force.

[0031] In one possible implementation, the second control module is specifically configured to: reduce the steering angle of the front wheels and increase the steering angle of the rear wheels when the longitudinal acceleration is less than a preset acceleration threshold and the lateral acceleration is greater than a preset acceleration threshold; determine whether the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; if so, maintain the output torque of the front and rear drive motors unchanged, maintain the reduced steering angle of the front wheels unchanged, and maintain the increased steering angle of the rear wheels unchanged; if not, adjust the first torque, the second torque, and the steering angles of the front and rear wheels so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determine whether the yaw rate reaches a preset angular velocity; if not, reduce the first torque and the second torque based on a preset torque adjustment ratio when the yaw rate is greater than the preset angular velocity, or increase the first torque and the second torque based on the preset torque adjustment ratio when the yaw rate is less than the preset angular velocity so that the yaw rate reaches the preset angular velocity.

[0032] In one possible implementation, the second control module is specifically used to: reduce the steering angle of the front wheels and increase the first torque, or increase the steering angle of the rear wheels and reduce the second torque, when the magnitude relationship is that the longitudinal acceleration is less than a preset acceleration threshold and the lateral acceleration reaches a preset acceleration threshold, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and, determine whether the yaw angular velocity reaches a preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, reduce the first torque and the second torque based on the preset torque adjustment ratio, or, when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw angular velocity reaches the preset angular velocity.

[0033] In one possible implementation, the second control module is specifically used to: increase the first torque, reduce the turning angle of the front wheels, reduce the second torque, and increase the turning angle of the rear wheels when the magnitude relationship is that the longitudinal acceleration is less than a preset acceleration threshold and the lateral acceleration is less than a preset acceleration threshold, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and, determine whether the yaw angular velocity reaches a preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, reduce the first torque and the second torque based on the preset torque adjustment ratio, or, when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio so that the yaw angular velocity reaches the preset angular velocity.

[0034] In one possible implementation, the first control module is specifically used to: when the vehicle's on-the-spot steering mode is activated, obtain a preset on-the-spot steering direction; obtain a preset steering angle corresponding to the on-the-spot steering direction, and obtain the target steering angles corresponding to the front wheels and the rear wheels respectively; and control the front wheels and the rear wheels to turn in the same direction to their respective corresponding target steering angles.

[0035] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is configured to store executable program code, and the processor is configured to retrieve and execute the executable program code from the memory, so that the vehicle executes the vehicle control method of the first aspect or any possible implementation of the first aspect.

[0036] In a fourth aspect, a computer program product is provided, which includes: computer program code, which, when running on a computer, enables the computer to execute the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0037] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] FIG1 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0039] FIG2 shows an exemplary schematic diagram of a vehicle with four-wheel steering and independent drive of front and rear axles;

[0040] FIG3 shows another exemplary schematic diagram of a vehicle with four-wheel steering and independent drive of the front and rear axles;

[0041] FIG4 shows a schematic diagram of a coordinate system for transverse and longitudinal accelerations;

[0042] FIG5 shows another exemplary schematic diagram of a vehicle with four-wheel steering and independent drive of the front and rear axles;

[0043] FIG6 shows another exemplary schematic diagram of a vehicle with four-wheel steering and independent drive of front and rear axles;

[0044] FIG7 shows a schematic structural diagram of a vehicle control device provided in an embodiment of the present application;

[0045] FIG8 shows a schematic structural diagram of a control device for a vehicle with four-wheel steering and independent front and rear axle drive according to an embodiment of the present application. DETAILED DESCRIPTION

[0046] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0047] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0048] The following is an embodiment of a vehicle control method provided in an embodiment of the present application.

[0049] FIG1 shows a schematic flow chart of a vehicle control method provided in an embodiment of the present application. As shown in FIG1 , the vehicle control method provided in an embodiment of the present application is applied to a vehicle equipped with four-wheel steering and independent drive of the front and rear axles. As shown in FIG2 , FIG2 shows an exemplary schematic diagram of a vehicle equipped with four-wheel steering and independent drive of the front and rear axles. The vehicle includes a front axle Z1, a rear axle Z2, a front drive motor for driving the front axle, and a rear drive motor for driving the rear axle. The front drive motor and the rear drive motor are not shown in FIG2 . The distance between the front axle Z1 and the center of mass of the vehicle is equal to the distance between the rear axle Z2 and the center of mass of the vehicle. The front wheels of the vehicle include a left front wheel Q1 and a right front wheel Q2, and the rear wheels include a left rear wheel H1 and a rear front wheel H2. The front drive motor drives the front wheels to rotate through the front axle Z1, and the rear drive motor drives the rear wheels to rotate through the rear axle Z2. The vehicle shown in Figure 2 can independently control the steering of the left front wheel Q1, can independently control the steering of the right front wheel Q2, can independently control the steering of the left rear wheel H1, and can independently control the steering of the rear front wheel H2, or can not only independently control the synchronous steering of the left front wheel Q1 and the right front wheel Q2, but also independently control the synchronous steering of the left rear wheel H1 and the rear front wheel H2.

[0050] The control method of the above vehicle includes the following schemes:

[0051] S110: When the vehicle's on-the-spot steering mode is activated, the front wheels and the rear wheels are controlled to steer in the same direction to their respective corresponding target steering angles.

[0052] In an exemplary embodiment, if activation of the vehicle's pivot steering mode is detected, indicating a user desires pivot steering, the vehicle is controlled to enter a pivot steering preparation phase, i.e., the front and rear wheels are controlled to steer in the same direction to their respective target steering angles. As shown in Figures 2 and 3, Figure 3 illustrates another exemplary schematic diagram of a vehicle with four-wheel steering and independent front and rear axle drive. Figure 2 illustrates controlling the front and rear wheels to steer to the left at the target steering angle, while Figure 3 illustrates controlling the front and rear wheels to steer to the right at the target steering angle. The target steering angles are pre-set, i.e., after controlling the front and rear wheels to steer in the same direction at their respective target steering angles, the front wheel angle reaches the target steering angle, and the rear wheel angle reaches the target steering angle. The target steering angles for the front and rear wheels may be the same or different. In Figures 2 and 3, α represents the steering angle of the front wheels, and β represents the steering angle of the rear wheels.

[0053] S120: Control the front drive motor to output a first torque and control the rear drive motor to output a second torque.

[0054] When the front and rear wheels are controlled to steer in the same direction to their respective corresponding target steering angles, that is, when both α and β reach the target steering angles, the front and rear drive motors are controlled to rotate, the front drive motor outputs a first torque, and the rear drive motor outputs a second torque. The first torque and the second torque are of the same magnitude and opposite in direction, that is, the direction in which the front drive motor drives the front wheels to rotate is opposite to the direction in which the rear drive motor drives the rear wheels to rotate. Therefore, the resultant force on the front axle and the resultant force on the rear axle are of the same magnitude and opposite in direction.

[0055] The rotation directions of the front and rear drive motors are predetermined. When the front and rear drive motors rotate forward (counterclockwise), the front and rear wheels rotate forward (counterclockwise). That is, when the front and rear drive motors rotate forward, the torque output by the front and rear drive motors is counterclockwise, and the direction of the net force on the front and rear axles is forward. When the front and rear drive motors rotate counterclockwise (clockwise), the front and rear wheels rotate counterclockwise (clockwise), the torque output by the front and rear drive motors is clockwise, and the direction of the net force on the front and rear axles is backward. As shown in Figure 2, when the front drive motor rotates forward, the net force on the front axle is called the first net force, F1, and its direction is forward. When the rear drive motor rotates counterclockwise, the net force on the rear axle is called the second net force, F2, and its direction is backward. As shown in Figure 3, when the front drive motor rotates counterclockwise, the direction of F1 is backward, and when the rear drive motor rotates forward, the direction of F2 is forward.

[0056] S130: Acquire the lateral acceleration and longitudinal acceleration of the vehicle.

[0057] When the front and rear wheels each reach the target steering angle and rotate, the lateral acceleration and longitudinal acceleration of the vehicle collected by the acceleration sensor are obtained, with the lateral acceleration represented by Ay and the longitudinal acceleration represented by Ax.

[0058] S140: Determine the magnitude relationship between the lateral acceleration and the longitudinal acceleration and a preset acceleration threshold.

[0059] Ay and Ax correspond to the same preset acceleration threshold, which is represented by As. After obtaining Ay and Ax, the magnitudes of Ay and Ax are compared with As. As is generally set to 0.

[0060] S150: Adjusting the first torque, the second torque, the front wheel steering angle, the rear wheel steering angle, and the vehicle's yaw rate based on their magnitude relationships, such that the first longitudinal force on the front axle in the longitudinal direction and the second longitudinal force on the rear axle in the longitudinal direction are equal in magnitude and opposite in direction, and the first lateral force on the front axle in the lateral direction and the second lateral force on the rear axle in the lateral direction form a pair of forces. A force couple refers to a pair of parallel forces of equal magnitude and opposite in direction, but not collinear, acting on the same rigid body. In this application, the force couple formed by the first lateral force and the second lateral force acts on the vehicle, i.e., the first lateral force and the second lateral force are a pair of parallel forces of equal magnitude and opposite in direction, but not collinear, acting on the vehicle.

[0061] As shown in Figures 2 and 3, F1x represents the first longitudinal force acted on the front axle in the longitudinal direction, and also represents the longitudinal component of F1. F2x represents the second longitudinal force acted on the rear axle in the longitudinal direction, and also represents the longitudinal component of F2. F1y represents the first lateral force acted on the front axle in the lateral direction, and also represents the lateral component of F1. F2y represents the second lateral force acted on the rear axle in the lateral direction, and also represents the lateral component of F2.

[0062] After determining the magnitude relationship, the first torque, second torque, front wheel angle, rear wheel angle, and vehicle yaw rate are adjusted accordingly, ensuring that F1x and F2x are equal in magnitude and opposite in direction, and that F1y and F2y form a force couple. This means that F1x and F2x are equal in magnitude and opposite in direction, meaning that F1x and F2x cancel each other out, and F1x + F2x = 0. This means that Ax reaches As, the vehicle's longitudinal velocity is zero, and the vehicle does not move longitudinally. F1y and F2y form a force couple, and when Ay reaches As, F1y and F2y are equal in magnitude, opposite in direction, and parallel to each other, causing the vehicle to rotate about its center of mass, achieving a pivotal turn. The direction of the pivotal turn is dependent on the direction of F1y. If F1y is to the left, the pivotal turn is counterclockwise; if F1y is to the right, the pivotal turn is clockwise.

[0063] The vehicle control method provided in the embodiment of the present application is applicable to a vehicle equipped with four-wheel steering and independent front and rear axle drive, or a vehicle equipped with front-wheel steering, rear-wheel steering, and independent front and rear axle drive. The method controls the front and rear wheels to steer in the same direction to their respective corresponding target steering angles when the vehicle's stationary steering mode is activated, controls the front-drive motor and the rear-drive motor to output torques of equal magnitude and opposite directions to obtain the vehicle's lateral acceleration and longitudinal acceleration, determines the magnitude relationship between the lateral acceleration and the longitudinal acceleration and a preset acceleration threshold, and adjusts the torque output by the front-drive motor and the rear-drive motor, the steering angle of the front wheels, the steering angle of the rear wheels, and the yaw rate of the vehicle according to the magnitude relationship. The technical solution in which the first longitudinal force exerted on the front axle in the longitudinal direction and the second longitudinal force exerted on the rear axle in the longitudinal direction are of the same magnitude and opposite in direction, and the first lateral force exerted on the front axle in the lateral direction and the second lateral force exerted on the rear axle in the lateral direction form a pair of force couples can automatically realize the vehicle's on-the-spot steering, can safely turn around and turn in narrow roads, is conducive to reducing the vehicle's turning radius, can alleviate road congestion to a certain extent, and improve the vehicle's passability; and during the vehicle's U-turn or turning, the user does not need to operate the vehicle, which reduces the difficulty of vehicle operation, not only enhances the vehicle's sense of luxury and the convenience of vehicle operation, but also enhances the user's driving pleasure and soothes the driving mood.

[0064] The following describes the specific implementation of each step in the embodiment shown in FIG1 :

[0065] For ease of understanding, the following parameters involved in this application are represented by letters, as shown in Table 1:

[0066] Table 1

[0067] Among them, reducing α is equivalent to increasing the component of the front wheel in the longitudinal direction, that is, equivalent to increasing F1x, and increasing α is equivalent to reducing the component of the front wheel in the longitudinal direction, that is, equivalent to reducing F1x; similarly, reducing β is equivalent to increasing the component of the rear wheel in the longitudinal direction, that is, equivalent to increasing F2x, and increasing β is equivalent to reducing the component of the rear wheel in the longitudinal direction, that is, equivalent to reducing F2x.

[0068] In one possible implementation, adjusting the first torque, the second torque, the front wheel angle, the rear wheel angle, and the yaw rate of the vehicle according to the magnitude relationship includes the following schemes:

[0069] When the magnitude relationship is that both the lateral acceleration and the longitudinal acceleration are greater than the preset acceleration threshold, reducing the first torque and increasing the second torque so that the longitudinal acceleration reaches the preset acceleration threshold;

[0070] When the longitudinal acceleration reaches the preset acceleration threshold, the lateral acceleration is obtained again;

[0071] Determining whether the lateral acceleration obtained again reaches a preset acceleration threshold, and obtaining a first determination result;

[0072] performing torque control on the front drive motor and the rear drive motor, and steering control on the front wheels and the rear wheels according to the first judgment result, so that the absolute value of the first longitudinal force is equal to the absolute value of the second longitudinal force, and the absolute value of the first lateral force is equal to the absolute value of the second lateral force; and

[0073] Determine whether the yaw angular velocity reaches a preset angular velocity;

[0074] If not, when the yaw angular velocity is greater than the preset angular velocity, the first torque and the second torque are reduced based on the preset torque adjustment ratio, or when the yaw angular velocity is less than the preset angular velocity, the first torque and the second torque are increased based on the preset torque adjustment ratio so that the yaw angular velocity reaches the preset angular velocity.

[0075] As shown in Figure 4, a schematic diagram of the coordinate system for transverse and longitudinal acceleration is shown. The x-axis represents the longitudinal acceleration axis, and the y-axis represents the transverse acceleration axis. If Ax>0 and Ay>0, it means that the vehicle is moving toward the first quadrant, and |F1x|>|F2x| and |F1y|>|F2y|.

[0076] If Ax>0 and Ay>0, reduce Ta and increase Tb to achieve Ax=0. However, reducing Ta and increasing Tb does not necessarily require a single adjustment to achieve Ax=0. If Ax is not 0 after reducing Ta and increasing Tb for the first time, continue reducing Ta and increasing Tb until Ax=0.

[0077] When Ax=0 is detected, Ay is obtained again to determine whether Ay is 0, and a first judgment result is obtained. According to the first judgment result, torque control is performed on the front-drive motor and the rear-drive motor, and steering angle control is performed on the front and rear wheels, so that |F1x|=|F2x| and |F1y|=|F2y|, wherein |F1x|=|F1cosα|, |F2x|=|F2cosβ|, |F1y|=|F1sinα|, |F2y|=|F2sinβ|, |F1x|=|F2x| and |F1y|=|F2y|, that is, |F1cosα|=|F2cosβ| and F1sinα|=|F2sinβ|.

[0078] Among them, torque control is performed on the front drive motor and the rear drive motor, and steering angle control is performed on the front wheels and the rear wheels. That is, on the premise that Ay is 0, Ta, Tb, α, and β are adjusted, and Ta, Tb, α, and β are adjusted to make Ax 0. And when adjusting Ta, Tb, α, and β, the constraint conditions of |F1cosα| = |F2cosβ| and |F1sinα| = |F2sinβ| need to be satisfied.

[0079] After torque control is performed on the front drive motor and the rear drive motor, and steering angle control is performed on the front wheels and the rear wheels to make Ax 0, the Vh of the vehicle is obtained, and it is judged whether Vh reaches Vd. If Vh reaches Vd, it means that when the vehicle is performing in-place steering, it will steer according to the set steering speed (i.e., Vd). The actual steering speed of the vehicle is equal to Vd, which also means that the actual steering speed of the vehicle is neither too fast nor too slow. It can not only complete in-place steering in a short time but also ensure the safety of in-place steering.

[0080] If Vh does not reach Vd, it means that when the vehicle is performing in-place steering, the actual steering speed of the vehicle may be too fast or too slow. If it is determined that Vh > Vd, it means that the actual steering speed of the vehicle is too fast, then Ta and Tb are reduced based on the preset torque adjustment ratio until Vh = Vd; if it is determined that Vh < Vd, it means that the actual steering speed of the vehicle is too slow, then Ta and Tb are increased based on the preset torque adjustment ratio until Vh = Vd. After Vh = Vd, Ta and Tb are no longer adjusted, that is, Ta, Tb, α, and β are kept unchanged. Among them, the preset torque adjustment ratio includes the magnification or reduction factor of the torque. For example, the increased Ta is denoted as Ta1, Ta1 = Ta × magnification factor, the increased Tb is denoted as Tb1, Tb1 = Tb × magnification factor, the reduced Ta is denoted as Ta2, Ta2 = Ta / reduction factor, and the reduced Tb is denoted as Tb2, Tb2 = Tb / reduction factor.

[0081] In a possible implementation manner, the above-mentioned torque control of the front drive motor and the rear drive motor and the steering angle control of the front wheels and the rear wheels according to the first judgment result include:

[0082] When the first judgment result is that the lateral acceleration reaches the preset acceleration threshold, control the front drive motor to continuously output the reduced first torque, the rear drive motor to continuously output the increased second torque, and keep the steering angles of the front wheels and the rear wheels unchanged respectively;

[0083] When the first judgment result is that the lateral acceleration does not reach the preset acceleration threshold, adjust the first torque, the second torque, and the steering angles of the front wheels and the rear wheels respectively to make the lateral acceleration reach the preset acceleration threshold.

[0084] If Ax = 0 and Ay = 0, that is, the constraints |F1cosα| = |F2cosβ| and |F1sinα| = |F2sinβ| are satisfied, then Ta is controlled to continuously decrease the output of the front motor and Tb to continuously increase the output of the rear motor, while keeping α and β unchanged. If Ax = 0 and Ay ≠ 0, that is, the constraints |F1cosα| = |F2cosβ| and |F1sinα| = |F2sinβ| are not satisfied, then Ta and Tb are adjusted until Ay = 0, thereby satisfying the constraints |F1cosα| = |F2cosβ| and |F1sinα| = |F2sinβ|.

[0085] In one possible implementation, adjusting the first torque, the second torque, the front wheel angle, the rear wheel angle, and the yaw rate of the vehicle according to the magnitude relationship includes the following schemes:

[0086] When the longitudinal acceleration is greater than a preset acceleration threshold and the lateral acceleration reaches a preset acceleration threshold, increasing the front wheel angle and the rear wheel angle, and reducing the first torque and the second torque, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and

[0087] Determine whether the yaw angular velocity reaches a preset angular velocity;

[0088] If not, when the yaw angular velocity is greater than the preset angular velocity, the first torque and the second torque are reduced based on the preset torque adjustment ratio, or when the yaw angular velocity is less than the preset angular velocity, the first torque and the second torque are increased based on the preset torque adjustment ratio so that the yaw angular velocity reaches the preset angular velocity.

[0089] As shown in FIG4 , if Ax>0 and Ay=0, it means that the vehicle moves along the positive half axis of the x-axis, |F1x|>|F2x| and |F1y|=|F2y|.

[0090] For the case where Ax>0 and Ay=0, increase α and β, and decrease Ta and Tb, so that Ax=0 and |F1cosα|=|F2cosβ| and |F1sinα|=|F2sinβ| are satisfied. The increased α is denoted as α1, the increased β is denoted as β1, |α-α1|≤J, |β-β1|≤J, for example, J belongs to (0,5°).

[0091] After satisfying the constraint conditions of |F1cosα| = |F2cosβ| and |F1sinα| = |F2sinβ|, that is, Ax = 0 and Ay = 0, the Vh of the vehicle is obtained, and it is judged whether Vh reaches Vd. If Vh reaches Vd, it means that when the vehicle turns in place, it will turn according to the set turning speed (i.e., Vd), and the actual turning speed of the vehicle is equal to Vd, which also means that the actual turning speed of the vehicle will not be too fast or too slow. It can not only complete the in-place turning in a short time but also ensure the safety of the in-place turning.

[0092] If Vh does not reach Vd, it means that when the vehicle turns in place, the actual turning speed of the vehicle may be too fast or too slow. If it is determined that Vh > Vd, it means that the actual turning speed of the vehicle is too fast, then Ta and Tb are reduced based on the preset torque adjustment ratio until Vh = Vd; if it is determined that Vh < Vd, it means that the actual turning speed of the vehicle is too slow, then Ta and Tb are increased based on the preset torque adjustment ratio until Vh = Vd. After Vh = Vd, Ta and Tb are no longer adjusted, that is, Ta, Tb, α, and β are kept unchanged.

[0093] In a possible implementation manner, the above adjustment of the first torque, the second torque, the steering angle of the front wheels, the steering angle of the rear wheels, and the yaw angular velocity of the vehicle according to the magnitude relationship includes the following solutions:

[0094] When the longitudinal acceleration is greater than the preset acceleration threshold and the lateral acceleration is less than the preset acceleration threshold in terms of the magnitude relationship, the steering angle of the front wheels is increased, and the steering angle of the rear wheels is reduced to make the longitudinal acceleration reach the preset acceleration threshold;

[0095] When the longitudinal acceleration reaches the preset acceleration threshold, the lateral acceleration is obtained again;

[0096] It is judged whether the laterally obtained acceleration again reaches the preset acceleration threshold to obtain a second judgment result;

[0097] According to the second judgment result, torque control is performed on the front drive motor and the rear drive motor, and steering angle control is performed on the front wheels and the rear wheels to make the absolute value of the first longitudinal force the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force the same as the absolute value of the second lateral force; and,

[0098] It is judged whether the yaw angular velocity reaches the preset angular velocity;

[0099] If not, when the yaw angular velocity is greater than the preset angular velocity, the first torque and the second torque are reduced based on the preset torque adjustment ratio, or when the yaw angular velocity is less than the preset angular velocity, the first torque and the second torque are increased based on the preset torque adjustment ratio to make the yaw angular velocity reach the preset angular velocity.

[0100] As shown in Figure 4, if Ax > 0 and Ay < 0, it indicates that the vehicle is moving in the fourth quadrant, where |F1x| > |F2x| and |F1y| < |F2y|.

[0101] For the case of Ax > 0 and Ay < 0, increase α and decrease β so that Ax = 0. Here, increasing α and decreasing β do not necessarily make Ax = 0 in just one adjustment. If Ax is not 0 after the first increase of α and decrease of β, then continue to increase α and decrease β until Ax = 0.

[0102] When it is detected that Ax = 0, obtain Ay again, judge whether Ay is 0 to get the second judgment result, and perform torque control on the front - drive motor and the rear - drive motor, as well as steering - angle control on the front wheels and the rear wheels, so that the vehicle satisfies the constraint conditions |F1cosα| = |F2cosβ| and |F1sinα| = |F2sinβ|.

[0103] After performing torque control on the front - drive motor and the rear - drive motor, and steering - angle control on the front wheels and the rear wheels to make Ax = 0, obtain the vehicle's Vh, and judge whether Vh reaches Vd. If Vh reaches Vd, it means that when the vehicle is steering in place, it will steer according to the set steering speed (i.e., Vd), the actual steering speed of the vehicle is equal to Vd, which also means that the actual steering speed of the vehicle is neither too fast nor too slow. It can not only complete in - place steering in a short time but also ensure the safety of in - place steering.

[0104] If Vh does not reach Vd, it means that when the vehicle is steering in place, the actual steering speed of the vehicle may be too fast or too slow. If it is determined that Vh > Vd, indicating that the actual steering speed of the vehicle is too fast, then reduce Ta and Tb based on a preset torque adjustment ratio until Vh = Vd; if it is determined that Vh < Vd, indicating that the actual steering speed of the vehicle is too slow, then increase Ta and Tb based on the preset torque adjustment ratio until Vh = Vd. After Vh = Vd, do not adjust Ta and Tb anymore, that is, keep Ta and Tb as well as α and β unchanged.

[0105] In a possible implementation, the above - mentioned torque control of the front - drive motor and the rear - drive motor, and the steering - angle control of the front wheels and the rear wheels according to the second judgment result include:

[0106] When the second judgment result is that the lateral acceleration reaches the preset acceleration threshold, keep the output torque of the front - drive motor and the rear - drive motor unchanged respectively, and keep the increased steering angle of the front wheels unchanged and the decreased steering angle of the rear wheels unchanged;

[0107] When the second judgment result is that the lateral acceleration does not reach the preset acceleration threshold, the first torque, the second torque, and the respective turning angles of the front wheels and the rear wheels are adjusted so that the lateral acceleration reaches the preset acceleration threshold.

[0108] If Ax = 0 and Ay = 0, that is, the constraints of |F1cosα| = |F2cosβ| and |F1sinα| = |F2sinβ| are satisfied, then the output torques of the front and rear motors are kept constant, that is, Ta, which controls the output of the front motor, remains unchanged, Tb, which controls the output of the rear motor, remains unchanged, and α, which has been increased, and β, which has been decreased, remain unchanged. If Ax = 0 and Ay ≠ 0, that is, the constraints of |F1cosα| = |F2cosβ| and |F1sinα| = |F2sinβ| are not satisfied, then Ta and Tb are adjusted, and α and β are further adjusted based on the increased α and decreased β until Ay = 0, thereby satisfying the constraints of |F1cosα| = |F2cosβ| and |F1sinα| = |F2sinβ|.

[0109] In one possible implementation, adjusting the first torque, the second torque, the front wheel angle, the rear wheel angle, and the yaw rate of the vehicle according to the magnitude relationship includes the following schemes:

[0110] When the magnitude relationship is that the longitudinal acceleration reaches the preset acceleration threshold and the lateral acceleration is greater than or less than the preset acceleration threshold, determining whether the yaw angular velocity reaches the preset angular velocity;

[0111] If not, when the yaw angular velocity is greater than the preset angular velocity, the first torque and the second torque are reduced based on the preset torque adjustment ratio, and the turning angles of the front wheels and the rear wheels are reduced based on the preset angle adjustment value; or, when the yaw angular velocity is less than the preset angular velocity, the first torque and the second torque are increased based on the preset torque adjustment ratio, and the turning angles of the front wheels and the rear wheels are increased based on the preset angle adjustment value, so that the yaw angular velocity reaches the preset angular velocity, the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force.

[0112] As shown in FIG4 , if Ax=0 and Ay>0 or Ay<0, it means that the vehicle moves along the positive half axis of the y-axis or the vehicle moves along the negative half axis of the y-axis, that is, |F1x|=|F2x| and |F1y|>|F2y| or |F1y|<|F2y|.

[0113] For the case where Ax = 0 and Ay > 0 or Ay < 0, obtain Vh of the vehicle and determine whether Vh reaches Vd. If Vh reaches Vd, it means that when the vehicle makes a原地转向 (turns in place), it will turn according to the set turning speed (i.e., Vd). The actual turning speed of the vehicle is equal to Vd, which also means that the actual turning speed of the vehicle is neither too fast nor too slow. It can not only complete the原地转向 (turn in place) in a short time but also ensure the safety of the原地转向 (turn in place). That is, when Vh reaches Vd, keep Ta and Tb, α and β unchanged.

[0114] If Vh does not reach Vd, it means that when the vehicle makes a原地转向 (turns in place), the actual turning speed of the vehicle may be too fast or too slow. If it is determined that Vh > Vd, indicating that the actual turning speed of the vehicle is too fast, then reduce Ta and Tb based on the preset torque adjustment ratio, and reduce α and β based on the preset angle adjustment value until Vh = Vd; if it is determined that Vh < Vd, indicating that the actual turning speed of the vehicle is too slow, then increase Ta and Tb based on the preset torque adjustment ratio, and increase α and β based on the preset angle adjustment value until Vh = Vd. After Vh = Vd, no longer adjust Ta and Tb, α and β, that is, keep Ta and Tb as well as α and β unchanged. Among them, the increased α = α + preset angle adjustment value, the increased β = β + preset angle adjustment value, the decreased α = α - preset angle adjustment value, and the decreased β = β - preset angle adjustment value. During the adjustment of Ta and Tb, α and β, it is necessary to keep the vehicle satisfying the constraint conditions of |F1cosα| = |F2cosβ| and |F1sinα| = |F2sinβ|.

[0115] In a possible implementation, the above adjustment of the first torque, the second torque, the turning angle of the front wheels, the turning angle of the rear wheels, and the yaw angular velocity of the vehicle according to the magnitude relationship includes the following solutions:

[0116] When the magnitude relationship is that both the longitudinal acceleration and the lateral acceleration reach the preset acceleration threshold, determine whether the yaw angular velocity reaches the preset angular velocity;

[0117] If so, control the first torque and the second torque to remain unchanged, and keep the turning angles of the front wheels and the rear wheels unchanged respectively;

[0118] If not, then when the yaw angular velocity is greater than the preset angular velocity, reduce the first torque and the second torque based on the preset torque adjustment ratio, or when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio to make the yaw angular velocity reach the preset angular velocity, and the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force.

[0119] As shown in Figure 4, if Ax = 0 and Ay = 0, it means that the vehicle satisfies the constraint conditions of |F1cosα| = |F2cosβ| and |F1sinα| = |F2sinβ|.

[0120] For the case of Ax = 0 and Ay = 0, obtain the Vh of the vehicle and determine whether Vh reaches Vd. If Vh reaches Vd, it means that when the vehicle turns in place, it will turn according to the set turning speed (i.e., Vd). The actual turning speed of the vehicle is equal to Vd, which also means that the actual turning speed of the vehicle is neither too fast nor too slow. It can not only complete the in-place turn in a short time but also ensure the safety of the in-place turn. That is, when Vh reaches Vd, keep Ta and Tb, α and β unchanged.

[0121] If Vh does not reach Vd, it means that when the vehicle turns in place, the actual turning speed of the vehicle may be too fast or too slow. If it is determined that Vh > Vd, indicating that the actual turning speed of the vehicle is too fast, then reduce Ta and Tb based on the preset torque adjustment ratio until Vh = Vd; if it is determined that Vh < Vd, indicating that the actual turning speed of the vehicle is too slow, then increase Ta and Tb based on the preset torque adjustment ratio until Vh = Vd. After Vh = Vd, no longer adjust Ta and Tb, that is, keep Ta and Tb. Among them, during the adjustment of Ta and Tb, it is necessary to keep the vehicle satisfying the constraint conditions of |F1cosα| = |F2cosβ| and |F1sinα| = |F2sinβ|.

[0122] In a possible implementation, the above adjustment of the first torque, the second torque, the steering angle of the front wheels, the steering angle of the rear wheels, and the yaw angular velocity of the vehicle according to the magnitude relationship includes the following solutions:

[0123] When the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration is greater than the preset acceleration threshold in the magnitude relationship, reduce the steering angle of the front wheels and increase the steering angle of the rear wheels;

[0124] Judge whether it satisfies that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force and the absolute value of the first lateral force is the same as the absolute value of the second lateral force;

[0125] If so, keep the output torques of the front drive motor and the rear drive motor unchanged respectively, keep the reduced steering angle of the front wheels unchanged and keep the increased steering angle of the rear wheels unchanged;

[0126] If not, adjust the first torque, the second torque, and the steering angles of the front and rear wheels respectively to make the absolute value of the first longitudinal force the same as the absolute value of the second longitudinal force and the absolute value of the first lateral force the same as the absolute value of the second lateral force; and,

[0127] Judge whether the yaw angular velocity reaches the preset angular velocity;

[0128] If not, when the yaw rate is greater than the preset angular velocity, reduce the first torque and the second torque based on the preset torque adjustment ratio, or when the yaw rate is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw rate reaches the preset angular velocity.

[0129] As shown in Figure 4, if Ax < 0 and Ay > 0, it means the vehicle is moving into the second quadrant, where |F1x| < |F2x| and |F1y| > |F2y|.

[0130] For the case of Ax < 0 and Ay > 0, reduce α and increase β. After reducing α and increasing β, obtain and judge F1x, F2x, F1y, and F2y, and judge whether |F1x| = |F2x| and |F1y| = |F2y| holds, that is, judge whether the vehicle satisfies the constraint conditions of |F1cosα| = |F2cosβ| and |F1sinα| = |F2sinβ|. If |F1x| = |F2x| and |F1y| = |F2y| holds, that is, the vehicle satisfies the constraint conditions, then keep the output torques of the front drive motor and the rear drive motor unchanged, that is, control the Ta output by the front drive motor to remain unchanged, control the Tb output by the rear drive motor to remain unchanged, and keep the reduced α unchanged and the increased β unchanged. If |F1x| = |F2x| and |F1y| = |F2y| does not hold, that is, the vehicle does not satisfy the constraint conditions, then adjust Ta and Tb, and continue to adjust α and β based on the reduced α and the increased β until the vehicle satisfies the constraint conditions, that is, the vehicle satisfies the constraint conditions means Ax = 0 and Ay = 0.

[0131] When the vehicle satisfies the constraint conditions, obtain the Vh of the vehicle and judge whether Vh reaches Vd. If Vh reaches Vd, it means that when the vehicle is performing a原地转向 (turning in place), it will turn according to the set turning speed (i.e., Vd), the actual turning speed of the vehicle is equal to Vd, which also means that the actual turning speed of the vehicle will not be too fast or too slow. It can not only complete the turning in place in a short time but also ensure the safety of the turning in place. That is, when Vh reaches Vd, keep Ta and Tb, α and β unchanged.

[0132] If Vh does not reach Vd, it means that when the vehicle is turning in place, the actual turning speed of the vehicle may be too fast or too slow. If it is determined that Vh > Vd, it means that the actual turning speed of the vehicle is too fast, then reduce Ta and Tb based on the preset torque adjustment ratio until Vh = Vd; if it is determined that Vh < Vd, it means that the actual turning speed of the vehicle is too slow, then increase Ta and Tb based on the preset torque adjustment ratio until Vh = Vd. After Vh = Vd, no longer adjust Ta and Tb, that is, keep Ta and Tb. Among them, during the adjustment of Ta and Tb, it is necessary to keep the vehicle satisfying the constraint conditions. Note: The term "原地转向" is directly translated as "turning in place" as there is no exact equivalent in English. If there is a more appropriate term in the context of the vehicle's operation, it can be adjusted accordingly.

[0133] In a possible implementation, the adjustment of the first torque, the second torque, the steering angle of the front wheels, the steering angle of the rear wheels, and the yaw rate of the vehicle according to the magnitude relationship includes the following solutions:

[0134] When the magnitude relationship is that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration reaches the preset acceleration threshold, reduce the steering angle of the front wheels and increase the first torque, or increase the steering angle of the rear wheels and reduce the second torque, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and,

[0135] Judge whether the yaw rate reaches the preset angular velocity;

[0136] If not, when the yaw rate is greater than the preset angular velocity, reduce the first torque and the second torque based on the preset torque adjustment ratio, or when the yaw rate is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw rate reaches the preset angular velocity.

[0137] As shown in Figure 4, if Ax < 0 and Ay = 0, it means the vehicle is moving along the negative half-axis of the x-axis, |F1x| < |F2x| and |F1y| = |F2y|.

[0138] For the case of Ax < 0 and Ay = 0, increase Ta, reduce α, or reduce Tb, increase β, so that Ax = 0, |F1x| = |F2x| and |F1y| = |F2y| hold, thus making the vehicle meet the constraint conditions.

[0139] When the vehicle meets the constraint conditions, obtain Vh of the vehicle and judge whether Vh reaches Vd. If Vh reaches Vd, it means that when the vehicle is steering in place, it will steer according to the set steering speed (i.e., Vd), and the actual steering speed of the vehicle is equal to Vd, which also means that the actual steering speed of the vehicle will not be too fast or too slow. It can not only complete the in-place steering in a short time but also ensure the safety of the in-place steering. That is, when Vh reaches Vd, keep Ta and Tb, α and β unchanged.

[0140] If Vh does not reach Vd, it means that when the vehicle is steering in place, the actual steering speed of the vehicle may be too fast or too slow. If it is determined that Vh > Vd, it means the actual steering speed of the vehicle is too fast, then reduce Ta and Tb based on the preset torque adjustment ratio until Vh = Vd; if it is determined that Vh < Vd, it means the actual steering speed of the vehicle is too slow, then increase Ta and Tb based on the preset torque adjustment ratio until Vh = Vd. After Vh = Vd, do not adjust Ta and Tb anymore, that is, keep Ta and Tb. Among them, during the adjustment of Ta and Tb, the vehicle needs to meet the constraint conditions.

[0141] In a possible implementation, the above adjustment of the first torque, the second torque, the steering angle of the front wheels, the steering angle of the rear wheels, and the yaw rate of the vehicle according to the magnitude relationship includes the following solutions:

[0142] When the magnitude relationship is that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration is less than the preset acceleration threshold, increase the first torque, decrease the steering angle of the front wheels, decrease the second torque, and increase the steering angle of the rear wheels, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and,

[0143] Judge whether the yaw rate reaches the preset angular velocity;

[0144] If not, when the yaw rate is greater than the preset angular velocity, reduce the first torque and the second torque based on the preset torque adjustment ratio, or when the yaw rate is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw rate reaches the preset angular velocity.

[0145] As shown in Figure 4, if Ax < 0 and Ay < 0, it means that the vehicle is moving in the third quadrant, |F1x| < |F2x| and |F1y| < |F2y|.[[ID=~15]]

[0146] For the case of Ax < 0 and Ay < 0, increase Ta, decrease α, decrease Tb, and increase β, so that Ax = 0, Ay = 0, |F1x| = |F2x| and |F1y| = |F2y| hold, so that the vehicle meets the constraint conditions.

[0147] When the vehicle meets the constraint conditions, obtain Vh of the vehicle and judge whether Vh reaches Vd. If Vh reaches Vd, it means that when the vehicle is steering in place, it will steer according to the set steering speed (i.e., Vd), and the actual steering speed of the vehicle is equal to Vd, which also means that the actual steering speed of the vehicle will not be too fast or too slow. It can not only complete the in-place steering in a short time, but also ensure the safety of the in-place steering. That is, when Vh reaches Vd, keep Ta and Tb, α and β unchanged.

[0148] `If Vh does not reach Vd, it means that when the vehicle is steering in place, the actual steering speed of the vehicle may be too fast or too slow. If it is determined that Vh > Vd, it means that the actual steering speed of the vehicle is too fast, then reduce Ta and Tb based on the preset torque adjustment ratio until Vh = Vd; if it is determined that Vh < Vd, it means that the actual steering speed of the vehicle is too slow, then increase Ta and Tb based on the preset torque adjustment ratio until Vh = Vd. After Vh = Vd, do not adjust Ta and Tb anymore, that is, keep Ta and Tb unchanged. Among them, during the adjustment of Ta and Tb, the vehicle needs to meet the constraint conditions.

[0149] In one possible implementation, when the stationary steering mode of the vehicle is activated, controlling the front wheels and the rear wheels to steer in the same direction to their respective target steering angles includes the following solutions:

[0150] When the vehicle's pivot steering mode is activated, obtaining a preset pivot steering direction;

[0151] Obtain the preset steering angle corresponding to the in-situ steering direction, and obtain the target steering angles corresponding to the front wheels and the rear wheels respectively;

[0152] Control the front and rear wheels to steer in the same direction to their respective target steering angles.

[0153] The vehicle is equipped with a switch to activate and deactivate the stationary steering mode, which is displayed on the vehicle's central control screen. The central control screen also displays the selectable stationary steering directions, namely counterclockwise and clockwise. When the vehicle is turning counterclockwise on the spot, F1y is directed to the left, and when the vehicle is turning clockwise on the spot, F1y is directed to the right. If the vehicle's stationary steering direction is counterclockwise, it is pre-set that the front and rear wheels must be controlled to turn left simultaneously, with the torque output by the front drive motor in the direction of counterclockwise and the torque output by the rear front drive motor in the direction of clockwise, as shown in Figure 2; alternatively, the front and rear wheels must be controlled to turn right simultaneously, with the torque output by the front drive motor in the direction of clockwise and the torque output by the rear front drive motor in the direction of counterclockwise, as shown in Figure 3. For the case where the vehicle's stationary steering direction is clockwise, it is pre-set that the front and rear wheels need to be controlled to turn left at the same time, and the torque direction of the front drive motor is clockwise, and the torque direction of the rear front drive motor is counterclockwise, as shown in Figure 5, which shows another exemplary schematic diagram of a vehicle with four-wheel steering and independent drive of the front and rear axles; or, the front and rear wheels need to be controlled to turn right at the same time, and the torque direction of the front drive motor is counterclockwise, and the torque direction of the rear front drive motor is clockwise, as shown in Figure 6, which shows another exemplary schematic diagram of a vehicle with four-wheel steering and independent drive of the front and rear axles.

[0154] Figures 5 and 6 show that the vehicle is turning clockwise in place. In Figure 5, the front drive motor reverses (rotates clockwise), the front wheels reverse (rotate clockwise), the rear drive motor rotates forward (rotates counterclockwise), the rear wheels rotate forward (counterclockwise), the direction of F1 is backward, the direction of F2 is forward, and the direction of F1y is to the right; in Figure 6, the front drive motor rotates forward (rotates counterclockwise), the front wheels rotate forward (rotates counterclockwise), the rear drive motor reverses (rotates clockwise), the rear wheels reverse (rotates clockwise), the direction of F1 is forward, the direction of F2 is backward, and the direction of F1y is to the right.

[0155] The clockwise and counterclockwise on-the-spot steering directions correspond to controlling the front and rear wheels to turn left at the same time and the front and rear wheels to turn right at the same time. After the user selects the on-the-spot steering direction on the central control screen, he can also select the direction in which the front and rear wheels can be controlled to turn simultaneously, such as selecting left turn.

[0156] A preset steering angle is pre-set for each stationary steering direction. Once the stationary steering direction is selected, the corresponding preset steering angle is obtained, i.e., the target steering angle. This allows the front and rear wheels to be steered in the same direction to their respective target steering angles. For example, if the front and rear wheels are simultaneously steered left, the front and rear wheels are controlled to steer left to their respective target steering angles. The preset steering angle for a clockwise stationary steering direction can be the same as or different from the preset steering angle for a counterclockwise stationary steering direction.

[0157] The following is the user's operation process for using the vehicle's on-the-spot steering function:

[0158] Step 1: The user turns on the switch to activate the stationary steering mode on the central control screen. The central control screen prompts the user to select the stationary steering direction and the direction in which the front and rear wheels need to be turned simultaneously. For example, the user selects the stationary steering direction as counterclockwise and the direction in which the front and rear wheels need to be turned simultaneously as left.

[0159] Step 2: The vehicle prompts the user to release the steering wheel, accelerator, and brake pedals;

[0160] Step 3: The steering wheel automatically turns left by a certain angle, and the front and rear wheels turn left proportionally. After that, the steering angles of the front and rear wheels reach the target steering angles. After determining that the steering angles of the front and rear wheels reach the target steering angles, the user is prompted again whether to start the vehicle pivoting. After the user clicks the confirmation button on the central control screen, the vehicle automatically executes the pivoting operation, which is the operation process of the above embodiment.

[0161] Step 4: After the vehicle performs the on-the-spot turning operation to reach the target position, step on the brake pedal, the vehicle stops stably at the target position, the on-the-spot turning mode is turned off, the steering wheel is controlled to return to the center position, and the front and rear wheels return to the center position, that is, the vehicle's counterclockwise on-the-spot turning is completed.

[0162] The control process for turning the vehicle clockwise and the control process for turning the vehicle counterclockwise are the same, and this application will not go into details. Whether the vehicle turns clockwise or counterclockwise, it can solve the problem of difficulty in turning around on narrow roads and improve the vehicle's passability.

[0163] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0164] FIG7 shows a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application. For example, as shown in FIG7 , the vehicle includes a front axle, a rear axle, a front-drive motor for driving the front axle, and a rear-drive motor for driving the rear axle. The control device 700 includes:

[0165] a first control module 710 configured to control the front and rear wheels to steer in the same direction to their respective target steering angles when the vehicle's pivoting mode is activated, and to control the front motor to output a first torque and the rear motor to output a second torque; wherein the first torque and the second torque are equal in magnitude and opposite in direction;

[0166] The acceleration acquisition module 720 is used to obtain the lateral acceleration and longitudinal acceleration of the vehicle;

[0167] The acceleration comparison module 730 is used to determine the magnitude relationship between the lateral acceleration and the longitudinal acceleration and a preset acceleration threshold;

[0168] The second control module 740 is used to adjust the first torque, the second torque, the turning angle of the front wheels, the turning angle of the rear wheels and the yaw angular velocity of the vehicle according to the size relationship, so that the first longitudinal force exerted on the front axle in the longitudinal direction and the second longitudinal force exerted on the rear axle in the longitudinal direction are the same in size and opposite in direction, and the first lateral force exerted on the front axle in the lateral direction and the second lateral force exerted on the rear axle in the lateral direction form a pair of force couples.

[0169] In one possible implementation, the second control module 740 is specifically configured to: when the magnitude relationship between the lateral acceleration and the longitudinal acceleration is such that both are greater than a preset acceleration threshold, reduce the first torque and increase the second torque so that the longitudinal acceleration reaches the preset acceleration threshold; when the longitudinal acceleration reaches the preset acceleration threshold, obtain the lateral acceleration again; determine whether the again obtained lateral acceleration reaches the preset acceleration threshold to obtain a first judgment result; perform torque control on the front drive motor and the rear drive motor, and perform steering control on the front wheels and the rear wheels based on the first judgment result, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determine whether the yaw angular velocity reaches a preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, reduce the first torque and the second torque based on a preset torque adjustment ratio, or when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio so that the yaw angular velocity reaches the preset angular velocity.

[0170] In one possible implementation, the second control module 740 is specifically used to control the torque of the front-drive motor and the rear-drive motor according to the first judgment result, and to control the steering angle of the front wheels and the rear wheels: when the first judgment result is that the lateral acceleration reaches the preset acceleration threshold, control the front-drive motor to continuously output the first torque after the decrease, the rear-drive motor to continuously output the second torque after the increase, and keep the steering angle of the front wheels and the rear wheels unchanged; when the first judgment result is that the lateral acceleration does not reach the preset acceleration threshold, adjust the first torque, the second torque and the steering angle of the front wheels and the rear wheels so that the lateral acceleration reaches the preset acceleration threshold.

[0171] In one possible implementation, the second control module 740 is specifically used to: increase the steering angle of the front wheels and the steering angle of the rear wheels, and reduce the first torque and the second torque when the magnitude relationship is that the longitudinal acceleration is greater than the preset acceleration threshold and the lateral acceleration reaches the preset acceleration threshold, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and, determine whether the yaw angular velocity reaches the preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, reduce the first torque and the second torque based on the preset torque adjustment ratio, or, when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio so that the yaw angular velocity reaches the preset angular velocity.

[0172] In one possible implementation, the second control module 740 is specifically configured to: when the longitudinal acceleration is greater than a preset acceleration threshold and the lateral acceleration is less than a preset acceleration threshold, increase the steering angle of the front wheels and decrease the steering angle of the rear wheels so that the longitudinal acceleration reaches the preset acceleration threshold; when the longitudinal acceleration reaches the preset acceleration threshold, obtain the lateral acceleration again; determine whether the again obtained lateral acceleration reaches the preset acceleration threshold to obtain a second judgment result; perform torque control on the front drive motor and the rear drive motor, and perform steering angle control on the front wheels and the rear wheels based on the second judgment result, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determine whether the yaw angular velocity reaches a preset angular velocity; if not, reduce the first torque and the second torque based on a preset torque adjustment ratio when the yaw angular velocity is greater than the preset angular velocity, or increase the first torque and the second torque based on the preset torque adjustment ratio when the yaw angular velocity is less than the preset angular velocity, so that the yaw angular velocity reaches the preset angular velocity.

[0173] In one possible implementation, the second control module 740 is specifically used to control the torque of the front-drive motor and the rear-drive motor and the steering angle of the front wheels and the rear wheels according to the second judgment result: when the second judgment result is that the lateral acceleration reaches the preset acceleration threshold, keep the output torque of the front-drive motor and the rear-drive motor unchanged, keep the increased steering angle of the front wheels unchanged, and keep the decreased steering angle of the rear wheels unchanged; when the second judgment result is that the lateral acceleration does not reach the preset acceleration threshold, adjust the first torque, the second torque and the steering angle of the front wheels and the rear wheels respectively so that the lateral acceleration reaches the preset acceleration threshold.

[0174] In one possible implementation, the second control module 740 is specifically used to: determine whether the yaw angular velocity reaches a preset angular velocity when the magnitude relationship is that the longitudinal acceleration reaches a preset acceleration threshold and the lateral acceleration is greater than or less than the preset acceleration threshold; if not, when the yaw angular velocity is greater than the preset angular velocity, reduce the first torque and the second torque based on the preset torque adjustment ratio, and reduce the turning angle of the front wheels and the turning angle of the rear wheels based on the preset angle adjustment value; or, when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio, and increase the turning angle of the front wheels and the turning angle of the rear wheels based on the preset angle adjustment value, so that the yaw angular velocity reaches the preset angular velocity, the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force.

[0175] In one possible implementation, the second control module 740 is specifically used to: when the magnitude relationship is such that both the longitudinal acceleration and the lateral acceleration reach a preset acceleration threshold, determine whether the yaw angular velocity reaches a preset angular velocity; if so, control the first torque and the second torque to remain unchanged, and keep the respective turning angles of the front wheels and the rear wheels unchanged; if not, when the yaw angular velocity is greater than the preset angular velocity, reduce the first torque and the second torque based on a preset torque adjustment ratio, or, when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw angular velocity reaches the preset angular velocity, the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force.

[0176] In one possible implementation, the second control module 740 is specifically configured to: reduce the steering angle of the front wheels and increase the steering angle of the rear wheels when the longitudinal acceleration is less than a preset acceleration threshold and the lateral acceleration is greater than a preset acceleration threshold; determine whether the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; if so, maintain the output torque of the front and rear drive motors unchanged, maintain the reduced steering angle of the front wheels unchanged, and maintain the increased steering angle of the rear wheels unchanged; if not, adjust the first torque, the second torque, and the steering angles of the front and rear wheels so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and determine whether the yaw angular velocity reaches a preset angular velocity; if not, reduce the first torque and the second torque based on a preset torque adjustment ratio when the yaw angular velocity is greater than the preset angular velocity, or increase the first torque and the second torque based on the preset torque adjustment ratio when the yaw angular velocity is less than the preset angular velocity so that the yaw angular velocity reaches the preset angular velocity.

[0177] In one possible implementation, the second control module 740 is specifically used to: reduce the steering angle of the front wheels and increase the first torque, or increase the steering angle of the rear wheels and reduce the second torque, when the magnitude relationship is that the longitudinal acceleration is less than a preset acceleration threshold and the lateral acceleration reaches a preset acceleration threshold, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and, determine whether the yaw angular velocity reaches a preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, reduce the first torque and the second torque based on the preset torque adjustment ratio, or, when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw angular velocity reaches the preset angular velocity.

[0178] In one possible implementation, the second control module 740 is specifically used to: when the magnitude relationship is that the longitudinal acceleration is less than a preset acceleration threshold and the lateral acceleration is less than a preset acceleration threshold, increase the first torque, reduce the turning angle of the front wheels, reduce the second torque, and increase the turning angle of the rear wheels, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and, determine whether the yaw angular velocity reaches the preset angular velocity; if not, when the yaw angular velocity is greater than the preset angular velocity, reduce the first torque and the second torque based on the preset torque adjustment ratio, or, when the yaw angular velocity is less than the preset angular velocity, increase the first torque and the second torque based on the preset torque adjustment ratio, so that the yaw angular velocity reaches the preset angular velocity.

[0179] In one possible implementation, the first control module 710 is specifically used to: obtain a preset on-the-spot steering direction when the vehicle's on-the-spot steering mode is activated; obtain a preset steering angle corresponding to the on-the-spot steering direction to obtain the target steering angles corresponding to the front wheels and the rear wheels respectively; and control the front wheels and the rear wheels to turn in the same direction to their respective corresponding target steering angles.

[0180] It should be noted that the vehicle control device provided in the above embodiment, when executing the vehicle control method, only uses the division of the above functional modules as an example. In actual application, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle control device provided in the above embodiment and the vehicle control method embodiment are based on the same concept. Therefore, for details not disclosed in the device embodiment of this application, please refer to the vehicle control method embodiment of this application, which will not be repeated here.

[0181] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0182] FIG8 shows a schematic structural diagram of a control device for a vehicle with four-wheel steering and independent front and rear axle drive according to an embodiment of the present application.

[0183] Exemplarily, as shown in FIG8 , the vehicle 800 includes a memory 801 and a processor 802 , wherein the memory 801 stores an executable program code 8011 , and the processor 802 is configured to call and execute the executable program code 8011 to perform a vehicle control method.

[0184] This embodiment can divide the vehicle into functional modules based on the above-described method example. For example, each functional module can be mapped to a specific function, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only one logical functional division. In actual implementation, other division methods may be used.

[0185] When functional modules are divided according to their functions, the vehicle may include a first control module, an acceleration acquisition module, an acceleration comparison module, a second control module, etc. It should be noted that all relevant details of the steps involved in the above method embodiment can be referred to in the functional descriptions of the corresponding functional modules and will not be repeated here.

[0186] The vehicle provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0187] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the vehicle's movements, while the storage module may be used to support the vehicle's execution of program codes and data.

[0188] The processing module may be a processor or controller that implements or executes various exemplary logic blocks, modules, and circuits disclosed herein. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and the storage module may be a memory.

[0189] This embodiment also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method in the above-mentioned embodiment.

[0190] This embodiment further provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement a vehicle control method in the above-mentioned embodiment.

[0191] In addition, the vehicle provided in the embodiments of the present application can specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor can call and execute the instructions so that the chip executes a vehicle control method in the above embodiments.

[0192] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding vehicle control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding vehicle control method provided above, and will not be repeated here.

[0193] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0194] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0195] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for controlling a vehicle, the vehicle comprising a front axle, a rear axle, a front drive motor for driving the front axle, and a rear drive motor for driving the rear axle, wherein: The control method comprises: When the vehicle's on-the-spot steering mode is activated, the front and rear wheels are controlled to steer in the same direction to their respective corresponding target steering angles; Controlling the front drive motor to output a first torque and controlling the rear drive motor to output a second torque; wherein the first torque and the second torque have the same magnitude and opposite directions; Obtaining the lateral acceleration and longitudinal acceleration of the vehicle; Determining a magnitude relationship between the lateral acceleration and the longitudinal acceleration and a preset acceleration threshold; The first torque, the second torque, the turning angle of the front wheels, the turning angle of the rear wheels and the yaw rate of the vehicle are adjusted according to the magnitude relationship, so that the first longitudinal force received by the front axle in the longitudinal direction and the second longitudinal force received by the rear axle in the longitudinal direction are of the same magnitude and opposite direction, and the first lateral force received by the front axle in the lateral direction and the second lateral force received by the rear axle in the lateral direction form a pair of force couples.

2. The control method according to claim 1, wherein: The adjusting the first torque, the second torque, the turning angle of the front wheel, the turning angle of the rear wheel, and the yaw rate of the vehicle according to the magnitude relationship comprises: When the magnitude relationship is that both the lateral acceleration and the longitudinal acceleration are greater than the preset acceleration threshold, reducing the first torque and increasing the second torque so that the longitudinal acceleration reaches the preset acceleration threshold; When the longitudinal acceleration reaches the preset acceleration threshold, acquiring the lateral acceleration again; Determine whether the lateral acceleration obtained again reaches the preset acceleration threshold, and obtain a first determination result; performing torque control on the front drive motor and the rear drive motor, and performing steering angle control on the front wheels and the rear wheels according to the first judgment result, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and Determining whether the yaw angular velocity reaches a preset angular velocity; If not, when the yaw angular velocity is greater than the preset angular velocity, the first torque and the second torque are reduced based on a preset torque adjustment ratio, or, when the yaw angular velocity is less than the preset angular velocity, the first torque and the second torque are increased based on the preset torque adjustment ratio so that the yaw angular velocity reaches the preset angular velocity.

3. The control method according to claim 2, wherein: The performing torque control on the front drive motor and the rear drive motor according to the first judgment result, and the performing steering angle control on the front wheels and the rear wheels comprises: When the first judgment result is that the lateral acceleration reaches the preset acceleration threshold, the front drive motor is controlled to continuously output the reduced first torque, the rear drive motor is controlled to continuously output the increased second torque, and the steering angles of the front wheels and the rear wheels are kept unchanged; When the first judgment result is that the lateral acceleration does not reach the preset acceleration threshold, the first torque, the second torque, and the respective turning angles of the front wheels and the rear wheels are adjusted so that the lateral acceleration reaches the preset acceleration threshold.

4. The control method according to claim 1, wherein: The adjusting the first torque, the second torque, the turning angle of the front wheel, the turning angle of the rear wheel, and the yaw rate of the vehicle according to the magnitude relationship comprises: When the magnitude relationship is that the longitudinal acceleration is greater than the preset acceleration threshold and the lateral acceleration reaches the preset acceleration threshold, the turning angle of the front wheel and the turning angle of the rear wheel are increased, and the first torque and the second torque are reduced, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and, Determining whether the yaw angular velocity reaches a preset angular velocity; If not, when the yaw angular velocity is greater than the preset angular velocity, the first torque and the second torque are reduced based on a preset torque adjustment ratio, or, when the yaw angular velocity is less than the preset angular velocity, the first torque and the second torque are increased based on the preset torque adjustment ratio so that the yaw angular velocity reaches the preset angular velocity.

5. The control method according to claim 1, wherein: The adjusting the first torque, the second torque, the turning angle of the front wheel, the turning angle of the rear wheel, and the yaw rate of the vehicle according to the magnitude relationship comprises: When the magnitude relationship is that the longitudinal acceleration is greater than the preset acceleration threshold and the lateral acceleration is less than the preset acceleration threshold, increasing the turning angle of the front wheels and reducing the turning angle of the rear wheels so that the longitudinal acceleration reaches the preset acceleration threshold; When the longitudinal acceleration reaches the preset acceleration threshold, acquiring the lateral acceleration again; Determine whether the lateral acceleration obtained again reaches the preset acceleration threshold, and obtain a second determination result; performing torque control on the front drive motor and the rear drive motor, and performing steering angle control on the front wheels and the rear wheels according to the second judgment result, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and Determining whether the yaw angular velocity reaches a preset angular velocity; If not, when the yaw angular velocity is greater than the preset angular velocity, the first torque and the second torque are reduced based on a preset torque adjustment ratio, or, when the yaw angular velocity is less than the preset angular velocity, the first torque and the second torque are increased based on the preset torque adjustment ratio so that the yaw angular velocity reaches the preset angular velocity.

6. The control method according to claim 5, wherein: The performing torque control on the front drive motor and the rear drive motor and the steering angle control on the front wheels and the rear wheels according to the second judgment result comprises: When the second judgment result is that the lateral acceleration reaches the preset acceleration threshold, the output torques of the front drive motor and the rear drive motor are kept unchanged, the increased turning angle of the front wheel is kept unchanged, and the reduced turning angle of the rear wheel is kept unchanged; When the second judgment result is that the lateral acceleration does not reach the preset acceleration threshold, the first torque, the second torque, and the respective turning angles of the front wheels and the rear wheels are adjusted so that the lateral acceleration reaches the preset acceleration threshold.

7. The control method according to claim 1, wherein: The adjusting the first torque, the second torque, the turning angle of the front wheel, the turning angle of the rear wheel, and the yaw rate of the vehicle according to the magnitude relationship comprises: When the magnitude relationship is that the longitudinal acceleration reaches the preset acceleration threshold and the lateral acceleration is greater than or less than the preset acceleration threshold, determining whether the yaw angular velocity reaches a preset angular velocity; If not, then when the yaw angular velocity is greater than the preset angular velocity, the first torque and the second torque are reduced based on the preset torque adjustment ratio, and the turning angle of the front wheel and the turning angle of the rear wheel are reduced based on the preset angle adjustment value; or, when the yaw angular velocity is less than the preset angular velocity, the first torque and the second torque are increased based on the preset torque adjustment ratio, and the turning angle of the front wheel and the turning angle of the rear wheel are increased based on the preset angle adjustment value, so that the yaw angular velocity reaches the preset angular velocity, the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force.

8. The control method according to claim 1, wherein: The adjusting the first torque, the second torque, the turning angle of the front wheel, the turning angle of the rear wheel, and the yaw rate of the vehicle according to the magnitude relationship comprises: When the magnitude relationship is that both the longitudinal acceleration and the lateral acceleration reach the preset acceleration threshold, determining whether the yaw angular velocity reaches a preset angular velocity; If yes, controlling the first torque and the second torque to remain unchanged, and keeping the respective turning angles of the front wheel and the rear wheel unchanged; If not, when the yaw angular velocity is greater than the preset angular velocity, the first torque and the second torque are reduced based on the preset torque adjustment ratio, or, when the yaw angular velocity is less than the preset angular velocity, the first torque and the second torque are increased based on the preset torque adjustment ratio, so that the yaw angular velocity reaches the preset angular velocity, the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force.

9. The control method according to claim 1, wherein: The adjusting the first torque, the second torque, the turning angle of the front wheel, the turning angle of the rear wheel, and the yaw rate of the vehicle according to the magnitude relationship comprises: In the magnitude relationship, the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration is greater than When the preset acceleration threshold is reached, the turning angle of the front wheels is reduced and the turning angle of the rear wheels is increased; Determining whether the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; If so, the output torques of the front drive motor and the rear drive motor are kept unchanged, the reduced turning angle of the front wheel is kept unchanged, and the increased turning angle of the rear wheel is kept unchanged; If not, adjusting the first torque, the second torque, and the respective turning angles of the front wheel and the rear wheel so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and Determining whether the yaw angular velocity reaches a preset angular velocity; If not, when the yaw angular velocity is greater than the preset angular velocity, the first torque and the second torque are reduced based on a preset torque adjustment ratio, or, when the yaw angular velocity is less than the preset angular velocity, the first torque and the second torque are increased based on the preset torque adjustment ratio so that the yaw angular velocity reaches the preset angular velocity.

10. The control method according to claim 1, wherein: The adjusting the first torque, the second torque, the turning angle of the front wheel, the turning angle of the rear wheel, and the yaw rate of the vehicle according to the magnitude relationship comprises: When the magnitude relationship is that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration reaches the preset acceleration threshold, the turning angle of the front wheel is reduced and the first torque is increased, or the turning angle of the rear wheel is increased and the second torque is reduced, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and, Determining whether the yaw angular velocity reaches a preset angular velocity; If not, when the yaw angular velocity is greater than the preset angular velocity, the first torque and the second torque are reduced based on a preset torque adjustment ratio, or, when the yaw angular velocity is less than the preset angular velocity, the first torque and the second torque are increased based on the preset torque adjustment ratio so that the yaw angular velocity reaches the preset angular velocity.

11. The control method according to claim 1, wherein: The adjusting the first torque, the second torque, the turning angle of the front wheel, the turning angle of the rear wheel, and the yaw rate of the vehicle according to the magnitude relationship comprises: When the magnitude relationship is that the longitudinal acceleration is less than the preset acceleration threshold and the lateral acceleration is less than the preset acceleration threshold, the first torque is increased, the turning angle of the front wheel is decreased, the second torque is decreased, and the turning angle of the rear wheel is increased, so that the absolute value of the first longitudinal force is the same as the absolute value of the second longitudinal force, and the absolute value of the first lateral force is the same as the absolute value of the second lateral force; and, Determining whether the yaw angular velocity reaches a preset angular velocity; If not, when the yaw angular velocity is greater than the preset angular velocity, the first torque and the second torque are reduced based on a preset torque adjustment ratio, or, when the yaw angular velocity is less than the preset angular velocity, the first torque and the second torque are increased based on the preset torque adjustment ratio so that the yaw angular velocity reaches the preset angular velocity.

12. The control method according to any one of claims 1 to 11, wherein: When the in-situ steering mode of the vehicle is activated, controlling the front wheels and the rear wheels to steer in the same direction to their respective corresponding target steering angles includes: When the on-the-spot steering mode of the vehicle is activated, obtaining a preset on-the-spot steering direction; Obtaining a preset steering angle corresponding to the in-situ steering direction, and obtaining target steering angles corresponding to the front wheels and the rear wheels respectively; The front wheels and the rear wheels are controlled to turn in the same direction to their respective corresponding target turning angles.

13. A vehicle, wherein: The vehicle comprises: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory so that the vehicle executes the vehicle control method as described in any one of claims 1 to 12.

14. A computer-readable storage medium, wherein: The computer-readable storage medium stores a computer program, and when the computer program is executed, the vehicle control method according to any one of claims 1 to 12 is implemented.

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