Vehicle drift control method and apparatus, and device, medium, program product and vehicle

Abstract

A vehicle drift control method and apparatus, and a device, a medium, a program product and a vehicle. The vehicle drift control method comprises: acquiring a steering wheel turning angle value and an accelerator pedal opening degree value of a vehicle; on the basis of the steering wheel turning angle value and the accelerator pedal opening degree value of the vehicle, determining whether the vehicle initiates drift; if it is determined that the vehicle initiates drift, performing initial-drift assistance control on the vehicle; after initial drift is completed, on the basis of the steering wheel turning angle value of the vehicle, determining whether countersteering is performed on the vehicle; and if it is determined that countersteering is performed on the vehicle, performing drift assistance control on the vehicle.

Description

Vehicle drift control method, device, equipment, medium, program product and automobile

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 29, 2023, with application number 202311868446.1 and application name “Vehicle Drift Control Method, Device, Equipment, Medium, Program Product and Automobile”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to vehicle intelligent control technology, and in particular to a vehicle drift control method, device, equipment, medium, program product and automobile. Background Art

[0003] With the growth in sales of four-wheel drive electric vehicles and the improvement in power performance brought by drive motors, more and more electric vehicles can achieve drifting, allowing people to enjoy the fun of drifting.

[0004] Currently, electric vehicle drifting is primarily based on driver control of the vehicle. Therefore, achieving drifting requires a certain level of skill, relying on the driver's proficiency in controlling the throttle and steering wheel. This requires extensive practice. This means that drifting requires high levels of skill, is difficult to initiate, and can lead to excessive tailspin and difficulty maintaining drift. Summary of the Invention

[0005] The present application provides a vehicle drift control method, device, equipment, medium, program product and automobile, which are used to solve the problems that the drifting of electric vehicles requires high driving skills of the driver, the vehicle is difficult to drift, and the vehicle is prone to excessive tailspin and difficult to drift continuously during drifting.

[0006] In a first aspect, the present application provides a vehicle drift control method, comprising:

[0007] Get the vehicle's steering wheel angle and accelerator pedal opening value;

[0008] Determine whether the vehicle is drifting based on the vehicle's steering wheel angle and accelerator pedal opening value;

[0009] If it is determined that the vehicle is drifting, the vehicle is subjected to drift assist control;

[0010] After the drift is completed, determining whether the vehicle is in reverse rudder based on the steering wheel angle value of the vehicle;

[0011] If it is determined that the vehicle is in reverse steering, the vehicle will be subjected to drift assistance control.

[0012] Optionally, determining whether the vehicle is drifting based on the steering wheel angle value and the accelerator pedal opening value of the vehicle includes:

[0013] If there is a preset target drift speed range, the vehicle speed is obtained;

[0014] When the vehicle speed is within the target drift speed range, whether the vehicle is drifting is determined based on the vehicle's steering wheel angle value and accelerator pedal opening value.

[0015] Optionally, determining whether the vehicle is drifting based on the steering wheel angle value and the accelerator pedal opening value of the vehicle includes:

[0016] If the accelerator pedal opening value of the vehicle is greater than a preset value A1, the absolute value of the vehicle's steering wheel angle value is greater than a preset value S1, and the rate of change of the vehicle's steering wheel angle value is greater than a preset value ΔS1, then it is determined that the vehicle is drifting;

[0017] Alternatively, if the absolute value of the vehicle's steering wheel angle is greater than a preset value S2, the vehicle's accelerator pedal opening is greater than a preset value A2, and the vehicle's accelerator pedal opening change rate is greater than a preset value ΔA2, then it is determined that the vehicle is drifting.

[0018] Optionally, the method further comprises:

[0019] In response to a drift mode on instruction, a candidate drift speed list and a target button are displayed, wherein the target button is used to represent a non-target drift speed range;

[0020] generating a target drift speed range based on the target candidate drift speeds in response to a user's selection instruction for a target candidate drift speed in the candidate drift speed list;

[0021] Alternatively, in response to the user's operation on the target button, the action of setting the target drift speed range is skipped.

[0022] Optionally, the vehicle is subjected to drift assist control, including:

[0023] Adjust the torque distribution ratio between the front and rear motors of the vehicle to increase the torque of the rear motor of the vehicle;

[0024] Obtain the vehicle's yaw rate and lateral acceleration;

[0025] If the yaw rate of the vehicle is less than a lower limit of a preset angular velocity range, and the lateral acceleration of the vehicle is less than a lower limit of a preset acceleration range, increasing the rear wheel steering angle of the vehicle;

[0026] If the yaw rate of the vehicle is greater than an upper limit of a preset angular rate range, and the lateral acceleration of the vehicle exceeds an upper limit of a preset acceleration range, at least one of the following operations is performed:

[0027] The total torque of the front and rear axles of the vehicle is reduced according to the vehicle speed, the rear axle torque distribution ratio of the vehicle is reduced according to the vehicle's yaw angular velocity or lateral acceleration, and the outer rear wheel braking torque of the vehicle is increased according to the vehicle's rear wheel speed.

[0028] Optionally, increasing the rear wheel steering angle of the vehicle includes:

[0029] Obtaining a target rear wheel steering angle of the vehicle based on a preset angular velocity range, the vehicle's yaw angular velocity, an acceleration range, the vehicle's lateral acceleration, and the vehicle's rear axle torque distribution ratio;

[0030] Adjust the vehicle's rear wheel steering angle to the target rear wheel steering angle.

[0031] Optionally, determining whether the vehicle is in reverse steering mode based on a steering wheel angle value of the vehicle includes:

[0032] determining a target yaw rate of the vehicle based on a steering wheel angle value of the vehicle;

[0033] Subtracting the target yaw rate from the vehicle's yaw rate to obtain the vehicle's yaw rate difference;

[0034] If the target yaw rate is greater than the preset yaw rate value YR1 and the yaw rate difference is less than the preset yaw rate value ΔYR1 , it is determined that the vehicle is in reverse steering.

[0035] Optionally, the vehicle is subjected to drift assist control, including:

[0036] If there is a preset target drift speed range, the total torque of the front and rear motors of the vehicle is adjusted according to the vehicle speed so that the vehicle speed is within the target drift speed range;

[0037] and / or adjusting the torque distribution ratio between the front and rear motors of the vehicle and the rear wheel steering angle of the vehicle according to the yaw rate of the vehicle so as to keep the yaw rate of the vehicle within a preset angular velocity range;

[0038] And / or, adjusting the left and right rear wheel braking torques according to the wheel speed difference between the front and rear wheels of the vehicle to reduce the wheel speed difference between the left and right rear wheels, and maintaining the wheel speed difference between the front and rear wheels within a preset wheel speed difference range.

[0039] Optionally, the vehicle is subjected to drift assist control, including:

[0040] If there is no preset target drift speed range, the front and rear motor torque distribution ratio is adjusted according to the rate of change of the accelerator pedal opening value, and the rear wheel deflection angle of the vehicle is adjusted according to the steering wheel angle value of the vehicle to keep the vehicle's yaw rate within the preset angular velocity range;

[0041] And / or, the left and right rear wheel braking torques are adjusted according to the slip ratio of the vehicle wheels.

[0042] In a second aspect, the present application provides a vehicle drift control device, comprising:

[0043] An acquisition module is used to obtain the steering wheel angle value and accelerator pedal opening value of the vehicle;

[0044] A first determination module is configured to determine whether the vehicle is drifting based on a steering wheel angle value and an accelerator pedal opening value of the vehicle;

[0045] A drift assist control module is used to perform drift assist control on the vehicle when it is determined that the vehicle is drifting;

[0046] a second determining module, configured to determine whether the vehicle has reversed its steering according to a steering wheel angle value of the vehicle after the drift is completed;

[0047] The drift assist control module is used to perform drift assist control on the vehicle when it is determined that the vehicle is in reverse steering position.

[0048] In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0049] Memory stores computer-executable instructions;

[0050] The processor executes the computer-executable instructions stored in the memory to implement any method of the first aspect.

[0051] In a fourth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement any method as in the first aspect.

[0052] In a fifth aspect, the present application provides a computer program product, comprising a computer program, which implements the method of any one of the first aspects when executed by a processor.

[0053] In a sixth aspect, the present application provides an electric vehicle equipped with a vehicle controller, which is used to implement any method of the first aspect.

[0054] The vehicle drift control method, device, equipment, medium, program product and automobile provided by the present application can automatically adjust the driving force and braking force according to the vehicle status and parameters by adding a drift assist control function and a drift assist function to the vehicle, assisting the driver to smoothly enter the drift state during the drift process, and adding a drift assist control function to assist the driver to achieve continuous drifting during the drift process, thereby making it easier for the driver to start and maintain drifting. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0056] FIG1 is a schematic diagram of the structure of a possible four-wheel drive electric vehicle;

[0057] FIG2 is a flow chart of a vehicle drift control method provided in an embodiment of the present application;

[0058] FIG3 is a schematic diagram of a possible user interface provided in an embodiment of the present application;

[0059] FIG4 is a flow chart of another vehicle drift control method provided in an embodiment of the present application;

[0060] FIG5 is a schematic diagram of a process for assisting vehicle drift control according to an embodiment of the present application;

[0061] FIG6 is a flow chart of another vehicle drift control method provided in an embodiment of the present application;

[0062] FIG7 is a schematic structural diagram of a vehicle drift control device provided in an embodiment of the present application;

[0063] FIG8 is a schematic structural diagram of an electronic device provided in an embodiment of the present application.

[0064] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0065] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0066] Currently, drifting in four-wheel-drive electric vehicles primarily relies on the driver's control of the vehicle. This requires a certain level of skill, relying on the driver's proficiency in controlling the throttle and steering wheel. Slight changes or incorrect controls can prevent or even disrupt drifting. Therefore, achieving drifting requires extensive practice. In other words, drifting in electric vehicles requires a high level of driver skill.

[0067] Some drivers, lacking sufficient awareness of the vehicle's yaw during drifting, can experience excessive tailspin during drifting, causing the vehicle to spin and fail to enter drifting mode. Furthermore, the vehicle's response to steering and throttle changes during drifting is extremely sensitive. Drivers without drift muscle memory struggle to achieve precise hand-foot coordination during drifting, often losing focus and unable to maintain a sustained drift.

[0068] Therefore, a kind of auxiliary automobile drifting technology is needed to ensure that inexperienced drivers can also successfully complete the four-wheel drive electric vehicle drift operation.

[0069] In view of this, an embodiment of the present application provides a vehicle control method, which automatically adjusts the driving force and braking force according to the vehicle's status and parameters by adding a drift assist control function and a drift assist function to the vehicle, assisting the driver to smoothly enter the drift state during the drift process, and adding a drift assist control function to assist the driver to achieve continuous drifting during the drift process, so that the driver can drive the vehicle to drift and maintain drift more easily.

[0070] The method of the embodiment of the present application can be applied to the aforementioned four-wheel drive electric vehicle, that is, an electric vehicle with separate front and rear axle drives.

[0071] Figure 1 is a schematic diagram of the structure of a possible four-wheel-drive electric vehicle. As shown in Figure 1, a four-wheel-drive electric vehicle includes a vehicle controller, four front and rear wheels, and front and rear motors. The vehicle controller can send corresponding control requests to the front motor to request torque, and to the rear motor to request torque, and then control the torque of the front axle or rear axle through the corresponding motor.

[0072] The connection relationship between these components can be shown in Figure 1, for example, and will not be repeated here.

[0073] In order to help those skilled in the art better understand the technical solutions of the embodiments of the present application, some concepts involved in the present application are explained and illustrated below:

[0074] Yaw angular velocity: refers to the angular velocity of the vehicle mass rotating around the z-axis (vehicle coordinate system).

[0075] Lateral acceleration: refers to the acceleration from left to right or from right to left experienced by the vehicle, and the inertial force is opposite to the direction of the acceleration.

[0076] Steering wheel angle: refers to the angle at which the steering wheel turns when the driver operates the steering wheel.

[0077] Accelerator pedal opening: refers to the degree or amplitude of the driver's operation of the accelerator pedal.

[0078] Front and rear motor torque distribution ratio: The ratio in which an electric vehicle distributes motor torque between the front and rear wheels.

[0079] Total torque on the front and rear axles: the sum of the torques generated by the front and rear wheels of the vehicle.

[0080] Rear axle distribution ratio: the ratio between the output torque of the rear axle and the total output torque of the front and rear motors when the output torque of the front and rear motors is transmitted to the wheels.

[0081] Rear axle torque distribution ratio: The ratio of the torque output by the front and rear motors to the front and rear wheels in proportion.

[0082] Left and right rear wheel braking torque: the braking torque output by the left and right rear wheel brake calipers to the left and right rear wheels.

[0083] Rear wheel deflection angle: the deflection angle of the vehicle's rear wheels relative to the x-axis direction of the vehicle body.

[0084] It should be noted that because the front axle power source is the front motor and the rear axle power source is the rear motor, the 'front axle torque' and 'front motor torque' in the embodiment of the present application have the same meaning, and the 'rear axle torque' and 'rear motor torque' have the same meaning, and the embodiment of the present application does not make any distinction between them.

[0085] Accordingly, the four terms "rear axle distribution ratio", "rear axle torque distribution ratio", "rear motor distribution ratio" and "rear motor torque distribution ratio" have the same meaning, all referring to the ratio of the rear motor torque to the total torque. The embodiments of the present application do not distinguish between them.

[0086] It should be understood that the method of the embodiment of the present application can be applied not only to the above-mentioned four-wheel drive electric vehicle, but also to any car driven by front and rear motors, that is, a car that achieves four-wheel drive through front and rear motors.

[0087] It should be noted that the execution entity of the method in the embodiment of the present application may be, for example, a vehicle controller on a vehicle.

[0088] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0089] FIG2 is a flow chart of a vehicle drift control method provided by an embodiment of the present application. As shown in FIG2 , the method may include the following steps:

[0090] S101: Obtain a steering wheel angle value and an accelerator pedal opening value of a vehicle.

[0091] In one possible implementation, a steering wheel angle value collected by a steering wheel sensor of the vehicle and an accelerator pedal opening value collected by an accelerator pedal sensor may be obtained while the vehicle is traveling.

[0092] One possible implementation involves determining whether the vehicle's speed is within the target drift speed range when a target drift speed range is pre-set. If the vehicle's speed is within the target drift speed range, the steering wheel angle value collected by the vehicle's steering wheel sensor and the accelerator pedal opening value collected by the accelerator pedal sensor are obtained. This target drift speed range can be a default drift speed range or a target drift speed pre-selected by the driver. For example, if the target drift speed is 20 kilometers per hour, the target drift speed range could be [15, 25].

[0093] If there is a preset target drift speed range, the vehicle speed is obtained;

[0094] When the vehicle speed is within the target drift speed range, the vehicle is determined to drift based on the steering wheel angle and accelerator pedal opening.

[0095] S102: Determine whether the vehicle is drifting based on the vehicle's steering wheel angle and accelerator pedal opening. If so, proceed to step S103. If not, the current process ends. For example, the vehicle's steering wheel angle and accelerator pedal opening at the next moment can be retrieved to re-determine whether the conditions are met.

[0096] In one possible implementation, a judgment rule related to the steering wheel angle value and the accelerator pedal opening value may be pre-set, so that the judgment rule can be used to determine whether the vehicle is drifting. The judgment rule may be, for example:

[0097] (1) Judgment rule based on accelerator pedal opening value, steering wheel angle value, and steering wheel angle value change rate. The steering wheel angle value change rate can be calculated based on the steering wheel angle value collected at the current moment and the steering wheel angle value collected at the previous moment.

[0098] Exemplarily, the judgment rule may be as follows: if the vehicle's accelerator pedal opening value is greater than a preset value A1, the absolute value of the vehicle's steering wheel angle value is greater than a preset value S1, and the vehicle's steering wheel angle value change rate is greater than a preset value ΔS1, then it is determined that the vehicle is drifting; if any of the above conditions is not met, then it is determined that the vehicle is not drifting.

[0099] That is, when the absolute value of the vehicle's steering wheel angle is greater than a certain value, the accelerator pedal opening value is greater than a certain value, and the steering wheel angle value increases rapidly in a short period of time, it is recognized that the driver is operating the vehicle to drift.

[0100] (2) Judgment rules based on the accelerator pedal opening value, the steering wheel angle value, and the accelerator pedal opening value change rate. The accelerator pedal opening value change rate can be calculated based on the accelerator pedal opening value collected at the current moment and the accelerator pedal opening value collected at the previous moment.

[0101] For example, the judgment rule may be as follows: If the absolute value of the vehicle's steering wheel angle is greater than a preset value S2, the vehicle's accelerator pedal opening is greater than a preset value A2, and the rate of change of the vehicle's accelerator pedal opening is greater than a preset value ΔA2, then the vehicle is determined to be drifting. If any of these conditions are not met, then the vehicle is determined not to be drifting.

[0102] That is, when the absolute value of the vehicle's steering wheel angle is greater than a certain value, the accelerator pedal opening value is greater than a certain value, and the accelerator pedal opening value increases rapidly in a short period of time, it is recognized that the driver is operating the vehicle to drift.

[0103] It should be understood that the above merely illustrates some exemplary rules for determining whether a vehicle is drifting based on steering wheel angle values ​​and accelerator pedal opening values. In practice, whether a vehicle is drifting may be determined based solely on a rule containing the steering wheel angle value and accelerator pedal opening value as judgment conditions, or based on a rule containing the accelerator pedal opening value, steering wheel angle value, steering wheel angle value change rate, and accelerator pedal opening value change rate.

[0104] In addition, a judgment rule including judgment conditions of other parameters that can be determined based on the accelerator pedal opening value and the steering wheel angle value may be used to determine whether the vehicle is drifting.

[0105] It should be noted that the preset values ​​used in the above judgment rules can be set according to actual needs, or can be determined based on the corresponding values ​​when the sampled vehicle drifts.

[0106] One possible implementation involves using a pre-set prediction model. Specifically, the steering wheel angle and accelerator pedal opening are input into the prediction model to determine whether the vehicle is drifting. Alternatively, the combination of parameter values ​​used in the aforementioned judgment rules is input into the prediction model to determine whether the vehicle is drifting. This prediction model can be lightweight, for example, to reduce the amount of computation required by the controller and improve control efficiency.

[0107] S103: Perform drift assist control on the vehicle.

[0108] Initial Drift refers to a series of actions before a car enters the drift state. Through these actions, the rear wheels of the vehicle will break through the adhesion of the ground and slip, causing the vehicle to oversteer (i.e., skid), achieving drift and providing the basis for subsequent drift.

[0109] Currently, to achieve drifting, drivers must quickly and accurately turn the steering wheel to shift the vehicle's center of gravity to the outer wheels, while simultaneously pressing the accelerator at the appropriate time to increase the tires' lateral grip. During drifting, if the driver is inexperienced and cannot accurately judge the timing and force of the center of gravity shift, drifting may fail. For example, the vehicle may lose balance, roll over, or even lose control, leading to dangerous situations.

[0110] When a vehicle successfully drifts, its lateral acceleration and yaw rate typically remain within a certain range. Therefore, by adjusting the parameters influencing these, the vehicle's lateral acceleration and yaw rate can be kept within this range to avoid under- or over-swinging. Parameters influencing these parameters may include, for example, one or more of the following: front and rear motor torque distribution ratio, total front and rear axle torque, and outer rear wheel brake torque.

[0111] One possible implementation method is to pre-set a mapping relationship between these parameters and the yaw rate and lateral acceleration, so that the yaw rate and lateral acceleration can be adjusted based on the mapping relationship. When the driver operates the vehicle, the yaw rate and lateral acceleration are assisted to be within the corresponding range, assisting the driver to achieve drifting.

[0112] One possible implementation method is to use a pre-set control model. For example, the yaw rate and lateral acceleration can be input into the control model to obtain the values ​​of the parameters affecting the vehicle's lateral acceleration and yaw rate. Based on these parameters, the vehicle is then controlled to stay within the corresponding range, assisting the driver in achieving drifting. This control model can be lightweight, for example, to reduce the controller's computational workload and improve control efficiency.

[0113] S104: After the drift is completed, determine whether the vehicle is in reverse steering based on the steering wheel angle value of the vehicle.

[0114] Counter-steering refers to the driver's quick steering movement in the opposite direction of a drifting turn. After the drift is complete, the driver uses the vehicle's steering wheel to counter-steering. This maneuver is primarily intended to control the vehicle's attitude and balance, enabling a continuous drift.

[0115] If it is determined that the vehicle is turning in reverse, step S105 is executed. If it is determined that the vehicle is not turning in reverse, step S104 is continued to detect whether the vehicle is turning in reverse.

[0116] One possible implementation method is to obtain the steering wheel angle value collected by the vehicle's steering wheel sensor in real time during vehicle driving, and pre-set a judgment rule related to the steering wheel angle value. Therefore, the judgment rule can be used to determine whether the driver has made a reverse steering operation.

[0117] If the expected yaw rate is greater than the preset angular velocity value YR1 and the yaw rate difference is less than the preset angular velocity value ΔYR1, if so, it is determined that the vehicle has an anti-steering action; if the above conditions are not met, it is determined that the vehicle has no anti-steering action.

[0118] The expected yaw rate can be obtained by looking up a table based on the steering wheel angle value. The table can be pre-calibrated based on the sampled data of the steering wheel angle value and the yaw rate when the vehicle is in reverse steering mode. For example, it can be shown in the following Table 1:

[0119] Table 1

[0120] It should be noted that the preset values ​​used in the above judgment rules can be set according to actual needs, or can be determined based on the corresponding values ​​when the sampled vehicle drifts.

[0121] S105: Perform drift assist control on the vehicle.

[0122] After the car completes the anti-steering operation, the driver needs to control the vehicle's posture and angle by controlling the steering wheel and throttle to maintain the vehicle's drifting state.

[0123] When a vehicle maintains drifting, it is necessary to maintain the vehicle's speed and yaw rate within a certain range. Therefore, by adjusting the parameters that affect the vehicle's speed and yaw rate, the vehicle's speed and yaw rate can be kept within a certain range to avoid insufficient or excessive drifting.

[0124] Among them, when the vehicle is pre-set with a target drift speed range for drifting, the parameters affecting the speed and yaw rate of the vehicle can be adjusted, for example, including at least one of the following: the total torque of the front and rear motors of the vehicle, the torque distribution ratio of the front and rear motors, the rear wheel deflection angle, and the left and right rear wheel braking torque.

[0125] When the vehicle is not set with a target drift speed range for drifting, the parameters affecting the speed and yaw rate of the vehicle may include, for example, at least one of the following: the front and rear motor torque distribution ratio, the rear wheel deflection angle, and the left and right rear wheel braking torque.

[0126] One possible implementation method is to pre-set a mapping relationship between these parameters and the vehicle's speed and yaw rate, so that the vehicle's speed and yaw rate can be adjusted based on this mapping relationship. When the driver operates the vehicle, the vehicle's speed and yaw rate are assisted to be within the corresponding range, assisting the driver in achieving continuous drift.

[0127] One possible implementation method is to use a pre-configured control model. For example, the vehicle's speed and yaw rate can be input into the control model to obtain the values ​​of the parameters affecting the vehicle's speed and yaw rate. Based on these parameters, the vehicle can be controlled to stay within the corresponding range, assisting the driver in achieving continuous drift. This control model can be lightweight, for example, to reduce the controller's computational load and improve control efficiency.

[0128] The vehicle drift control method provided in the embodiment of the present application, by adding a drift assist control function and a drift assist function to the vehicle, can automatically adjust the driving force and braking force according to the vehicle status and parameters, assisting the driver to smoothly enter the drift state during the drift process, and, by adding a drift assist control function to assist the driver to achieve continuous drifting during the drift process, thereby making it easier for the driver to start and maintain drifting.

[0129] The above-mentioned drift assist control function and drift assist function can be regarded as functions in the drift mode of the vehicle. The drift mode can be an optional mode of the vehicle, that is, it can be turned on or off based on the driver's needs.

[0130] For example, the drift mode can be a vehicle switch for the driver to operate. This switch can be a soft switch on the central control screen or a physical button. This embodiment does not limit the location of the physical button, and it can be placed within the driver's control range, such as the center console, the left front door, or other locations.

[0131] When the user operates the switch, it triggers a Drift Mode on / off command to the vehicle controller. For example, the user can turn Drift Mode on by clicking the switch, and turn it off by clicking it again. Alternatively, the on / off mode can be turned on and off using different operation methods, such as a long press and a single press.

[0132] It should be understood that in this implementation, Drift Mode can be linked to the vehicle's Electronic Stability Controller (ESC) / Electronic Stability Program (ESP). When Drift Mode is engaged, ESC / ESP automatically shuts down, disabling functions like the Traction Control System (TCS), thereby enabling vehicle drift assistance.

[0133] Optionally, in this implementation, the driver can also set some parameters in the drift mode, such as the target drift speed range mentioned above.

[0134] For example, the drift mode may be pre-set with multiple candidate drift speeds. Upon receiving a user's drift mode on command, the vehicle controller may perform the following operations in response to the drift mode on command:

[0135] A list of candidate drift speeds is displayed, as well as a target button, which is used to represent a non-target drift speed range.

[0136] The candidate drift speed list may include multiple candidate drift speeds, each of which may include at least one of the following drift speeds: a preset default drift speed, a user-preset drift speed, or a user-corrected drift speed based on the default drift speed. The present embodiment does not limit the number of candidate drift speeds.

[0137] Optionally, the multiple candidate drift speeds can be applicable to different drift scenarios, such as different drifting locations and circle radii. Therefore, by setting multiple candidate drift speeds, the drift mode can be made more adaptable.

[0138] FIG3 is a schematic diagram of a possible user interface provided in an embodiment of the present application. As shown in FIG3 , a candidate drift speed list includes four candidate drift speeds, namely 20 kilometers per hour (kph), 40 kph, 60 kph, and 80 kph, for example.

[0139] In this example, the candidate drift speed list and the target button may be displayed in the manner shown in FIG3 .

[0140] If the user selects a target candidate drift speed in the candidate drift speed list (which can be any candidate drift speed in the list), a target drift speed range is generated according to the target candidate drift speed in response to the user's selection instruction for the target candidate drift speed in the candidate drift speed list.

[0141] For example, a drift speed range of a certain interval may be preset, such as +5 kph / -5 kph. For example, if the target candidate drift speed is 40 kph, the generated target drift speed range is 35 kph to 45 kph.

[0142] If the user clicks the target button, the target drift speed range is skipped. In other words, in this implementation, the user does not set a limit on the vehicle's drift speed. The vehicle's drift speed control is released, allowing the driver to adjust the vehicle's drift speed using the throttle. In the aforementioned scenario where a target drift speed is set, the vehicle controller controls the vehicle's drift speed. This implementation can also be called a FREE mode of drift mode.

[0143] It should be understood that the above-mentioned drift mode can be a mode of the vehicle or a drift control system of the vehicle, and this application does not limit its form on the vehicle.

[0144] The following two specific examples illustrate the method of the embodiments of the present application. Example 1 illustrates an implementation method where the user pre-sets a target drift speed and a target drift speed range. Example 2 illustrates an implementation method where the user selects FREE mode, i.e., where the vehicle has no target drift speed and a target drift speed range. In a specific implementation, the vehicle can determine whether to implement drift assistance using the method of Example 1 or Example 2 by determining whether a preset target drift speed exists.

[0145] Example 1:

[0146] FIG4 is a flow chart of another vehicle drift control method provided in an embodiment of the present application. As shown in FIG4 , the method may include the following steps:

[0147] S401: Obtain the speed of the vehicle.

[0148] For example, a wheel speed signal sensor installed on the vehicle is used to collect the wheel speed corresponding to the vehicle in real time, and the vehicle speed is calculated based on this.

[0149] S402: Determine whether the vehicle speed is within a target drift speed range.

[0150] For example, the vehicle speed corresponding to the vehicle is calculated according to step S401, and the vehicle controller determines whether the vehicle speed is within the target drift speed range.

[0151] If yes, then S403 is executed, and if no, then the current process ends. For example, the speed of the vehicle at the next moment can be re-acquired to re-determine whether the condition is met.

[0152] S403: Determine whether the vehicle is drifting based on the steering wheel angle value and the accelerator pedal opening value of the vehicle.

[0153] For example, if the vehicle's accelerator pedal opening value is greater than a preset value A1, the absolute value of the vehicle's steering wheel angle value is greater than a preset value S1, and the vehicle's steering wheel angle value change rate is greater than a preset value ΔS1, then the vehicle is determined to be drifting; or, if the absolute value of the vehicle's steering wheel angle value is greater than a preset value S2, the vehicle's accelerator pedal opening value is greater than a preset value A2, and the vehicle's accelerator pedal opening value change rate is greater than a preset value ΔA2, then the vehicle is determined to be drifting.

[0154] If yes, then S404 is executed, if no, then the current process ends. For example, the speed of the vehicle at the next moment can be re-obtained to re-judge.

[0155] S404: Perform drift assist control on the vehicle based on parameters that affect the lateral acceleration and yaw rate of the vehicle.

[0156] Taking the parameters that affect the vehicle's lateral acceleration and yaw rate, including the front and rear motor torque distribution ratio, the total front and rear axle torque, and the outer rear wheel brake torque, as an example, how to implement vehicle drift assistance control is described. Figure 5 is a schematic diagram of a process for vehicle drift assistance control provided by an embodiment of the present application. As shown in Figure 5, step S404 may include the following steps:

[0157] S501 : Adjust the torque distribution ratio between the front and rear motors of the vehicle to increase the torque of the rear motor of the vehicle.

[0158] For example, a mapping relationship between the front and rear motor torque distribution ratio and vehicle speed can be pre-set. The front and rear motor torque distribution ratio under this mapping relationship can cause the rear wheels to break through the ground adhesion and slip when the vehicle is traveling at this speed. Therefore, based on the vehicle speed and this mapping relationship, a target front and rear motor torque distribution ratio can be obtained, and the front and rear motor torque distribution ratio of the vehicle can be adjusted to this target front and rear motor torque distribution ratio.

[0159] S502: Obtain the yaw angular velocity and lateral acceleration of the vehicle.

[0160] S503: Determine whether the yaw angular velocity of the vehicle is less than a lower limit of a preset angular velocity range, and whether the lateral acceleration of the vehicle is less than a lower limit of a preset acceleration range.

[0161] If both are less than , it indicates that the vehicle's yaw rate and lateral acceleration are insufficient, which may lead to insufficient tail drift and drift failure, and then S504 is executed. If both are greater than , then S505 is executed.

[0162] S504: Increase the rear wheel deflection angle of the vehicle.

[0163] For example, a fixed angular velocity step size may be used to increase the rear wheel steering angle of the vehicle, for example, 0.5 degrees.

[0164] Alternatively, the rear wheel deflection angle difference of the vehicle can be obtained based on the difference between the current vehicle's yaw angular velocity and lateral acceleration and the corresponding value range, and the rear wheel deflection angle difference can be increased based on the vehicle's current rear wheel deflection angle.

[0165] Alternatively, the target rear wheel steering angle of the vehicle can be obtained based on the difference between the current yaw angular velocity and lateral acceleration of the vehicle and the corresponding value range, and the current rear wheel steering angle of the vehicle can be adjusted to the target rear wheel steering angle.

[0166] The embodiments of this application do not limit how the rear wheel deflection angle difference or target rear wheel deflection angle is obtained based on the difference between the current vehicle yaw rate and lateral acceleration and the corresponding value ranges. For example, a mapping relationship between them can be obtained through offline calibration. This mapping relationship can be presented in a table or expressed as a functional relationship, etc., which is not limited by this application.

[0167] Alternatively, the target deflection angle of the vehicle's rear wheels may be obtained based on a preset angular velocity range, the vehicle's yaw angular velocity, an acceleration range, the vehicle's lateral acceleration, and the vehicle's rear axle torque distribution ratio; and the rear wheel deflection angle of the vehicle may be adjusted to the target rear wheel deflection angle.

[0168] For example, a mapping relationship can be pre-set between a preset angular velocity range, the vehicle's yaw rate, an acceleration range, the vehicle's lateral acceleration, the vehicle's rear axle torque distribution ratio, and the rear wheel target deflection angle. Thus, the rear wheel target deflection angle can be obtained using this mapping relationship. This mapping relationship can be presented in a table or expressed as a function, etc., which is not limited in this application. The above-mentioned acceleration range can be set, for example, based on drift requirements.

[0169] Optionally, after executing this step, the current process ends. For example, the yaw rate and lateral acceleration of the vehicle at the next moment can be re-acquired for re-determination. That is, the process returns to step S502.

[0170] S505: Determine whether the yaw angular velocity of the vehicle is greater than an upper limit of a preset angular velocity range, and whether the lateral acceleration of the vehicle exceeds an upper limit of a preset acceleration range.

[0171] If both are greater than, it means that the vehicle's yaw angular velocity and the vehicle's lateral acceleration are too large, which may easily cause the vehicle to drift excessively and fail to drift, and then execute S506.

[0172] If both are less than or equal to , it indicates that the current yaw rate and lateral acceleration are both within the corresponding preset ranges, and the process ends. Optionally, the vehicle's yaw rate and lateral acceleration at the next moment can be re-obtained for re-determination. In other words, the process returns to step S502.

[0173] S506. Perform at least one of the following operations: reduce the total torque of the front and rear axles of the vehicle according to the vehicle speed, reduce the rear axle torque distribution ratio of the vehicle according to the vehicle's yaw angular velocity or lateral acceleration, and increase the outer rear wheel braking torque of the vehicle according to the vehicle's rear wheel speed.

[0174] For example, a mapping relationship between vehicle speed and total torque on the front and rear axles can be preset. This mapping relationship represents the relationship between the vehicle's speed and total torque on the front and rear axles when the vehicle's yaw rate and lateral acceleration are both within corresponding preset ranges. Therefore, the target total torque on the front and rear axles can be determined based on this mapping relationship and the vehicle's current speed, and the vehicle's current total torque on the rear axles can be adjusted to the target total torque on the front and rear axles.

[0175] Alternatively, the mapping relationship represents the relationship between the difference between the vehicle's yaw rate and lateral acceleration and a corresponding preset range, and the total front and rear axle torque at a certain vehicle speed. Therefore, the target total front and rear axle torque can be determined using the mapping relationship, the vehicle's current speed, and the difference between the vehicle's yaw rate and lateral acceleration and a corresponding preset range. The current total rear axle torque can then be adjusted to the target total front and rear axle torque.

[0176] For example, the rear axle torque distribution ratio difference of the vehicle can be obtained based on the difference between the current vehicle's yaw angular velocity and lateral acceleration and the corresponding value range, and the rear axle torque distribution ratio difference of the vehicle can be increased based on the vehicle's current rear axle torque distribution ratio.

[0177] Alternatively, the target rear axle torque distribution ratio of the vehicle can be obtained based on the difference between the current vehicle's yaw angular velocity and lateral acceleration and the corresponding value range, and the current rear axle torque distribution ratio of the vehicle can be adjusted to the target rear axle torque distribution ratio.

[0178] The embodiments of this application do not limit how the rear axle torque distribution ratio difference or target rear axle torque distribution ratio is obtained based on the difference between the current vehicle yaw rate and lateral acceleration and the corresponding value ranges. For example, a mapping relationship between them can be obtained through offline calibration. This mapping relationship can be presented in a table or expressed as a functional relationship, etc., which is not limited by this application.

[0179] For example, a mapping relationship between the vehicle's rear wheel speed and the outer rear wheel braking torque can be preset. This mapping relationship represents the relationship between the vehicle's rear wheel speed and the outer rear wheel braking torque at a certain wheel speed when the vehicle's yaw rate and lateral acceleration are both within corresponding preset ranges. Therefore, the vehicle's target outer rear wheel braking torque can be obtained based on this mapping relationship and the vehicle's current rear wheel speed, and the vehicle's current outer rear wheel braking torque can be adjusted to the target outer rear wheel braking torque.

[0180] Alternatively, the mapping relationship represents the relationship between the difference between the vehicle's yaw rate and lateral acceleration and a corresponding preset range, and the vehicle's outer rear wheel braking torque at a certain rear wheel speed. Therefore, the target outer rear wheel braking torque can be determined based on the mapping relationship, the vehicle's current rear wheel speed, and the difference between the vehicle's yaw rate and lateral acceleration and a corresponding preset range. The current outer rear wheel braking torque can then be adjusted to the target outer rear wheel braking torque.

[0181] Optionally, a Drift Assist configuration option may be provided in the Drift Mode. This Drift Assist configuration option is used to configure whether drift assistance is performed using one or more of the following: reducing the total torque on the front and rear axles based on vehicle speed; reducing the rear axle torque distribution ratio based on the vehicle's yaw rate or lateral acceleration; or increasing the outer rear wheel braking torque based on the vehicle's rear wheel speed. Alternatively, the Drift Mode may be pre-configured to use one or more of these options for drift assistance control.

[0182] When multiple operations are used for drift assist control, there may be no restriction on the order in which the multiple operations are executed, or an execution order of the multiple operations may be pre-set, and there is no limitation on this.

[0183] Optionally, after executing this step, the current process ends. For example, the yaw rate and lateral acceleration of the vehicle at the next moment can be re-acquired for re-determination. That is, the process returns to step S502.

[0184] S405: After the drift is completed, determine whether the vehicle is in reverse steering based on the steering wheel angle value of the vehicle.

[0185] If so, it indicates that the vehicle has entered the continuous drift phase, and step S406 is executed. If not, step S405 is continued to be executed to continuously detect whether the vehicle is in reverse steering.

[0186] For example, the target yaw rate of the vehicle can be determined based on the steering wheel angle value of the vehicle; the target yaw rate is subtracted from the yaw rate of the vehicle to obtain the yaw rate difference of the vehicle; if the target yaw rate is greater than the preset yaw rate value YR1 and the yaw rate difference is less than the preset yaw rate value ΔYR1, the vehicle is determined to be in reverse steering.

[0187] S406. Adjust the total torque of the front and rear motors of the vehicle according to the speed of the vehicle; and / or adjust the torque distribution ratio of the front and rear motors of the vehicle and the rear wheel deflection angle of the vehicle according to the real-time yaw angular velocity of the vehicle; and / or adjust the left and right rear wheel braking torque according to the real-time wheel speed difference between the front and rear wheels of the vehicle.

[0188] For example, the vehicle controller can adjust the total torque of the front and rear motors of the vehicle according to the speed of the vehicle so that the speed of the vehicle is within the target drift speed range.

[0189] The vehicle controller can adjust the torque distribution ratio between the front and rear motors and the rear wheel steering angle of the vehicle according to the vehicle's yaw rate to keep the vehicle's yaw rate within a preset angular velocity range.

[0190] The vehicle controller adjusts the left and right rear wheel braking torques according to the wheel speed difference between the front and rear wheels of the vehicle to reduce the wheel speed difference between the left and right rear wheels, and the wheel speed difference between the front and rear wheels remains within a preset wheel speed difference range.

[0191] The present application does not limit the method for adjusting the parameters described above; for example, a pre-calibrated mapping relationship may be used. For example, a mapping relationship between the speed, the total torque of the front and rear motors, and the target drift speed range may be pre-set, so that the target total torque of the front and rear motors can be obtained based on this mapping relationship to achieve the above adjustment. It should be understood that the mapping relationship used in this embodiment can be expressed in the form of a table or a function.

[0192] Optionally, there may be a drift assist configuration option in the drift mode, which is used to configure one or more drift assist controls to be used during drift assist. Alternatively, the drift mode is pre-configured to use the one or more drift assist controls.

[0193] When multiple operations are used for drift assist control, there may be no restriction on the order in which the multiple operations are executed, or an execution order of the multiple operations may be pre-set, and there is no limitation on this.

[0194] It should be noted that the multiple steps in the above example provide possible implementation methods through mapping relationships. In specific implementation, other implementation methods can also be used to achieve the above effects. For example, a lightweight model can be used to obtain the adjustment amount, and then adjustments can be made based on the adjustment amount, etc. This will not be elaborated.

[0195] The method of the embodiment of the present application, by adding a drift assist control function and a drift assist function to the vehicle, can automatically adjust the driving force and braking force according to the vehicle's status, parameters, and the target drift speed range selected by the user, thereby assisting the driver to smoothly enter the drift state during the drift process, and adding a drift assist control function to assist the driver to achieve continuous drifting during the drift process, thereby making it easier for the driver to start and maintain drifting.

[0196] Example 2:

[0197] FIG6 is a flow chart of another vehicle drift control method provided in an embodiment of the present application. As shown in FIG6 , the method may include the following steps:

[0198] S601: Determine whether the vehicle is drifting based on the steering wheel angle value and the accelerator pedal opening value of the vehicle.

[0199] If yes, execute S602 , if no, continue to execute step S601 to continuously detect whether the vehicle is drifting.

[0200] For example, the above step S601 can refer to the description of the above step S403, which will not be repeated here.

[0201] S602: Perform drift assist control on the vehicle based on parameters that affect the lateral acceleration and yaw rate of the vehicle.

[0202] For example, the above step S602 can refer to the description of the above step S404, which will not be repeated here.

[0203] S603: After the drift is completed, determine whether the vehicle is in reverse steering based on the steering wheel angle value of the vehicle.

[0204] If yes, step S604 is executed; if no, step S603 is continued to be executed to continuously detect whether the vehicle is in reverse steering.

[0205] For example, the above step S603 can refer to the description of the above step S405, which will not be repeated here.

[0206] S604. Adjust the front and rear motor torque distribution ratio according to the rate of change of the accelerator pedal opening value, and adjust the rear wheel deflection angle of the vehicle according to the steering wheel angle value of the vehicle, and / or adjust the left and right rear wheel braking torque according to the slip rate of the vehicle wheel.

[0207] For example, the vehicle controller can adjust the torque distribution ratio of the front and rear motors according to the change rate of the accelerator pedal opening value, and adjust the rear wheel deflection angle of the vehicle according to the steering wheel angle value of the vehicle to keep the vehicle's yaw angular velocity within a preset angular velocity range.

[0208] The vehicle controller can adjust the left and right rear wheel braking torques according to the slip rate of the vehicle's wheels. The slip rate of the wheels can be calculated, for example, from the vehicle's speed and the wheel speed of the vehicle's wheels.

[0209] The present application does not limit the method for adjusting the parameters described above; for example, a pre-calibrated mapping relationship may be used. For example, a mapping relationship between the rate of change of the accelerator pedal opening value and the speed of the front and rear motor torque distribution ratio may be pre-set. This mapping relationship may be a mapping relationship that maintains the vehicle's yaw rate within a preset angular velocity range. Based on this mapping relationship, the target front and rear motor torque distribution ratio can be determined to achieve the aforementioned adjustment. It should be understood that the mapping relationship used in this embodiment may be expressed in the form of a table or a function.

[0210] Optionally, there may be a drift assist configuration option in the drift mode, which is used to configure one or more drift assist controls to be used during drift assist. Alternatively, the drift mode is pre-configured to use the one or more drift assist controls.

[0211] When multiple operations are used for drift assist control, there may be no restriction on the order in which the multiple operations are executed, or an execution order of the multiple operations may be pre-set, and there is no limitation on this.

[0212] It should be noted that the multiple steps in the above example provide possible implementation methods through mapping relationships. In specific implementation, other implementation methods can also be used to achieve the above effects. For example, a lightweight model can be used to obtain the adjustment amount, and then adjustments can be made based on the adjustment amount, etc. This will not be elaborated.

[0213] The method of the embodiment of the present application, by adding a drift assist control function and a drift assist function to the vehicle, can automatically adjust the driving force and braking force according to the vehicle's status and parameters, assisting the driver to smoothly enter the drift state during the drift process, and, by adding a drift assist control function to assist the driver to achieve continuous drifting during the drift process, thereby making it easier for the driver to start and maintain drifting.

[0214] In the methods of Examples 1 and 2 above, after the driver selects a target drift speed, the vehicle controller can obtain the driver's throttle and steering wheel operations and, combined with information such as vehicle speed and yaw rate, determine whether the driver is performing a drifting maneuver. In other words, it can identify the driver's intention to drift.

[0215] When the driver is detected attempting to drift, drift assist control is implemented, causing the rear tires to slip due to ground adhesion, increasing lateral acceleration and yaw rate, and causing the vehicle to oversteer, or drift. The vehicle controller then captures real-time lateral acceleration and yaw rate. When these exceed preset thresholds, it reduces the torque distribution ratio and / or the total torque between the front and rear axles, and / or applies braking torque to the outer rear wheel to prevent excessive drifting, which can lead to self-spin or uncontrollable drifting. This allows the vehicle to achieve a more appropriate drifting range, resolving the problem of excessive drifting that many people experience.

[0216] After the drift is complete, the driver quickly reverses the steering wheel (counter-steering) to maintain the vehicle's drift. The vehicle controller can control the total drive torque to keep the vehicle speed within the drift speed range, and / or control the front and rear axle torque distribution ratio to keep the yaw rate within the desired range, and / or control the left and right rear wheel braking torque to eliminate the left and right wheel speed difference and keep the rear and front wheel speed difference within the desired range. The driver maintains the throttle, and the vehicle controller takes over the torque control of the front and rear axle drive motors. The driver only needs to operate the steering wheel to adjust the vehicle's direction.

[0217] That is, by setting the target drift speed, the vehicle controller can maintain the vehicle's speed and drift state by adjusting the torque size, torque distribution ratio, applying braking force and other means, replacing the driver's control of the throttle, and solving the problem of the driver's confusion when drifting and slight improper operation of the throttle, which leads to the destruction of the drift state.

[0218] If the drift speed is set to FREE mode (as in Example 2), the driver controls the drift speed via the throttle, and the VCU no longer limits the total torque output. In this scenario, the VCU still controls the front and rear axle torque distribution ratio to maintain the yaw rate within the desired range, and / or controls the left and right rear wheel braking torques to eliminate the left and right wheel speed difference and maintain the rear-to-front wheel speed difference within the desired range.

[0219] It should be noted that in this mode, the driver needs to control the steering wheel and accelerator at the same time to maintain the drift state, which requires slightly higher drifting skills from the driver.

[0220] The method of the embodiment of the present application reduces the difficulty of drifting the vehicle through the above-mentioned manner, so that the driver can easily drift while preventing excessive tailspin when operating the vehicle, thereby reducing the difficulty of drifting and control. For example, the driver can maintain drifting by only adjusting the steering wheel while keeping the throttle stable.

[0221] The above is an introduction to the embodiment of the method of the present application. The following describes the device part provided in the embodiment of the present application.

[0222] Figure 7 is a schematic diagram of the structure of a vehicle drift control device provided in an embodiment of the present application. As shown in Figure 7, the device may include, for example, an acquisition module 701, a first determination module 702, a drift assist control module 703, a second determination module 704, and a drift assist control module 705. Optionally, the device may also include a settings module 706.

[0223] An acquisition module 701 is used to acquire a steering wheel angle value and an accelerator pedal opening value of a vehicle;

[0224] A first determining module 702 is configured to determine whether the vehicle is drifting based on a steering wheel angle value and an accelerator pedal opening value of the vehicle;

[0225] The drift assist control module 703 is used to perform drift assist control on the vehicle when it is determined that the vehicle is drifting;

[0226] The second determining module 704 is configured to determine whether the vehicle has reversed its steering according to the steering wheel angle value of the vehicle after the drift is completed;

[0227] The drift assist control module 705 is used to perform drift assist control on the vehicle when it is determined that the vehicle is in reverse steering.

[0228] In one possible implementation, the first determination module 702 is specifically configured to: obtain the vehicle speed if there is a preset target drift speed range; and determine whether the vehicle is drifting based on the vehicle's steering wheel angle value and accelerator pedal opening value when the vehicle speed is within the target drift speed range.

[0229] In one possible implementation, the first determining module 702 is specifically configured to:

[0230] If the vehicle's accelerator pedal opening value is greater than a preset value A1, the absolute value of the vehicle's steering wheel angle value is greater than a preset value S1, and the vehicle's steering wheel angle value change rate is greater than a preset value ΔS1, then the vehicle is determined to be drifting; or, if the absolute value of the vehicle's steering wheel angle value is greater than a preset value S2, the vehicle's accelerator pedal opening value is greater than a preset value A2, and the vehicle's accelerator pedal opening value change rate is greater than a preset value ΔA2, then the vehicle is determined to be drifting.

[0231] In one possible implementation, the setting module 706 is configured to:

[0232] In response to a drift mode opening instruction, a candidate drift speed list and a target button are displayed, wherein the target button is used to represent a non-target drift speed range; in response to a user's selection instruction for a target candidate drift speed in the candidate drift speed list, a target drift speed range is generated based on the target candidate drift speed; or, in response to a user's operation on the target button, the action of setting the target drift speed range is skipped.

[0233] In one possible implementation, the drift assist control module 703 is specifically configured to:

[0234] Adjust the torque distribution ratio between the front and rear motors of the vehicle to increase the torque of the rear motor of the vehicle;

[0235] Obtain the vehicle's yaw rate and lateral acceleration;

[0236] If the yaw rate of the vehicle is less than a lower limit of a preset angular velocity range, and the lateral acceleration of the vehicle is less than a lower limit of a preset acceleration range, increasing the rear wheel steering angle of the vehicle;

[0237] If the yaw rate of the vehicle is greater than an upper limit of a preset angular rate range, and the lateral acceleration of the vehicle exceeds an upper limit of a preset acceleration range, at least one of the following operations is performed:

[0238] The total torque of the front and rear axles of the vehicle is reduced according to the vehicle speed, the rear axle torque distribution ratio of the vehicle is reduced according to the vehicle's yaw angular velocity or lateral acceleration, and the outer rear wheel braking torque of the vehicle is increased according to the vehicle's rear wheel speed.

[0239] For example, the drift assist control module 703 is specifically used to obtain the target deflection angle of the vehicle's rear wheels based on a preset angular velocity range, the vehicle's yaw angular velocity, the acceleration range, the vehicle's lateral acceleration, and the vehicle's rear axle torque distribution ratio; and adjust the vehicle's rear wheel deflection angle to the target rear wheel deflection angle.

[0240] In a possible implementation, the second determining module 704 is specifically configured to:

[0241] determining a target yaw rate of the vehicle based on a steering wheel angle value of the vehicle;

[0242] Subtracting the target yaw rate from the vehicle's yaw rate to obtain the vehicle's yaw rate difference;

[0243] If the target yaw rate is greater than the preset yaw rate value YR1 and the yaw rate difference is less than the preset yaw rate value ΔYR1 , it is determined that the vehicle is in reverse steering.

[0244] In one possible implementation, the drift assist control module 705 is specifically configured to:

[0245] If there is a preset target drift speed range, the total torque of the front and rear motors of the vehicle is adjusted according to the vehicle speed so that the vehicle speed is within the target drift speed range;

[0246] and / or adjusting the torque distribution ratio between the front and rear motors of the vehicle and the rear wheel steering angle of the vehicle according to the yaw rate of the vehicle so as to keep the yaw rate of the vehicle within a preset angular velocity range;

[0247] And / or, adjusting the left and right rear wheel braking torques according to the wheel speed difference between the front and rear wheels of the vehicle to reduce the wheel speed difference between the left and right rear wheels, and maintaining the wheel speed difference between the front and rear wheels within a preset wheel speed difference range.

[0248] In one possible implementation, the drift assist control module 705 is specifically configured to:

[0249] If there is no preset target drift speed range, the front and rear motor torque distribution ratio is adjusted according to the rate of change of the accelerator pedal opening value, and the rear wheel deflection angle of the vehicle is adjusted according to the steering wheel angle value of the vehicle to keep the vehicle's yaw rate within the preset angular velocity range;

[0250] And / or, the left and right rear wheel braking torques are adjusted according to the slip ratio of the vehicle wheels.

[0251] The device provided in the embodiment of the present application can execute the above method embodiment, and its implementation principle and technical effects are similar, which will not be repeated here.

[0252] Figure 8 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. As shown in Figure 8, the electronic device may include: at least one processor 801 and memory 802. The electronic device may be, for example, a device with control functions on a vehicle, such as a vehicle controller, or it may be an electronic device independent of the vehicle that is capable of controlling the vehicle.

[0253] The memory 802 is used to store programs. Specifically, the programs may include program codes, and the program codes include computer operation instructions.

[0254] The memory 802 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0255] The processor 801 is configured to execute computer-executable instructions stored in the memory 802 to implement the method of the aforementioned method embodiment. The processor 801 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0256] Optionally, the electronic device 800 can communicate and interact with other sensors on the vehicle through the communication interface 803 to obtain the values ​​of parameters required to execute the above method embodiment, such as the speed and yaw angular velocity of the vehicle.

[0257] In a specific implementation, if the communication interface 803, the memory 802 and the processor 801 are implemented independently, the communication interface 803, the memory 802 and the processor 801 can be connected to each other through a bus and communicate with each other.

[0258] Optionally, in a specific implementation, if the communication interface 803, the memory 802 and the processor 801 are integrated on a chip, the communication interface 803, the memory 802 and the processor 801 can complete communication through an internal interface.

[0259] The present application also provides a vehicle on which a control device (such as a vehicle controller) is deployed. The device is capable of executing the method actions of the aforementioned embodiment to achieve drift assist control and drift assist control when the driver drives the vehicle to drift.

[0260] The present application also provides a computer-readable storage medium, which may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes. Specifically, the computer-readable storage medium stores program instructions, which are used to implement the actions of the above-mentioned method implementation method.

[0261] The present application also provides a computer program product, the program product including execution instructions, the execution instructions stored in a readable storage medium. At least one processor of an electronic device can read the execution instructions from the readable storage medium, and at least one processor executes the execution instructions to cause the electronic device to perform the actions of the above-mentioned method implementation.

[0262] The present application also provides an electric vehicle, which is equipped with a vehicle controller, and the vehicle controller is used to implement the actions of the above-mentioned method implementation method. The electric vehicle can be, for example, an electric vehicle with a front motor and a rear motor.

[0263] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0264] It should be understood that the present application is not limited to the exact structure described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A vehicle drift control method, characterized in that, The method includes: Obtaining the steering wheel angle value and the accelerator pedal opening value of the vehicle; Determining whether the vehicle is drifting based on the steering wheel angle value and the accelerator pedal opening value of the vehicle; If it is determined that the vehicle is drifting, performing drifting assistance control on the vehicle; After the drifting is completed, determining whether the vehicle is counter-steering based on the steering wheel angle value of the vehicle; If it is determined that the vehicle is counter-steering, performing drift assistance control on the vehicle.

2. The method according to claim 1, wherein The determining whether the vehicle is drifting according to the steering wheel angle value and the accelerator pedal opening value of the vehicle includes: If there is a preset target drift speed range, obtaining the speed of the vehicle; When the speed of the vehicle is within the target drift speed range, determining whether the vehicle is drifting according to the steering wheel angle value and the accelerator pedal opening value of the vehicle.

3. The method according to claim 2, wherein The determining whether the vehicle is drifting according to the steering wheel angle value and the accelerator pedal opening value of the vehicle includes: If the accelerator pedal opening value of the vehicle is greater than a preset value A1, the absolute value of the steering wheel angle value of the vehicle is greater than a preset value S1, and the change rate of the steering wheel angle value of the vehicle is greater than a preset value ΔS1, it is determined that the vehicle is drifting; Or, if the absolute value of the steering wheel angle value of the vehicle is greater than a preset value S2, the accelerator pedal opening value of the vehicle is greater than a preset value A2, and the change rate of the accelerator pedal opening value of the vehicle is greater than a preset value ΔA2, it is determined that the vehicle is drifting.

4. The method according to claim 3, characterized in that, The method further includes: In response to a drift mode opening instruction, displaying a list of candidate drift speeds and a target button, where the target button is used to indicate the absence of the target drift speed range; In response to a selection instruction of the user for a target candidate drift speed in the list of candidate drift speeds, generating the target drift speed range according to the target candidate drift speed; Or, in response to an operation of the user on the target button, skipping the action of setting the target drift speed range.

5. The method according to any one of claims 1-4, characterized in that, The performing drifting assistance control on the vehicle includes: Adjusting the front and rear motor torque distribution ratio of the vehicle to increase the torque of the rear motor of the vehicle; Obtaining the yaw angular velocity and lateral acceleration of the vehicle; If the yaw angular velocity of the vehicle is less than the lower limit value of the preset angular velocity range and the lateral acceleration of the vehicle is less than the lower limit value of the preset acceleration range, increasing the rear wheel deflection angle of the vehicle; If the yaw angular velocity of the vehicle is greater than the upper limit value of the preset angular velocity range and the lateral acceleration of the vehicle exceeds the upper limit value of the preset acceleration range, performing at least one of the following operations: Reducing the total torque of the front and rear axles of the vehicle according to the vehicle speed, reducing the rear axle torque distribution ratio of the vehicle according to the yaw angular velocity or lateral acceleration of the vehicle, and increasing the braking torque of the outer rear wheel of the vehicle according to the rear wheel speed of the vehicle.

6. The method according to claim 5, characterized in that, The increasing the rear wheel deflection angle of the vehicle includes: Obtaining the target rear wheel deflection angle of the vehicle according to the preset angular velocity range, the yaw angular velocity of the vehicle, the acceleration range, the lateral acceleration of the vehicle, and the rear axle torque distribution ratio of the vehicle. Adjust the rear wheel deflection angle of the vehicle to the target rear wheel deflection angle.

7. The method according to any one of claims 1 to 4, characterized in that The determination of whether the vehicle is in reverse steering based on the steering wheel angle value of the vehicle includes: Based on the steering wheel angle value of the vehicle, determine the target yaw rate of the vehicle; Subtract the yaw rate of the vehicle from the target yaw rate to obtain the yaw rate difference of the vehicle; If the target yaw rate is greater than the preset angular velocity value YR1 and the yaw rate difference is less than the preset angular velocity value ΔYR1, it is determined that the vehicle is in reverse steering.

8. The method according to any one of claims 1 to 4, characterized in that, The drift assist control of the vehicle includes: If there is a preset target drift speed range, adjust the total torque of the front and rear motors of the vehicle according to the speed of the vehicle so that the speed of the vehicle is within the target drift speed range; And / or, adjust the torque distribution ratio of the front and rear motors of the vehicle and the rear wheel deflection angle of the vehicle according to the yaw rate of the vehicle so that the yaw rate of the vehicle is maintained within a preset angular velocity range; And / or, adjust the braking torque of the left and right rear wheels of the vehicle according to the wheel speed difference between the front and rear wheels of the vehicle to reduce the wheel speed difference between the left and right rear wheels, and the wheel speed difference between the front and rear wheels is maintained within a preset wheel speed difference range.

9. The method according to any one of claims 1-4, characterized in that, The drift assist control of the vehicle includes: If there is no preset target drift speed range, adjust the torque distribution ratio of the front and rear motors according to the change rate of the throttle pedal opening value, and adjust the rear wheel deflection angle of the vehicle according to the steering wheel angle value of the vehicle so that the yaw rate of the vehicle is maintained within a preset angular velocity range; And / or, adjust the braking torque of the left and right rear wheels of the vehicle according to the slip rate of the wheels of the vehicle.

10. A vehicle drift control device, characterized in that, The device includes: An acquisition module for acquiring the steering wheel angle value and the throttle pedal opening value of the vehicle; A first determination module for determining whether the vehicle starts to drift according to the steering wheel angle value and the throttle pedal opening value of the vehicle; A starting drift assist control module for performing starting drift assist control on the vehicle when it is determined that the vehicle starts to drift; A second determination module for determining whether the vehicle is in reverse steering based on the steering wheel angle value of the vehicle after the starting drift is completed; A drift assist control module for performing drift assist control on the vehicle when it is determined that the vehicle is in reverse steering.

11. An electronic device, characterized in that, Includes: A processor and a memory communicatively connected to the processor; The memory stores computer execution instructions; The processor executes the computer execution instructions stored in the memory to implement the method according to any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, Computer execution instructions are stored in the computer-readable storage medium, and when the computer execution instructions are executed by the processor, they are used to implement the method according to any one of claims 1-9.

13. A computer program product, characterized in that, Includes a computer program, and when the computer program is executed by the processor, it implements the method according to any one of claims 1-9.

14. An electric vehicle, characterized in that, The electric vehicle is equipped with a vehicle controller, and the vehicle controller is used to implement the method according to any one of claims 1 to 9.

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