Vehicle control method and apparatus, electronic device, and storage medium

Abstract

A vehicle control method and apparatus, an electronic device, and a storage medium. The vehicle control method comprises: after a driver turns on a low-speed drifting control switch, determining a vehicle traveling mode on the basis of a current steering wheel angle of a vehicle, wherein the vehicle traveling mode includes a conventional mode and a low-speed drifting mode; when the vehicle traveling mode is switched from the conventional mode to the low-speed drifting mode, obtaining current total driving power and a current steering wheel angle of the vehicle; on the basis of the steering wheel angle, calculating current driving power corresponding to a left motor group and current driving power corresponding to a right motor group; driving the left motor group and the right motor group to operate on the basis of the respective driving power; and determining whether the vehicle has exited the low-speed drifting mode, and if not, returning to execute the step of obtaining current total driving power and a current steering wheel angle of the vehicle. The vehicle control method guarantees that vehicles can smoothly pass through corners in narrow road conditions, thereby improving the reliability and safety of vehicles.

Description

Vehicle control method, device, electronic device and storage medium

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on January 17, 2024, with application number 2024100693579 and application name “Vehicle Control Method, Device, Electronic Device and Storage Medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to, but is not limited to, vehicle control technology, and more specifically, to a vehicle control method, device, electronic device, and storage medium. Background Art

[0003] With the development of the automotive industry, cars are increasingly used in everyday life and production, bringing significant convenience to people's transportation. While driving on smooth highways is inherently safer, driving on high-risk roads, such as mountain roads and winding roads, presents a greater risk. For example, on narrow, curving roads, where the road width is smaller than the vehicle's turning radius, repeated maneuvers are required to negotiate the desired curve.

[0004] In actual applications, due to the driver's skill level and driving experience, it is impossible to guarantee that the vehicle can pass through corners smoothly, especially in mountainous roads. It is impossible to guarantee that the vehicle can turn around safely. Once encountering oncoming vehicles while turning, the accident risk factor will be doubled, and the reliability and safety of the vehicle will be low.

[0005] Therefore, how to ensure that vehicles can pass through corners smoothly under narrow road conditions and improve the reliability and safety of vehicles has become an urgent problem to be solved. Summary of the Invention

[0006] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0007] The purpose of this application is to provide a vehicle control method, device, electronic device and storage medium to improve the situation where a vehicle cannot smoothly pass through a corner under narrow road conditions.

[0008] In a first aspect, the present application provides a vehicle control method, which is applied to a four-motor drive system, wherein the four-motor drive system includes a left motor group and a right motor group; the vehicle control method includes: after the driver closes the low-speed drift control switch, determining the vehicle driving mode according to the current steering wheel angle of the vehicle, and the vehicle driving mode includes a normal mode and a low-speed drift mode; if the vehicle driving mode is switched from the normal mode to the low-speed drift mode, obtaining the current total driving power and steering wheel angle of the vehicle; based on the steering wheel angle, calculating and obtaining the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group; wherein the sum of the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group is the current total driving power of the vehicle; driving the left motor group and the right motor group to operate according to their respective corresponding driving powers; and judging whether the low-speed drift mode is currently exited, if not, returning to execute the step of obtaining the current total driving power and steering wheel angle of the vehicle.

[0009] In some possible embodiments, before calculating the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group based on the steering wheel angle, the method also includes: determining the current driving direction of the vehicle, and the driving directions include: left front and right front; calculating the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group based on the steering wheel angle includes: obtaining the power difference based on the steering wheel angle; wherein different steering wheel angles correspond to different power differences; calculating the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group based on the current total driving power and the power difference; wherein, if the current driving direction of the vehicle is left front, the driving power corresponding to the right motor group is the sum of the driving power corresponding to the left motor group and the power difference; if the current driving direction of the vehicle is right front, the driving power corresponding to the left motor group is the sum of the driving power corresponding to the right motor group and the power difference.

[0010] In some possible implementations, obtaining the current total driving power of the vehicle includes: obtaining the current total driving power of the vehicle based on a current pressure value of the accelerator pedal according to an accelerator pedal calibration strategy.

[0011] In some possible implementations, after the driver closes the low-speed drift control switch, the vehicle driving mode is determined based on the vehicle's current steering wheel angle, including: after the driver closes the low-speed drift control switch, obtaining the vehicle's current steering wheel angle, and determining whether the steering wheel angle is within a target angle range; if the steering wheel angle is within the target angle range, switching the vehicle driving mode from a normal mode to a low-speed drift mode; if the steering wheel angle is not within the target angle range, outputting an angle over-travel prompt, and returning to execute the step of obtaining the vehicle's current steering wheel angle and determining whether the steering wheel angle is within the target angle range; wherein, the angle over-travel prompt is used to prompt the user to adjust the steering wheel angle to within the target angle range.

[0012] In some possible implementations, determining whether to exit the low-speed drift mode currently includes: determining whether the current vehicle meets the low-speed drift mode interruption conditions; wherein, the low-speed drift mode interruption conditions include at least one of the following: the steering wheel angle is 0, the steering wheel angle exceeds the target angle range, the driver releases the steering wheel, the driver releases the accelerator pedal, the driver steps on the brake pedal, and the vehicle speed exceeds the preset low-speed range; if satisfied, determining whether the current low-speed drift control switch is closed; if closed, not exiting the low-speed drift mode; if not closed, exiting the low-speed drift mode and switching to the normal mode.

[0013] In a second aspect, the present application provides a vehicle control device, which is applied to a four-motor drive system, wherein the four-motor drive system includes a left motor group and a right motor group; the vehicle control device includes: a processing module, which is used to determine the vehicle driving mode according to the current steering wheel angle of the vehicle after the driver closes the low-speed drift control switch, and the vehicle driving mode includes a normal mode and a low-speed drift mode; an acquisition module, which is used to obtain the current total driving power and steering wheel angle of the vehicle if the vehicle driving mode is switched from the normal mode to the low-speed drift mode; a calculation module, which is used to calculate the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group based on the steering wheel angle; wherein the sum of the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group is the current total driving power of the vehicle; a driving module, which is used to drive the left motor group and the right motor group to operate according to their respective corresponding driving powers; a judgment module, which is used to judge whether the low-speed drift mode is currently exited, and if not, return to execute the step of obtaining the current total driving power and steering wheel angle of the vehicle.

[0014] In some possible embodiments, the device further includes: a determination module for determining the current driving direction of the vehicle, the driving directions including: left front and right front; the calculation module is specifically used to: obtain a power difference based on the steering wheel angle; wherein different steering wheel angles correspond to different power differences; based on the current total driving power and the power difference, calculate the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group; wherein, if the current driving direction of the vehicle is left front, the driving power corresponding to the right motor group is the sum of the driving power corresponding to the left motor group and the power difference; if the current driving direction of the vehicle is right front, the driving power corresponding to the left motor group is the sum of the driving power corresponding to the right motor group and the power difference.

[0015] In some possible implementations, when the acquisition module is used to acquire the current total driving power of the vehicle, it is specifically used to: acquire the current total driving power of the vehicle based on the current pressure value of the accelerator pedal according to the accelerator pedal calibration strategy.

[0016] In some possible implementations, the processing module is specifically used to: after the driver closes the low-speed drift control switch, obtain the current steering wheel angle of the vehicle, and determine whether the steering wheel angle is within the target angle range; if the steering wheel angle is within the target angle range, switch the vehicle driving mode from the normal mode to the low-speed drift mode; if the steering wheel angle is not within the target angle range, output an angle over-travel prompt, and return to execute the step of obtaining the current steering wheel angle of the vehicle and determining whether the steering wheel angle is within the target angle range; wherein, the angle over-travel prompt is used to prompt the user to adjust the steering wheel angle to within the target angle range.

[0017] In some possible implementations, the judgment module is used to determine whether the low-speed drift mode is currently being exited, specifically to: determine whether the current vehicle meets the low-speed drift mode interruption condition; wherein, the low-speed drift mode interruption condition includes at least one of the following: the steering wheel angle is 0, the steering wheel angle exceeds the target angle range, the driver releases the steering wheel, the driver releases the accelerator pedal, the driver steps on the brake pedal, and the vehicle speed exceeds the preset low-speed range; if satisfied, determine whether the current low-speed drift control switch is closed; if closed, do not exit the low-speed drift mode; if not closed, exit the low-speed drift mode and switch to the normal mode.

[0018] In a third aspect, the present application provides an electronic device comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method as described above.

[0019] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to implement the method as described above when executed by a processor.

[0020] In a fifth aspect, the present application provides a computer program product, comprising a computer program, which implements the method described above when executed.

[0021] In a sixth aspect, the present application provides a computer program, and when the computer program runs on a computer, the computer executes the method as described above.

[0022] In the vehicle control method, device, electronic device and storage medium provided by the present application, first, after the driver closes the low-speed drift control switch, the vehicle driving mode is determined according to the current steering wheel angle of the vehicle. When the vehicle driving mode is switched from the normal mode to the low-speed drift mode, the current total driving power and steering wheel angle of the vehicle are obtained; then, based on the steering wheel angle, the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group are calculated; finally, the left motor group and the right motor group are driven to operate according to their respective corresponding driving powers; and, it is determined whether the low-speed drift mode is currently exited. If not, the step of obtaining the current total driving power and steering wheel angle of the vehicle is returned to. The solution of the present application controls the vehicle to operate at a low speed in the low-speed drift mode, and controls the steering wheel angle within a certain range to ensure the personal safety of the driver. On this basis, based on the steering wheel angle, the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group are calculated, and the left motor group and the right motor group are driven to operate according to their respective corresponding driving powers. The vehicle can generate body yaw through the differentiated effect of the four-wheel torque, and then can adjust the body posture in a timely and flexible manner. Compared with existing vehicles, a very small steering wheel angle can be achieved to obtain a larger vehicle steering effect, which can help the vehicle to turn smoothly in narrow road conditions. Therefore, in narrow road conditions, it can ensure that the vehicle passes through corners smoothly, thereby improving the reliability and safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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.

[0024] FIG1 is a flow chart of a vehicle control method provided in Example 1 of the present application;

[0025] FIG2 is a flow chart of another vehicle control method provided in Example 1 of the present application;

[0026] FIG3 is a flow chart of another vehicle control method provided in Example 1 of the present application;

[0027] FIG4 is a flow chart of a vehicle control method provided in Example 2 of the present application;

[0028] FIG5 is a schematic structural diagram of a vehicle control device provided in Example 3 of the present application;

[0029] FIG6 is a schematic diagram of the structure of an electronic device provided in Example 4 of the present application.

[0030] 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

[0031] 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.

[0032] It should be noted that the brief descriptions of terms in this application are only for the purpose of facilitating the understanding of the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise specified, these terms should be understood according to their ordinary and usual meanings.

[0033] In the specification and claims of this application and the drawings, the terms "first," "second," and the like are used to distinguish similar or similar objects or entities and are not necessarily intended to limit a particular order or precedence, unless otherwise indicated. It should be understood that the terms used in this manner are interchangeable where appropriate, for example, enabling implementation in an order other than that shown or described in the drawings or descriptions of the embodiments of this application.

[0034] In addition, the terms "including" and "having" and any variations thereof are intended to cover, but not exclude, inclusion. For example, a product or device comprising a list of components is not necessarily limited to those components explicitly listed, but may include other components not explicitly listed or inherent to such products or devices. The term "module" as used in this application refers to any known or later developed hardware, software, firmware, artificial intelligence, fuzzy logic, or combination of hardware and / or software code that is capable of performing the functions associated with the element.

[0035] With the development of the automotive industry, cars are increasingly used in everyday life and production, bringing significant convenience to people's transportation. While driving on smooth highways is inherently safer, driving on high-risk roads, such as mountain roads and winding roads, presents a greater risk. For example, on narrow, curving roads, where the road width is smaller than the vehicle's turning radius, repeated maneuvers are required to negotiate the desired curve.

[0036] In actual applications, due to the driver's skill level and driving experience, it is impossible to guarantee that the vehicle can pass through corners smoothly, especially in mountainous roads. It is impossible to guarantee that the vehicle can turn around safely. Once encountering oncoming vehicles while turning, the accident risk factor will be doubled, and the reliability and safety of the vehicle will be low.

[0037] The technical content provided in this application is intended to improve the above-mentioned technical problems in an optional manner.

[0038] In the embodiment of the present application, in the low-speed drift mode, the vehicle is controlled to operate at a low speed, and the steering wheel angle is controlled within a certain range to ensure the personal safety of the driver. On this basis, based on the steering wheel angle, the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group are calculated, and the left motor group and the right motor group are driven to operate according to their respective corresponding driving powers. The vehicle can generate body yaw through the differentiated effect of the four-wheel torque, and then can adjust the body posture in a timely and flexible manner. Compared with existing vehicles, a very small steering wheel angle can be achieved to obtain a larger vehicle steering effect, which can help the vehicle to turn smoothly in narrow road conditions. Therefore, in narrow road conditions, it can ensure that the vehicle passes through corners smoothly, thereby improving the reliability and safety of the vehicle.

[0039] The technical solutions of the present application and the technical solutions of the present application are described in detail below with reference to specific embodiments. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in certain embodiments. In the description of the present application, unless otherwise clearly specified and limited, each term should be understood in a broad sense within the art. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0040] Example 1

[0041] FIG1 is a flow chart of a vehicle control method provided in Example 1 of the present application, which is applied to a four-motor drive system including a left motor group and a right motor group. As shown in FIG1 , the method includes the following steps:

[0042] Step 101: After the driver turns on the low-speed drift control switch, the vehicle driving mode is determined according to the current steering wheel angle of the vehicle. The vehicle driving mode includes a normal mode and a low-speed drift mode.

[0043] Step 102: If the vehicle driving mode is switched from the normal mode to the low-speed drift mode, the current total driving power and steering wheel angle of the vehicle are obtained;

[0044] Step 103: Based on the steering wheel angle, calculate and obtain the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group;

[0045] Step 104: driving the left motor group and the right motor group to operate according to their respective corresponding driving powers;

[0046] Step 105: Determine whether the low-speed drift mode is currently exited. If not, return to the step of obtaining the current total driving power and steering wheel angle of the vehicle.

[0047] In practical applications, the vehicle control method can be implemented by a vehicle control device. This device can be implemented in a variety of ways, including through a computer program, such as application software, or a chip. Alternatively, the method can be implemented as a medium storing the relevant computer program, such as a USB flash drive or cloud storage device. Alternatively, the method can be implemented as a physical device, such as a server, that integrates or installs the relevant computer program.

[0048] In this embodiment, in low-speed drift mode, the vehicle's maximum speed is less than the target speed, and the vehicle's steering wheel angle is within the target steering angle range, thereby avoiding safety accidents and ensuring the driver's personal safety. For example, the target speed is set to 40 kph, and the target steering angle range is set to plus or minus 45 degrees. It should be noted that the target speed and target steering angle range can be dynamically adjusted according to actual road conditions and are not specifically limited here. At the same time, in low-speed drift mode, the vehicle's drive anti-slip system (Acceleration Slip Regulation, ASR) is released, fully releasing the vehicle's total driving power.

[0049] In this embodiment, the vehicle is provided with a low-speed drift control switch, and the driver can independently choose whether to switch the vehicle's driving mode from normal mode to low-speed drift mode. Specifically, when the driver closes the low-speed drift control switch, the vehicle's driving mode switches from normal mode to low-speed drift mode; when the driver disconnects the low-speed drift control switch, the vehicle's driving mode switches from low-speed drift mode to normal mode. Generally, in narrow road conditions, the driver chooses to close the low-speed drift control switch. Therefore, in order to ensure the safety and reliability of the vehicle, it is necessary to determine whether the current steering wheel angle is within the target angle range. When the steering wheel angle is within the target angle range, the vehicle's driving mode is switched from normal mode to low-speed drift mode.

[0050] Specifically, there are no specific limitations on the implementation of the low-speed drift control switch. In one example, the low-speed drift control switch can be a push switch, and the driver can press the low-speed drift control switch to close it, and release the low-speed drift control switch to open it. In another example, the low-speed drift control switch can be a toggle switch, and the driver can toggle the low-speed drift control switch to select whether to close the low-speed drift control switch.

[0051] In practice, the driver may also enter low-speed drift mode through other methods, which are not specifically limited here. Alternatively, in one example, a mode switch button may be provided in the vehicle. In narrow road conditions, the driver can press the mode switch button to switch the vehicle's driving mode from normal mode to low-speed drift mode. Conversely, the driver can press the mode switch button again to switch the vehicle's driving mode from low-speed drift mode to normal mode.

[0052] Optionally, in another example, the vehicle is provided with a navigation module. When the vehicle is about to enter a narrow road condition, a voice prompt is given to the user, asking whether to switch the vehicle driving mode from the normal mode to the low-speed drift mode. The driver chooses whether to switch the vehicle driving mode from the normal mode to the low-speed drift mode. The driver can set the vehicle driving mode to the low-speed drift mode through voice instructions. For example, the driver voice instructs "set the vehicle driving mode to the low-speed drift mode". In actual application, the vehicle driving mode is switched from the normal mode to the low-speed drift mode only when the steering wheel angle is within the target angle range. Specifically, after the driver voice instructs to set the vehicle driving mode to the low-speed drift mode, it is determined whether the current steering wheel angle is within the target angle range. When the steering wheel angle is within the target angle range, the vehicle driving mode is switched from the normal mode to the low-speed drift mode.

[0053] In conjunction with the above example, the driver can choose to switch the vehicle's driving mode from low-speed drift mode to normal mode by closing the low-speed drift control switch. Correspondingly, the driver can choose to switch the vehicle's driving mode from low-speed drift mode to normal mode by opening the low-speed drift control switch. In another example, the driver can choose to switch the vehicle's driving mode from low-speed drift mode to normal mode by voice instruction, for example, the driver voice instruction "Set vehicle driving mode to normal mode."

[0054] In actual applications, when the vehicle has not exited the low-speed drift mode, the vehicle's maximum speed is not less than the target speed, or the vehicle's steering wheel angle is not within the target angle range, the low-speed drift mode is interrupted; when the vehicle's maximum speed is less than the target speed and the vehicle's steering wheel angle is within the target angle range, the low-speed drift mode stops and is interrupted.

[0055] In actual applications, after the vehicle's driving mode is switched from normal mode to low-speed drift mode, the vehicle's current total driving power and steering wheel angle are obtained. In one example, the vehicle is equipped with a steering angle sensor (SAS) for measuring the steering wheel angle and rotation direction when the vehicle is turning. Specifically, after the vehicle's driving mode is switched from normal mode to low-speed drift mode, the steering wheel angle and rotation direction measured by the steering wheel angle sensor are obtained.

[0056] In one example, the vehicle may be equipped with a power control knob, and the driver can control the vehicle's total driving power by turning the power control knob. Specifically, after the vehicle's driving mode is switched from normal mode to low-speed drift mode, the vehicle's total driving power is calculated based on the rotation angle of the power control knob. Alternatively, in another example, the driver can control the vehicle's current total driving power by pressing the accelerator pedal. Specifically, after the vehicle's driving mode is switched from normal mode to low-speed drift mode, the vehicle's total driving power is calculated based on the pressure value of the accelerator pedal.

[0057] In this embodiment, in low-speed drift mode, the steering wheel angle is used to control the vehicle's steering angle and the difference between the drive power corresponding to the left and right motor groups. In practice, the greater the steering wheel angle, the greater the difference between the drive power corresponding to the left and right motor groups. The sum of the current drive power corresponding to the left and right motor groups is the vehicle's current total drive power.

[0058] It can be understood that the current total driving power and steering wheel angle of the vehicle are obtained, and the driving power corresponding to the current left motor group and the driving power corresponding to the right motor group are distributed according to the steering wheel angle, and the left motor group and the right motor group are driven to operate according to their respective corresponding driving powers. The vehicle can generate body yaw through the differentiated effect of four-wheel torque. Compared with existing vehicles, when the steering wheel angle is adjusted to a smaller angle, the vehicle can obtain greater steering ability, and then be able to adjust the body posture in a timely and flexible manner, so that the vehicle can smoothly pass through narrow bends.

[0059] Optionally, in a possible implementation, FIG2 is a flow chart of another vehicle control method provided in Example 1 of the present application. In combination with the above-mentioned figures, as shown in FIG2 , before the above-mentioned step 103, the vehicle control method further includes the following steps:

[0060] Step 201: Determine the current driving direction of the vehicle, which includes: left front and right front;

[0061] The above step 103 includes:

[0062] Step 202: Obtaining a power difference based on a steering wheel angle; wherein different steering wheel angles correspond to different power differences;

[0063] Step 203: Based on the current total driving power and power difference, calculate the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group; wherein, if the current driving direction of the vehicle is left front, the driving power corresponding to the right motor group is the sum of the driving power corresponding to the left motor group and the power difference; if the current driving direction of the vehicle is right front, the driving power corresponding to the left motor group is the sum of the driving power corresponding to the right motor group and the power difference.

[0064] In actual applications, when the driving direction is straight ahead, the low-speed drifting mode is interrupted. Therefore, the driving direction includes: left front and right front. Specifically, the steering wheel angle sensor is used to measure the rotation angle and rotation direction of the steering wheel when the vehicle is turning, and the driving direction can be determined based on the rotation direction. In order to better describe the steering wheel angle and the driving direction of the vehicle, the steering wheel angle and the driving direction of the vehicle can be normalized. For example, when the steering wheel angle is negative, the driving direction of the vehicle is left front; when the steering wheel angle is positive, the driving direction of the vehicle is right front; for example, the current steering wheel angle is negative 15 degrees, indicating that the current driving direction is left front and the value of the steering wheel angle is 15 degrees.

[0065] The power difference is the difference between the driving power corresponding to the right motor group and the driving power corresponding to the left motor group. In this embodiment, the steering wheel angle is positively correlated with the power difference. The larger the steering wheel angle, the greater the power difference. The relationship between the steering wheel angle and the power difference is not specifically limited in this embodiment. For example, the steering wheel angle can be expressed as x, and the power difference can be expressed as P 差 , the functional relationship between the power difference and the steering wheel angle can be expressed as: P 差 =kx, where k is a constant and is not 0. In practice, the size of k can be set according to the specific scenario.

[0066] Specifically, the vehicle's current direction of travel is determined. When the vehicle is traveling in the left-front direction, the driving power corresponding to the right motor group is greater than the driving power corresponding to the left motor group. When the vehicle is traveling in the right-front direction, the driving power corresponding to the left motor group is greater than the driving power corresponding to the right motor group. The difference between the driving power corresponding to the right and left motor groups can be calculated based on the steering wheel angle.

[0067] For example, the driving power corresponding to the left motor group is expressed as P 左 , the driving power corresponding to the right motor group is expressed as P 右 , the total driving power of the vehicle is expressed as P 总 , the power difference is expressed as P 差In practice, the driving power P corresponding to the left motor group can be calculated by solving the equation group. 左 And the driving power P corresponding to the right motor group 右 Specifically, the vehicle's current driving direction is left front, and the driving power P corresponding to the right motor group 右 is the driving power P corresponding to the left motor group 左 and power difference P 差 The sum of the right motor group and the corresponding driving power P 右 And the driving power P corresponding to the left motor group 左 The sum is the total driving power P of the vehicle 总 , the equations are as follows:

[0068] Specifically, the vehicle's current driving direction is right front, and the driving power P corresponding to the left motor group is 左 is the driving power P corresponding to the right motor group 右 and power difference P 差 The sum of the right motor group and the corresponding driving power P 右 And the driving power P corresponding to the left motor group 左 The sum is the total driving power P of the vehicle 总 , the equations are as follows:

[0069] In this embodiment, in the low-speed drift mode, the vehicle is controlled to operate at a low speed, and the steering wheel angle is controlled within a certain range to ensure the personal safety of the driver. On this basis, the current driving direction of the vehicle is determined, and the power difference is determined based on the steering wheel angle; according to the current total driving power and the power difference, the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group are calculated; the left motor group and the right motor group are driven to operate according to their respective corresponding driving powers. The vehicle can generate body yaw through the differentiated effect of the four-wheel torque, and then can adjust the body posture in a timely and flexible manner. Compared with existing vehicles, a very small steering wheel angle can be achieved to obtain a larger vehicle steering effect, which can help the vehicle turn smoothly under narrow road conditions. Therefore, under narrow road conditions, it can ensure that the vehicle passes through corners smoothly, thereby improving the reliability and safety of the vehicle.

[0070] Optionally, the driver may control the current total driving power of the vehicle by stepping on the accelerator pedal. In a possible implementation, obtaining the current total driving power of the vehicle in step 102 includes:

[0071] According to the accelerator pedal calibration strategy, the current total driving power of the vehicle is obtained based on the current accelerator pedal pressure value.

[0072] The accelerator pedal calibration strategy involves mapping the accelerator pedal pressure value to the vehicle's total drive power. In practice, the accelerator pedal pressure value range can be divided into different pressure intervals, with different pressure intervals corresponding to different values ​​of the vehicle's total drive power. Specifically, after the vehicle's driving mode switches from normal mode to low-speed drift mode, the current accelerator pedal pressure value is obtained, the pressure interval to which the current accelerator pedal pressure value belongs is determined, and the vehicle's total drive power corresponding to the pressure interval is used as the vehicle's current total drive power.

[0073] In this embodiment, in the low-speed drift mode, the vehicle is controlled to operate at a low speed, and the steering wheel angle is controlled within a certain range to ensure the personal safety of the driver. On this basis, according to the accelerator pedal calibration strategy, the current total driving power of the vehicle is obtained based on the current accelerator pedal pressure value; based on the steering wheel angle, the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group are calculated, and the left motor group and the right motor group are driven to operate according to their respective corresponding driving powers. The vehicle can generate body yaw through the differentiated effect of the four-wheel torque, and then can adjust the body posture in a timely and flexible manner. Compared with existing vehicles, a very small steering wheel angle can be achieved to obtain a larger vehicle steering effect, which can help the vehicle turn smoothly under narrow road conditions. Therefore, under narrow road conditions, it can ensure that the vehicle passes through corners smoothly, thereby improving the reliability and safety of the vehicle.

[0074] Optionally, in a possible implementation, FIG3 is a flow chart of another vehicle control method provided in Example 1 of the present application. In combination with the above-mentioned figures, as shown in FIG3 , the above-mentioned step 101 includes:

[0075] Step 301: After the driver turns on the low-speed drift control switch, the current steering wheel angle of the vehicle is obtained to determine whether the steering wheel angle is within a target angle range;

[0076] Step 302: If the steering wheel angle is within the target angle range, the vehicle driving mode is switched from the normal mode to the low-speed drift mode; the vehicle driving mode includes the normal mode and the low-speed drift mode;

[0077] Step 303: If the steering wheel angle is not within the target angle range, an angle overtravel prompt is output and the process returns to step 301; the angle overtravel prompt is used to prompt the user to adjust the steering wheel angle to within the target angle range.

[0078] In the above example, in narrow road conditions, the driver can switch the vehicle's driving mode from normal mode to low-speed drift mode by closing the low-speed drift control switch or receiving voice instructions. Based on this, the vehicle's current steering wheel angle is obtained, for example, the steering wheel angle measured by the steering wheel angle sensor is obtained, and it is determined whether the steering wheel angle is within the target angle range.

[0079] In practice, to avoid accidents and ensure the driver's personal safety, in low-speed drift mode, the vehicle's maximum speed is less than the target speed, and the vehicle's steering wheel angle is within the target angle range. Specifically, if the steering wheel angle is within the target range, the vehicle's driving mode is switched from normal mode to low-speed drift mode. The vehicle's current total drive power and steering wheel angle are obtained. Based on the steering wheel angle, the drive power corresponding to the current left motor group and the current drive power corresponding to the current right motor group are calculated. The left and right motor groups are then driven to operate according to their respective drive powers.

[0080] Correspondingly, if the steering wheel angle is not within the target range, an angle overtravel prompt is output to prompt the user to adjust the steering wheel angle to within the target angle range. The user adjusts the steering wheel angle. After determining that the steering wheel angle is within the target angle range, the vehicle driving mode is switched from normal mode to low-speed drift mode to obtain the vehicle's current total driving power and steering wheel angle; based on the steering wheel angle, the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group are calculated; the left motor group and the right motor group are driven to operate according to their respective corresponding driving powers.

[0081] In this embodiment, after the driver engages the low-speed drift control switch, the steering wheel angle is acquired and a determination is made as to whether the steering wheel angle is within a target angle range. If so, the vehicle's driving mode is switched from normal mode to low-speed drift mode. If not, an angle overtravel prompt is output, prompting the user to adjust the steering wheel angle to within the target angle range. This effectively ensures that the steering wheel angle is within the target angle range before entering low-speed drift mode, thereby ensuring the driver's personal safety. Furthermore, based on the steering wheel angle, the driving power corresponding to the current left motor group and the current right motor group is calculated. The left and right motor groups are driven to operate according to their respective driving powers. The vehicle generates body yaw through the differential effect of the four-wheel torque, thereby enabling timely and flexible adjustments to the vehicle's posture. Compared to existing vehicles, a smaller steering wheel angle can achieve a larger steering effect, helping the vehicle to smoothly steer on narrow roads. Therefore, the vehicle can smoothly negotiate corners on narrow roads, improving vehicle reliability and safety.

[0082] Optionally, in a possible implementation manner, determining whether the low-speed drift mode is currently exited in step 105 includes:

[0083] Determining whether the current vehicle meets the low-speed drift mode interruption conditions; wherein the low-speed drift mode interruption conditions include at least one of the following: the steering wheel angle is 0, the steering wheel angle exceeds the target angle range, the driver releases the steering wheel, the driver releases the accelerator pedal, the driver steps on the brake pedal, or the vehicle speed exceeds a preset low-speed range;

[0084] If satisfied, determine whether the current low-speed drift control switch is closed; if closed, do not exit the low-speed drift mode; if not closed, exit the low-speed drift mode and switch to normal mode.

[0085] The low-speed drift mode interruption condition is used to determine whether the current low-speed drift mode is interrupted. In this embodiment, the low-speed drift mode interruption condition is not specifically limited, and the low-speed drift mode interruption condition can be increased or decreased according to the actual application scenario.

[0086] It should be noted that low-speed drift mode is interrupted if any of the following conditions are met: for example, if the steering wheel angle exceeds the target angle range, the steering wheel angle is not zero, the driver releases the steering wheel, the driver does not release the accelerator pedal, the driver does not press the brake pedal, and the vehicle speed does not exceed the preset low-speed range.

[0087] Correspondingly, when the steering wheel angle is not 0, the steering wheel angle does not exceed the target angle range, the driver does not release the steering wheel, the driver does not release the accelerator pedal, the driver does not step on the brake pedal, and the vehicle speed does not exceed the preset low-speed range, the current low-speed drift mode stops and is interrupted.

[0088] In actual applications, the low-speed drift mode may be interrupted unconsciously by the driver, or it may be interrupted consciously by the driver (i.e., the driver turns off the low-speed drift control switch). In this embodiment, by determining whether the low-speed drift control switch is closed, it is possible to determine whether to exit the low-speed drift mode, thereby achieving accurate control of the vehicle's driving mode.

[0089] In the vehicle control method provided by this embodiment, first, after the driver closes the low-speed drift control switch, the vehicle driving mode is determined according to the current steering wheel angle of the vehicle. When the vehicle driving mode is switched from the normal mode to the low-speed drift mode, the current total driving power and steering wheel angle of the vehicle are obtained; then, based on the steering wheel angle, the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group are calculated; finally, the left motor group and the right motor group are driven to operate according to their respective corresponding driving powers; and, it is determined whether the low-speed drift mode is currently exited. If not, the step of obtaining the current total driving power and steering wheel angle of the vehicle is returned to the execution. In the embodiment of the present application, in the low-speed drift mode, the vehicle is controlled to operate at a low speed, and the steering wheel angle is controlled within a certain range to ensure the personal safety of the driver. On this basis, based on the steering wheel angle, the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group are calculated, and the left motor group and the right motor group are driven to operate according to their respective corresponding driving powers. The vehicle can generate body yaw through the differentiated effect of the four-wheel torque, and then can adjust the body posture in a timely and flexible manner. Compared with existing vehicles, a very small steering wheel angle can be achieved to obtain a larger vehicle steering effect, which can help the vehicle to turn smoothly in narrow road conditions. Therefore, in narrow road conditions, it can ensure that the vehicle passes through corners smoothly, thereby improving the reliability and safety of the vehicle.

[0090] Example 2

[0091] FIG4 is a flow chart of a vehicle control method provided in Example 2 of the present application. As shown in FIG4 , the method includes the following steps:

[0092] Step 401: After the driver turns on the low-speed drift control switch, obtain the current steering wheel angle of the vehicle;

[0093] Step 402: Determine whether the steering wheel angle is within the target angle range;

[0094] Step 403: If the steering wheel angle is not within the target angle range, output an angle overtravel prompt and return to step 401; wherein the angle overtravel prompt is used to prompt the user to adjust the steering wheel angle to within the target angle range;

[0095] Step 404: If the steering wheel angle is within the target angle range, the vehicle driving mode is switched from the normal mode to the low-speed drift mode; the vehicle driving mode includes the normal mode and the low-speed drift mode;

[0096] Step 405: Obtaining the current total driving power of the vehicle based on the current accelerator pedal pressure value according to the accelerator pedal calibration strategy; and obtaining the current steering wheel angle of the vehicle;

[0097] Step 406: Determine the current driving direction of the vehicle, where the driving direction includes: left front and right front;

[0098] Step 407: Obtaining a power difference based on the steering wheel angle; wherein different steering wheel angles correspond to different power differences;

[0099] Step 408: Calculate the current driving power corresponding to the left motor group and the current driving power corresponding to the right motor group based on the current total driving power and the power difference;

[0100] Step 409: driving the left motor group and the right motor group to operate according to their respective corresponding driving powers;

[0101] Step 410: Determine whether the current vehicle meets the low-speed drift mode interruption conditions; wherein the low-speed drift mode interruption conditions include at least one of the following: the steering wheel angle is 0, the steering wheel angle exceeds the target angle range, the driver releases the steering wheel, the driver releases the accelerator pedal, the driver steps on the brake pedal, or the vehicle speed exceeds a preset low-speed range;

[0102] Step 411: If satisfied, determine whether the current low-speed drift control switch is closed;

[0103] Step 412: If closed, do not exit the low-speed drift mode and return to step 405;

[0104] Step 413: If not closed, exit the low-speed drift mode and switch to the normal mode.

[0105] In the vehicle control method provided by this embodiment, first, after the driver closes the low-speed drift control switch, the vehicle driving mode is determined according to the current steering wheel angle of the vehicle. When the vehicle driving mode is switched from the normal mode to the low-speed drift mode, the current total driving power and steering wheel angle of the vehicle are obtained; then, based on the steering wheel angle, the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group are calculated; finally, the left motor group and the right motor group are driven to operate according to their respective corresponding driving powers; and, it is determined whether the low-speed drift mode is currently exited. If not, the step of obtaining the current total driving power and steering wheel angle of the vehicle is returned to the execution. In the embodiment of the present application, in the low-speed drift mode, the vehicle is controlled to operate at a low speed, and the steering wheel angle is controlled within a certain range to ensure the personal safety of the driver. On this basis, based on the steering wheel angle, the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group are calculated, and the left motor group and the right motor group are driven to operate according to their respective corresponding driving powers. The vehicle can generate body yaw through the differentiated effect of the four-wheel torque, and then can adjust the body posture in a timely and flexible manner. Compared with existing vehicles, a very small steering wheel angle can be achieved to obtain a larger vehicle steering effect, which can help the vehicle to turn smoothly in narrow road conditions. Therefore, in narrow road conditions, it can ensure that the vehicle passes through corners smoothly, thereby improving the reliability and safety of the vehicle.

[0106] Example 3

[0107] FIG5 is a schematic diagram of the structure of a vehicle control device provided in Example 3 of the present application, which is applied to a four-motor drive system. The four-motor drive system includes a left motor group and a right motor group. As shown in FIG5 , the device includes:

[0108] The processing module 51 is configured to determine a vehicle driving mode according to a current steering wheel angle of the vehicle after the driver turns on the low-speed drift control switch. The vehicle driving mode includes a normal mode and a low-speed drift mode.

[0109] an acquisition module 52 for acquiring the current total driving power and steering wheel angle of the vehicle if the vehicle driving mode is switched from the normal mode to the low-speed drift mode;

[0110] A calculation module 53 is configured to calculate the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group based on the steering wheel angle;

[0111] A driving module 54 is used to drive the left motor group and the right motor group to operate according to their respective corresponding driving powers;

[0112] The judgment module 55 is used to judge whether the low-speed drift mode is currently exited. If not, the judgment module returns to the step of obtaining the current total driving power and steering wheel angle of the vehicle.

[0113] In this embodiment, in low-speed drift mode, the vehicle's maximum speed is less than the target speed, and the vehicle's steering wheel angle is within the target angle range, thereby avoiding accidents and ensuring the driver's personal safety. It should be noted that the target speed and target angle range can be dynamically adjusted based on actual road conditions and are again not specifically limited. Simultaneously, in low-speed drift mode, the vehicle's anti-skid system (ASR) is deactivated, fully unleashing the vehicle's total driving power.

[0114] In this embodiment, the vehicle is equipped with a low-speed drift control switch, allowing the driver to independently select whether to switch the vehicle's driving mode from normal mode to low-speed drift mode. Specifically, when the driver closes the low-speed drift control switch, the vehicle's driving mode switches from normal mode to low-speed drift mode; when the driver opens the low-speed drift control switch, the vehicle's driving mode switches from low-speed drift mode to normal mode. Generally, in narrow road conditions, the driver chooses to close the low-speed drift control switch. Therefore, to ensure the safety and reliability of the vehicle, the processing module 51 needs to determine whether the current steering wheel angle is within the target angle range. When the steering wheel angle is within the target angle range, the vehicle's driving mode is switched from normal mode to low-speed drift mode.

[0115] Specifically, there are no specific limitations on the implementation of the low-speed drift control switch. In one example, the low-speed drift control switch can be a push switch, and the driver can press the low-speed drift control switch to close it, and release the low-speed drift control switch to open it. In another example, the low-speed drift control switch can be a toggle switch, and the driver can toggle the low-speed drift control switch to select whether to close the low-speed drift control switch.

[0116] In practice, the driver may also enter low-speed drift mode through other methods, which are not specifically limited here. Alternatively, in one example, a mode switch button may be provided in the vehicle. In narrow road conditions, the driver can press the mode switch button to switch the vehicle's driving mode from normal mode to low-speed drift mode. Conversely, the driver can press the mode switch button again to switch the vehicle's driving mode from low-speed drift mode to normal mode.

[0117] Optionally, in another example, the vehicle is provided with a navigation module. When the vehicle is about to enter a narrow road condition, a voice prompt is given to the user, asking whether to switch the vehicle driving mode from the normal mode to the low-speed drift mode. The driver chooses whether to switch the vehicle driving mode from the normal mode to the low-speed drift mode. The driver can set the vehicle driving mode to the low-speed drift mode through voice instructions. For example, the driver voice instructs "set the vehicle driving mode to the low-speed drift mode". In actual application, the vehicle driving mode is switched from the normal mode to the low-speed drift mode only when the steering wheel angle is within the target angle range. Specifically, after the driver voice instructs to set the vehicle driving mode to the low-speed drift mode, the processing module 51 determines whether the current steering wheel angle is within the target angle range. When the steering wheel angle is within the target angle range, the vehicle driving mode is switched from the normal mode to the low-speed drift mode.

[0118] In the above example, the driver can switch the vehicle's driving mode from low-speed drift mode to normal mode by closing the low-speed drift control switch. Correspondingly, the driver can switch the vehicle's driving mode from low-speed drift mode to normal mode by opening the low-speed drift control switch. In another example, the driver can switch the vehicle's driving mode from low-speed drift mode to normal mode by voice instruction, for example, the driver can voice instruction "Set vehicle driving mode to normal mode."

[0119] In actual applications, when the vehicle has not exited the low-speed drift mode, the vehicle's maximum speed is not less than the target speed, or the vehicle's steering wheel angle is not within the target angle range, the low-speed drift mode is interrupted; when the vehicle's maximum speed is less than the target speed and the vehicle's steering wheel angle is within the target angle range, the low-speed drift mode stops and is interrupted.

[0120] In actual applications, after the vehicle's driving mode switches from normal mode to low-speed drift mode, the vehicle's current total driving power and steering wheel angle are obtained. In one example, the vehicle is equipped with a steering wheel angle sensor (SAS) for measuring the steering wheel angle and rotation direction when the vehicle is turning. Specifically, after the vehicle's driving mode switches from normal mode to low-speed drift mode, the acquisition module 52 obtains the steering wheel angle and rotation direction measured by the steering wheel angle sensor.

[0121] In one example, the vehicle may be provided with a power control knob, and the driver may control the vehicle's total driving power by rotating the power control knob. Specifically, after the vehicle's driving mode is switched from normal mode to low-speed drift mode, the acquisition module 52 calculates the vehicle's total driving power based on the rotation angle of the power control knob. Alternatively, in another example, the driver may control the vehicle's current total driving power by pressing the accelerator pedal. Specifically, after the vehicle's driving mode is switched from normal mode to low-speed drift mode, the acquisition module 52 calculates the vehicle's total driving power based on the pressure value of the accelerator pedal.

[0122] In this embodiment, in low-speed drift mode, the steering wheel angle is used to control the vehicle's steering angle and the difference between the drive power corresponding to the left and right motor groups. In practice, the greater the steering wheel angle, the greater the difference between the drive power corresponding to the left and right motor groups. The sum of the current drive power corresponding to the left and right motor groups is the vehicle's current total drive power.

[0123] It can be understood that the acquisition module 52 obtains the vehicle's current total driving power and steering wheel angle, the calculation module 53 calculates the driving power corresponding to the current left motor group and the driving power corresponding to the right motor group according to the steering wheel angle, and the drive module 54 drives the left motor group and the right motor group to operate according to their respective corresponding driving powers. The vehicle can generate body yaw through the differentiated effect of four-wheel torque. Compared with existing vehicles, when the steering wheel angle is adjusted to a smaller angle, the vehicle can obtain greater steering ability, and then can adjust the body posture in a timely and flexible manner, so that the vehicle can smoothly pass through narrow bends.

[0124] Optionally, in a possible implementation manner, the device further includes:

[0125] A determination module is used to determine the current driving direction of the vehicle, which includes: left front and right front;

[0126] The calculation module 53 is specifically used to:

[0127] A power difference is obtained based on the steering wheel angle, wherein different steering wheel angles correspond to different power differences;

[0128] According to the current total driving power and power difference, the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group are calculated; among them, if the current driving direction of the vehicle is left front, the driving power corresponding to the right motor group is the sum of the driving power corresponding to the left motor group and the power difference; if the current driving direction of the vehicle is right front, the driving power corresponding to the left motor group is the sum of the driving power corresponding to the right motor group and the power difference.

[0129] In actual applications, when the driving direction is straight ahead, the low-speed drifting mode is interrupted. Therefore, the driving directions include: left front and right front. Specifically, the steering wheel angle sensor is used to measure the rotation angle and rotation direction of the steering wheel when the vehicle is turning, and the determination module can determine the driving direction based on the rotation direction. In order to better describe the steering wheel angle and the driving direction of the vehicle, the steering wheel angle and the driving direction of the vehicle can be normalized. For example, when the steering wheel angle is negative, the driving direction of the vehicle is left front; when the steering wheel angle is positive, the driving direction of the vehicle is right front.

[0130] The power difference is the difference between the drive power corresponding to the right motor group and the drive power corresponding to the left motor group. In this embodiment, the steering wheel angle is positively correlated with the power difference; a larger steering wheel angle increases the power difference. This relationship between the steering wheel angle and the power difference is not specifically limited in this embodiment.

[0131] Specifically, the determination module determines the vehicle's current direction of travel. When the vehicle is traveling in the left-front direction, the driving power corresponding to the right motor group is greater than the driving power corresponding to the left motor group. When the vehicle is traveling in the right-front direction, the driving power corresponding to the left motor group is greater than the driving power corresponding to the right motor group. The calculation module 53 can calculate the difference between the driving power corresponding to the right motor group and the driving power corresponding to the left motor group based on the steering wheel angle.

[0132] For example, the driving power corresponding to the left motor group is expressed as P 左 , the driving power corresponding to the right motor group is expressed as P 右 , the total driving power of the vehicle is expressed as P 总 , the power difference is expressed as P 差 In practice, the calculation module 53 can calculate the driving power P corresponding to the left motor group by solving the equation group. 左 And the driving power P corresponding to the right motor group 右 Specifically, the vehicle's current driving direction is left front, and the driving power P corresponding to the right motor group 右 is the driving power P corresponding to the left motor group 左 and power difference P 差 The sum of the right motor group and the corresponding driving power P 右 And the driving power P corresponding to the left motor group 左 The sum is the total driving power P of the vehicle 总 , the equations are as follows:

[0133] Specifically, the vehicle's current driving direction is right front, and the driving power P corresponding to the left motor group is 左 is the driving power P corresponding to the right motor group 右 and power difference P 差The sum of the right motor group and the corresponding driving power P 右 And the driving power P corresponding to the left motor group 左 The sum is the total driving power P of the vehicle 总 , the equations are as follows:

[0134] In this embodiment, in the low-speed drift mode, the vehicle is controlled to operate at a low speed, and the steering wheel angle is controlled within a certain range to ensure the personal safety of the driver. On this basis, the determination module determines the current driving direction of the vehicle; the calculation module 53 determines the power difference based on the steering wheel angle, and calculates the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group according to the current total driving power and the power difference; the drive module 54 drives the left motor group and the right motor group to operate according to their respective corresponding driving powers. The vehicle can generate body yaw through the differentiated effect of the four-wheel torque, and then can adjust the body posture in a timely and flexible manner. Compared with existing vehicles, a very small steering wheel angle can be achieved to obtain a larger vehicle steering effect, which can help the vehicle to turn smoothly under narrow road conditions. Therefore, under narrow road conditions, it can ensure that the vehicle passes through corners smoothly, thereby improving the reliability and safety of the vehicle.

[0135] Optionally, in a possible implementation manner, when the acquisition module 52 is used to acquire the current total driving power of the vehicle, it is specifically used to:

[0136] According to the accelerator pedal calibration strategy, the current total driving power of the vehicle is obtained based on the current accelerator pedal pressure value.

[0137] The accelerator pedal calibration strategy involves mapping the accelerator pedal pressure value to the vehicle's total driving power. In practice, the accelerator pedal pressure value range can be divided into different pressure intervals, with different pressure intervals corresponding to different values ​​of the vehicle's total driving power. Specifically, after the vehicle's driving mode switches from normal mode to low-speed drift mode, acquisition module 52 acquires the current accelerator pedal pressure value, determines the pressure interval to which the current accelerator pedal pressure value belongs, and uses the vehicle's total driving power corresponding to the pressure interval as the vehicle's current total driving power.

[0138] In this embodiment, in the low-speed drift mode, the vehicle is controlled to operate at a low speed, and the steering wheel angle is controlled within a certain range to ensure the personal safety of the driver. On this basis, the acquisition module 52 obtains the current total driving power of the vehicle based on the current accelerator pedal pressure value according to the accelerator pedal calibration strategy; the calculation module 53 calculates the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group based on the steering wheel angle. The drive module 54 drives the left motor group and the right motor group to operate according to their respective corresponding driving powers. The vehicle can generate body yaw through the differentiated effect of the four-wheel torque, and then can adjust the body posture in a timely and flexible manner. Compared with existing vehicles, a very small steering wheel angle can be achieved to obtain a larger vehicle steering effect, which can help the vehicle turn smoothly under narrow road conditions. Therefore, under narrow road conditions, it can ensure that the vehicle passes through corners smoothly, thereby improving the reliability and safety of the vehicle.

[0139] Optionally, in a possible implementation manner, the processing module 51 is specifically configured to:

[0140] After the driver turns on the low-speed drift control switch, the current steering wheel angle of the vehicle is obtained to determine whether the steering wheel angle is within the target angle range;

[0141] If the steering wheel angle is within the target angle range, the vehicle driving mode is switched from the normal mode to the low-speed drift mode; the vehicle driving mode includes the normal mode and the low-speed drift mode;

[0142] If the steering wheel angle is not within the target angle range, an angle overtravel prompt is output, and the process returns to the step of obtaining the vehicle's current steering wheel angle and determining whether the steering wheel angle is within the target angle range. The angle overtravel prompt is used to prompt the user to adjust the steering wheel angle to within the target angle range.

[0143] In conjunction with the above example, in narrow road conditions, the driver can choose to switch the vehicle's driving mode from normal mode to low-speed drift mode by closing the low-speed drift control switch, or by voice instructions. Based on this, the processing module 51 obtains the vehicle's current steering wheel angle. For example, the processing module 51 obtains the steering wheel angle measured by the steering wheel angle sensor and determines whether the steering wheel angle is within the target angle range.

[0144] In practice, to avoid accidents and ensure the driver's personal safety, in low-speed drift mode, the vehicle's maximum speed is less than the target speed, and the vehicle's steering wheel angle is within the target angle range. Specifically, if the steering wheel angle is within the target range, the processing module 51 switches the vehicle's driving mode from normal mode to low-speed drift mode; the acquisition module 52 obtains the vehicle's current total driving power and steering wheel angle; the calculation module 53 calculates the driving power corresponding to the current left motor group and the current right motor group based on the steering wheel angle; and the drive module 54 drives the left and right motor groups to operate according to their respective driving powers.

[0145] Correspondingly, if the steering wheel angle is not within the target range, the processing module 51 outputs an angle overtravel prompt, prompting the user to adjust the steering wheel angle to within the target angle range. The user adjusts the steering wheel angle. After the processing module 51 determines that the steering wheel angle is within the target angle range, it switches the vehicle driving mode from the normal mode to the low-speed drift mode. The acquisition module 52 obtains the current total driving power and steering wheel angle of the vehicle; the calculation module 53 calculates the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group based on the steering wheel angle; the drive module 54 drives the left motor group and the right motor group to operate according to their respective corresponding driving powers.

[0146] In this embodiment, after the driver turns on the low-speed drift control switch, the processing module 51 obtains the steering wheel angle and determines whether the steering wheel angle is within the target angle range. If the steering wheel angle is within the target angle range, the vehicle driving mode is switched from the normal mode to the low-speed drift mode; if the steering wheel angle is not within the target angle range, an angle overtravel prompt is output to prompt the user to adjust the steering wheel angle to be within the target angle range. This can effectively ensure that the steering wheel angle is within the target angle range before entering the low-speed drift mode, which can ensure the personal safety of the driver. On this basis, the calculation module 53 is based on the steering wheel angle, and the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group are calculated. The driving module 54 drives the left motor group and the right motor group to operate according to their respective corresponding driving powers. The vehicle can generate body yaw through the differentiated effect of the four-wheel torque, and then can adjust the body posture in a timely and flexible manner. Compared with existing vehicles, a very small steering wheel angle can be achieved to obtain a larger vehicle steering effect, which can help the vehicle turn smoothly in narrow road conditions. Therefore, in narrow road conditions, it can ensure that the vehicle passes through the corner smoothly, thereby improving the reliability and safety of the vehicle.

[0147] Optionally, in a possible implementation manner, the judgment module 55 is configured to determine whether the low-speed drift mode is currently exited by:

[0148] Determining whether the current vehicle meets the low-speed drift mode interruption conditions; wherein the low-speed drift mode interruption conditions include at least one of the following: the steering wheel angle is 0, the steering wheel angle exceeds the target angle range, the driver releases the steering wheel, the driver releases the accelerator pedal, the driver steps on the brake pedal, or the vehicle speed exceeds a preset low-speed range;

[0149] If satisfied, determine whether the current low-speed drift control switch is closed; if closed, do not exit the low-speed drift mode; if not closed, exit the low-speed drift mode and switch to normal mode.

[0150] The low-speed drift mode interruption condition is used to determine whether the current low-speed drift mode is interrupted. In this embodiment, the low-speed drift mode interruption condition is not specifically limited, and the low-speed drift mode interruption condition can be increased or decreased according to the actual application scenario.

[0151] It should be noted that low-speed drift mode is interrupted if any of the following conditions are met: for example, if the steering wheel angle exceeds the target angle range, the steering wheel angle is not zero, the driver releases the steering wheel, the driver does not release the accelerator pedal, the driver does not press the brake pedal, and the vehicle speed does not exceed the preset low-speed range.

[0152] Correspondingly, when the steering wheel angle is not 0, the steering wheel angle does not exceed the target angle range, the driver does not release the steering wheel, the driver does not release the accelerator pedal, the driver does not step on the brake pedal, and the vehicle speed does not exceed the preset low-speed range, the current low-speed drift mode stops and is interrupted.

[0153] In actual applications, the low-speed drift mode may be interrupted unconsciously by the driver, or it may be interrupted consciously by the driver (i.e., the driver turns off the low-speed drift control switch). In this embodiment, the judgment module 55 can determine whether to exit the low-speed drift mode by determining whether the low-speed drift control switch is closed, thereby achieving accurate control of the vehicle's driving mode.

[0154] In the vehicle control device provided by this embodiment, first, after the driver closes the low-speed drift control switch, the processing module determines the vehicle driving mode according to the current steering wheel angle of the vehicle. When the vehicle driving mode is switched from the normal mode to the low-speed drift mode, the acquisition module obtains the current total driving power and steering wheel angle of the vehicle; then, the calculation module calculates the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group based on the steering wheel angle; finally, the driving module drives the left motor group and the right motor group to operate according to their respective corresponding driving powers; and the judgment module determines whether the low-speed drift mode is currently exited. If not, it returns to execute the step of obtaining the current total driving power and steering wheel angle of the vehicle. In the embodiment of the present application, in the low-speed drift mode, the vehicle is controlled to operate at a low speed, and the steering wheel angle is controlled within a certain range to ensure the personal safety of the driver. On this basis, based on the steering wheel angle, the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group are calculated, and the left motor group and the right motor group are driven to operate according to their respective corresponding driving powers. The vehicle can generate body yaw through the differentiated effect of the four-wheel torque, and then can adjust the body posture in a timely and flexible manner. Compared with existing vehicles, a very small steering wheel angle can be achieved to obtain a larger vehicle steering effect, which can help the vehicle to turn smoothly in narrow road conditions. Therefore, in narrow road conditions, it can ensure that the vehicle passes through corners smoothly, thereby improving the reliability and safety of the vehicle.

[0155] Example 4

[0156] FIG6 is a schematic diagram of the structure of an electronic device provided in a fourth embodiment of the present application. As shown in FIG6 , the electronic device includes:

[0157] The main control device includes a processor 61 and a memory 62; it may also include a communication interface 63 and a bus 64. The processor 61, memory 62, and communication interface 63 can communicate with each other via bus 64. The communication interface 63 can be used for information transmission. The processor 61 can call logic instructions in the memory 62 to execute the method of the above embodiment.

[0158] In addition, the logic instructions in the memory 62 can be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as an independent product.

[0159] Memory 62, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of the present application. Processor 61 executes the software programs, instructions, and modules stored in memory 62 to perform functional applications and data processing, thereby implementing the methods in the above-mentioned method embodiments.

[0160] The memory 62 may include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data generated based on the use of the terminal device. Furthermore, the memory 62 may include high-speed random access memory and non-volatile memory.

[0161] The present application also provides a computer-readable storage medium having computer-executable instructions stored therein. When executed by a processor, the computer-executable instructions implement the method of any of the embodiments. For example, the computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, or optical data storage device.

[0162] An embodiment of the present application also provides a computer program product, including a computer program. When the computer program is executed, the method steps in the above method embodiment are implemented. The specific implementation method and technical effects are similar and will not be repeated here.

[0163] The embodiment of the present application also provides a computer program, which, when executed on a computer, enables the computer to execute the method steps in the above method embodiment. The specific implementation method and technical effect are similar and will not be repeated here.

[0164] 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.

[0165] 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.

[0166] Still other aspects will become apparent upon reading and understanding the accompanying drawings and detailed description.

Claims

1. A vehicle control method is applied to a four-motor drive system, and the four-motor drive system includes a left motor group and a right motor group; The vehicle control method includes: After the driver closes the low-speed drift control switch, determine the vehicle driving mode according to the current steering wheel angle of the vehicle, where the vehicle driving mode includes a normal mode and a low-speed drift mode; If the vehicle driving mode is switched from the normal mode to the low-speed drift mode, obtain the current total driving power and steering wheel angle of the vehicle; Based on the steering wheel angle, calculate the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group; where the sum of the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group is the current total driving power of the vehicle; Drive the left motor group and the right motor group to operate according to their respective corresponding driving powers; and determine whether to exit the low-speed drift mode currently. If not, return to execute the step of obtaining the current total driving power and steering wheel angle of the vehicle.

2. The method according to claim 1, wherein Before calculating the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group based on the steering wheel angle, the method further includes: Determine the current driving direction of the vehicle, where the driving direction includes: left front and right front; Calculating the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group based on the steering wheel angle includes: Obtain a power difference based on the steering wheel angle; where different steering wheel angles correspond to different power differences; According to the current total driving power and the power difference, calculate the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group; where if the current driving direction of the vehicle is left front, the driving power corresponding to the right motor group is the sum of the driving power corresponding to the left motor group and the power difference; if the current driving direction of the vehicle is right front, the driving power corresponding to the left motor group is the sum of the driving power corresponding to the right motor group and the power difference.

3. The method according to claim 2, wherein, Obtaining the current total driving power of the vehicle includes: According to the throttle pedal calibration strategy, obtain the current total driving power of the vehicle based on the pressure value of the current throttle pedal.

4. According to the method described in claim 1, after the driver closes the low-speed drift control switch, determining the vehicle driving mode according to the current steering wheel angle of the vehicle includes: After the driver closes the low-speed drift control switch, obtain the current steering wheel angle of the vehicle and determine whether the steering wheel angle is within the target angle range; If the steering wheel angle is within the target angle range, switch the vehicle driving mode from the normal mode to the low-speed drift mode; If the steering wheel angle is not within the target angle range, output an angle over-range prompt and return to execute the step of obtaining the current steering wheel angle of the vehicle and determining whether the steering wheel angle is within the target angle range; where the angle over-range prompt is used to prompt the user to adjust the steering wheel angle to within the target angle range.

5. The method according to any one of claims 1-4, wherein, Determining whether to exit the low-speed drift mode currently includes: Determine whether the current vehicle meets the low-speed drift mode interruption condition; wherein, the low-speed drift mode interruption condition includes at least one of the following: the steering wheel angle is 0, the steering wheel angle exceeds the target angle range, the driver releases the steering wheel, the driver releases the accelerator pedal, the driver steps on the brake pedal, and the vehicle speed exceeds the preset low-speed range; If it is satisfied, then determine whether the current low-speed drift control switch is closed; if it is closed, do not exit the low-speed drift mode; if it is not closed, exit the low-speed drift mode and switch to the normal mode.

6. A vehicle control device is applied to a four-motor drive system, and the four-motor drive system includes a left motor group and a right motor group; The vehicle control device includes: A processing module, configured to determine the vehicle driving mode according to the current steering wheel angle of the vehicle after the driver closes the low-speed drift control switch, and the vehicle driving mode includes a normal mode and a low-speed drift mode; An acquisition module, configured to acquire the current total driving power and steering wheel angle of the vehicle if the vehicle driving mode switches from the normal mode to the low-speed drift mode; A calculation module, configured to calculate the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group based on the steering wheel angle; wherein, the sum of the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group is the current total driving power of the vehicle; A driving module, configured to drive the left motor group and the right motor group to operate according to their respective corresponding driving powers; A judgment module, configured to judge whether to exit the low-speed drift mode currently. If not, return to execute the step of acquiring the current total driving power and steering wheel angle of the vehicle.

8. The device according to claim 6, the device further includes: A determination module, configured to determine the current driving direction of the vehicle, and the driving direction includes: left front and right front; The calculation module, specifically configured to: Obtain a power difference based on the steering wheel angle; wherein, different steering wheel angles correspond to different power differences; Calculate the driving power corresponding to the current left motor group and the driving power corresponding to the current right motor group according to the current total driving power and the power difference; wherein, if the current driving direction of the vehicle is left front, the driving power corresponding to the right motor group is the sum of the driving power corresponding to the left motor group and the power difference; if the current driving direction of the vehicle is right front, the driving power corresponding to the left motor group is the sum of the driving power corresponding to the right motor group and the power difference.

9. The device according to claim 7, when the acquisition module is used to acquire the current total driving power of the vehicle, specifically configured to: Obtain the current total driving power of the vehicle based on the pressure value of the current accelerator pedal according to the accelerator pedal calibration strategy.

10. The device according to claim 6, the processing module, specifically configured to: After the driver closes the low-speed drift control switch, acquire the current steering wheel angle of the vehicle, and judge whether the steering wheel angle is within the target angle range; If the steering wheel angle is within the target angle range, switch the vehicle driving mode from the normal mode to the low-speed drift mode; If the steering wheel angle is not within the target angle range, an angle overtravel prompt is output, and the step of obtaining the current steering wheel angle of the vehicle and determining whether the steering wheel angle is within the target angle range is returned for execution; among them, The corner overtravel prompt is used to prompt the user to adjust the steering wheel angle within the target angle range.

10. The device according to any one of claims 6-9, when the judgment module is used to judge whether to exit the low-speed drift mode currently, specifically: Determine whether the current vehicle meets the low-speed drift mode interruption condition; among them, The low-speed drift mode interruption conditions include at least one of the following: the steering wheel angle is 0, the steering wheel angle exceeds the target angle range, the driver releases the steering wheel, the driver releases the accelerator pedal, the driver steps on the brake pedal, and the vehicle speed exceeds the preset low-speed range; If it is satisfied, it is judged whether the current low-speed drift control switch is closed; if it is closed, the low-speed drift mode is not exited; if it is not closed, the low-speed drift mode is exited and switched to the normal mode.

11. An electronic device, comprising: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1-5.

12. A computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1-5.

13. A computer program product, including a computer program, and when the computer program is executed, it implements the method according to any one of claims 1-5.

14. A computer program, when the computer program runs on a computer, the computer executes the method according to any one of claims 1-5.

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