Vehicle control method, controller and vehicle

Abstract

A vehicle control method, a controller and a vehicle, which relate to the technical field of vehicles. The method comprises: determining that a lateral stability fault occurs in a vehicle, wherein the lateral stability fault comprises a tire blowout and / or a wheel control failure; acquiring driving state information of the vehicle; and on the basis of the driving state information, at least performing steering control on rear wheels of the vehicle, so as to avoid lateral drift of the vehicle.

Description

Vehicle control method, controller and vehicle

[0001] Cross-reference to related applications

[0002] The present disclosure claims priority to the Chinese patent application No. 202410546991.7, filed on April 30, 2024, and entitled “Vehicle control method, controller and vehicle”, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of vehicle control, in particular, to a vehicle control method, controller and vehicle. BACKGROUND

[0004] If a tire burst or tire failure occurs during the driving of a vehicle, the vehicle will produce an unexpected yaw, which will have a huge impact on the vehicle stability control and vehicle safety. Therefore, the lateral stability and path following ability of the vehicle after a tire burst or tire failure are key problems of vehicle stability control. SUMMARY

[0005] The purpose of the present disclosure is to provide a vehicle control method, controller and vehicle.

[0006] To achieve the above purpose, the present disclosure provides a vehicle control method, comprising:

[0007] determining that a lateral stability failure occurs in the vehicle, the lateral stability failure comprising a tire burst and / or a wheel control failure;

[0008] obtaining driving state information of the vehicle;

[0009] performing steering control on at least the rear wheels of the vehicle according to the driving state information to avoid lateral deviation of the vehicle.

[0010] In some embodiments, the performing steering control on at least the rear wheels of the vehicle according to the driving state information comprises:

[0011] determining an additional yaw moment according to the driving state information, the additional yaw moment being used to suppress a yawing moment of the vehicle caused by the lateral stability failure;

[0012] determining a wheel steering direction of the vehicle according to a direction of the additional yaw moment or an orientation of a failure wheel, the failure wheel being a wheel that has the lateral stability failure;

[0013] performing steering control on the vehicle according to the additional yaw moment and the wheel steering direction.

[0014] In some embodiments, determining the wheel steering direction of the vehicle according to the direction of the additional yaw moment comprises:

[0015] determining a first steering direction of a rear wheel and a second steering direction of a front wheel of the vehicle according to the direction of the additional yaw moment, the first steering direction being opposite to the direction of the additional yaw moment, and the second steering direction being the same as the direction of the additional yaw moment; or,

[0016] determining a third steering direction of a rear wheel of the vehicle according to the direction of the additional yaw moment, the third steering direction being the same as the direction of the additional yaw moment.

[0017] In some embodiments, determining the wheel steering direction of the vehicle according to the orientation of the faulty wheel comprises:

[0018] In the case that the vehicle has only one faulty wheel, determining a fourth steering direction of a rear wheel and a fifth steering direction of a front wheel of the vehicle according to the orientation of the faulty wheel, the fourth steering direction being the same as the orientation of the faulty wheel, and the fifth steering direction being opposite to the orientation of the faulty wheel; or,

[0019] In the case that the vehicle has only one faulty wheel, determining a sixth steering direction of a rear wheel of the vehicle according to the orientation of the faulty wheel, the sixth steering direction being opposite to the orientation of the faulty wheel.

[0020] In some embodiments, the driving state information comprises a vehicle speed, a steering wheel angle, a steering wheel angular velocity, and an actual yaw angular velocity of the vehicle, and determining the additional yaw moment according to the driving state information comprises:

[0021] determining a target yaw moment of the vehicle according to the vehicle speed, the steering wheel angle, and the steering wheel angular velocity, the target yaw moment being a yaw moment corresponding to the current driving state information of the vehicle in the case that the lateral stability fault does not occur;

[0022] determining the required yaw moment according to a difference between an actual yaw moment corresponding to the actual yaw angular velocity and the target yaw moment;

[0023] determining the additional yaw moment according to a size relationship between the required yaw moment and a preset yaw moment, the preset yaw moment being a maximum yaw moment for maintaining lateral stability of the vehicle.

[0024] In some embodiments, determining the additional yaw moment according to the size relationship between the required yaw moment and the preset yaw moment comprises:

[0025] determining the additional yaw moment as the preset yaw moment when the required yaw moment is greater than the preset yaw moment;

[0026] determining the additional yaw moment as the required yaw moment when the required yaw moment is less than or equal to the preset yaw moment.

[0027] In some embodiments, the steering control of the wheels of the vehicle according to the driving state information comprises:

[0028] steering control of the wheels of the vehicle and differential braking control of the wheels of the vehicle according to the driving state information.

[0029] In some embodiments, the differential braking control of the wheels of the vehicle comprises:

[0030] determining a non-faulty wheel of the vehicle in which the lateral stability fault does not occur;

[0031] determining at least one of the non-faulty wheels as a target wheel and performing differential braking control on the target wheel.

[0032] In some embodiments, the determining at least one of the non-faulty wheels as a target wheel comprises:

[0033] determining at least the rear wheel of the non-faulty wheels opposite to the position of the faulty wheel as the target wheel when the lateral stability fault does not occur in any rear wheel of the vehicle.

[0034] In some embodiments, the determining at least one of the non-faulty wheels as a target wheel and performing differential braking control on the target wheel comprises:

[0035] determining an additional yaw moment according to the driving state information, the additional yaw moment being used to suppress the yawing moment of the vehicle due to the wheel fault;

[0036] performing differential braking control on the target wheel according to the additional yaw moment.

[0037] In some embodiments, the steering control of the wheels of the vehicle and differential braking control of the wheels of the vehicle according to the driving state information comprises:

[0038] determining an additional yaw moment according to the driving state information, the additional yaw moment being used to suppress the yawing moment of the vehicle due to the wheel fault;

[0039] determine a wheel steering direction of the vehicle according to the direction of the additional yaw moment or the orientation of the faulty wheel, and determine a target wheel from the non-faulty wheels of the vehicle;

[0040] determine a first yaw moment and a second yaw moment according to the additional yaw moment;

[0041] determine a wheel steering angle of the vehicle according to the first yaw moment, and perform steering control on the vehicle according to the wheel steering angle and the wheel steering direction;

[0042] perform differential brake control on the target wheel of the vehicle according to the second yaw moment.

[0043] In some embodiments, the method further comprises:

[0044] obtaining driver intention information after a lateral stability fault occurs;

[0045] in a case where the direction of a yaw moment generated by the vehicle due to a wheel fault is consistent with the direction of a steering wheel torque of the vehicle and / or the steering wheel angle is greater than or equal to a preset angle threshold, reducing the steering wheel assistance in the direction of the steering wheel angle to inhibit subsequent steering control of the vehicle by the driver, the driver intention information including the steering wheel torque; and / or,

[0046] in a case where the depth of an accelerator pedal of the vehicle exceeds a preset pedal depth threshold, shielding an acceleration signal of the accelerator pedal to inhibit subsequent acceleration control of the vehicle by the driver, the driver intention information including the depth of the accelerator pedal.

[0047] To achieve the above object, the present disclosure further provides a controller, comprising:

[0048] a memory having a computer program stored thereon;

[0049] a processor configured to execute the computer program in the memory to implement the vehicle control method of the present disclosure.

[0050] To achieve the above object, the present disclosure further provides a vehicle configured with the controller of the present disclosure.

[0051] By the above technical solution, in the case of a lateral stability fault of the vehicle, the wheel steering control on the vehicle is performed, which improves the lateral stability and path following ability of the vehicle in the case of a wheel fault, and further improves the safety of the vehicle in driving and reduces the possibility of road accidents.

[0052] Other features and advantages of the present disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0053] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0054] Figure 1 is a flowchart of the steps of a vehicle control method according to an exemplary embodiment of the present disclosure.

[0055] Figure 2 is a flowchart of a vehicle control method proposed in an exemplary embodiment of this disclosure.

[0056] Figure 3a is a schematic diagram of a differential braking control proposed in an exemplary embodiment of the present disclosure.

[0057] Figure 3b is a schematic diagram of a wheel steering control proposed in an exemplary embodiment of the present disclosure.

[0058] Figure 3c is a schematic diagram of a fusion control proposed in an exemplary embodiment of this disclosure.

[0059] Figure 4 is a block diagram of a vehicle control device according to an exemplary embodiment of the present disclosure. Detailed Implementation

[0060] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0061] In related technologies, differential braking is usually used to control the stability of a vehicle after a tire blowout. However, differential braking can only maintain the lateral stability of the vehicle and cannot achieve path following, which can easily cause secondary damage to the vehicle.

[0062] In view of this, in order to improve vehicle stability and reduce road safety hazards, this disclosure proposes a vehicle control method, as shown in Figure 1, which includes the following steps:

[0063] In step S11, it is determined that the vehicle has experienced a lateral stability failure, which includes a tire blowout and / or wheel control failure.

[0064] It is worth noting that the vehicle control method provided in this disclosure can be applied to a vehicle stability control system. The vehicle stability control system is in standby mode when it does not receive a fault signal. Each tire of the vehicle is equipped with a wheel monitoring mechanism. In the event of a tire blowout or control failure, the wheel monitoring mechanism will send a fault signal of the corresponding tire to the vehicle stability control system. The vehicle stability control system determines the lateral stability fault that has occurred in the vehicle based on the received fault signal.

[0065] wherein the lateral stability failure can be at least one of a tire blowout and a control failure of one or more wheels of the vehicle, wherein the wheel control failure comprises at least one of a wheel brake failure, a wheel steering failure, and a wheel rotation failure.

[0066] In step S12, driving state information of the vehicle is acquired.

[0067] In an embodiment, the driving state information can be acquired by a vehicle state detection device in the vehicle stability control system in a case where it is determined that the vehicle has a lateral stability failure.

[0068] wherein the driving state information comprises at least one of a vehicle speed, a steering wheel angle, a steering wheel speed, and an actual yaw rate of the vehicle.

[0069] In step S13, at least a rear wheel of the vehicle is controlled to steer based on the driving state information to avoid a lateral deviation of the vehicle.

[0070] It is worth mentioning that in a case where the vehicle has a lateral stability failure, the vehicle will generate an unintended yawing moment, which will cause the vehicle to yaw, lose control, and the rim to fall off, etc. For example, a tire blowout of a front left wheel of the vehicle will cause the rolling resistance of the front left wheel to increase, and then the vehicle will deviate to the left front based on the initial driving direction.

[0071] wherein the vehicle not having a lateral deviation means that the vehicle is in a lateral stable state, i.e., the yawing moment is zero, and the vehicle follows the driving path corresponding to the operation of the driver, at this time, the actual yaw rate of the vehicle is approximately equal to the yaw rate corresponding to the driving state information, and in a case where the driver does not perform a steering operation, the yaw rate corresponding to the driving state information is 0 (rad / s, radian / second), and in a case where the driver performs a steering operation, the yaw rate corresponding to the driving state information corresponds to the steering angle of the steering wheel and the speed of the vehicle.

[0072] In an embodiment, when the vehicle has a lateral deviation, the steering of the wheel can be controlled to generate a yawing moment opposite to the direction of the yawing moment to suppress the lateral deviation of the vehicle, so that the driving path of the vehicle after the lateral stability failure is as same as the driving path corresponding to the case where the vehicle does not have a lateral stability failure.

[0073] wherein the steering control of the wheel comprises a steering control of a front wheel of the vehicle and a steering control of a rear wheel of the vehicle.

[0074] In one embodiment, the vehicle stability control system only controls the rear wheels to steer, and the front wheels steer following the steering angle of the steering wheel so that the driving path of the vehicle follows the operation of the driver as much as possible, and the rear wheels steer to compensate for the over-steering, under-steering or reverse steering of the front wheels, and the yaw moment generated by the steering of the wheels suppresses the yaw moment generated by the lateral stability failure.

[0075] In another embodiment, the vehicle stability control system controls the front and rear wheels to steer at the same time, and after the lateral stability failure, the front and rear wheels steer even if the driver does not turn the steering wheel, and the steering of the front and rear wheels is adjusted according to the steering angle of the steering wheel after the driver turns the steering wheel, so as to quickly stabilize the vehicle.

[0076] By the above technical solutions, in the case of lateral stability failure of the vehicle, the steering control of the wheels of the vehicle is performed, the lateral stability and path following ability of the vehicle in the case of wheel failure are improved, the safety of the vehicle driving is improved, and the possibility of road accidents is reduced.

[0077] In some embodiments, the steering control of at least the rear wheels of the vehicle according to the driving state information comprises:

[0078] Firstly, an additional yaw moment is determined according to the driving state information, and the additional yaw moment is used to suppress the yaw moment generated by the lateral stability failure of the vehicle.

[0079] It is worth noting that the additional yaw moment is a yaw moment generated by the steering control and / or differential braking control of the wheels of the vehicle, and the direction of the additional yaw moment is opposite to that of the yaw moment, so that the vehicle can avoid lateral deviation when the additional yaw moment and the yaw moment have the same size.

[0080] Secondly, the steering direction of the wheels of the vehicle is determined according to the direction of the additional yaw moment or the orientation of the failure wheel.

[0081] The failure wheel is the wheel that has the lateral stability failure.

[0082] It is worth noting that in order to ensure the stability of the vehicle, the steerable angle of the rear wheels of the vehicle is generally smaller than that of the front wheels, so that the yaw moment generated by the steering of the rear wheels is generally smaller than that generated by the steering of the front wheels.

[0083] For example, if a tire blowout occurs on the front left wheel of the vehicle, the vehicle will be subjected to a yaw moment to the left due to the increased rolling resistance of the front left wheel, and thus an additional yaw moment to the right is needed to be generated by the vehicle. If the front wheels and the rear wheels of the vehicle are controlled to steer at the same time, the front wheels of the vehicle can be steered to the right to suppress the left deviation of the vehicle, and the rear wheels of the vehicle are steered to the left. The opposite steering of the front wheels and the rear wheels can improve the stability of the vehicle during the steering control.

[0084] In a third step, the vehicle is controlled to steer according to the additional yaw moment and the steering direction of the wheels.

[0085] In some embodiments, the steering direction of the wheels of the vehicle is determined according to the direction of the additional yaw moment, comprising:

[0086] In a first case, the first steering direction of the rear wheels and the second steering direction of the front wheels of the vehicle are determined according to the direction of the additional yaw moment, the first steering direction is opposite to the direction of the additional yaw moment, and the second steering direction is the same as the direction of the additional yaw moment.

[0087] In an embodiment, if the front wheels and the rear wheels of the vehicle are controlled to steer at the same time, the front wheels are controlled to steer to the second steering direction, and the rear wheels are controlled to steer to the first steering direction, wherein the second steering direction is opposite to the direction of the yaw moment and the same as the direction of the additional yaw moment, which can suppress the yaw moment generated by the faulty wheel, and the first steering direction is the same as the direction of the yaw moment and opposite to the direction of the additional yaw moment, which can increase the stability of the vehicle.

[0088] In a second case, the third steering direction of the rear wheels of the vehicle is determined according to the direction of the additional yaw moment or the position of the faulty wheel, and the third steering direction is the same as the direction of the additional yaw moment.

[0089] It is worth noting that when the vehicle speed is less than a preset control vehicle speed threshold, the rear wheels of the vehicle can be controlled to steer after the vehicle suffers from a lateral stability fault, and the front wheels follow the steering operation of the steering wheel by the driver to steer, and the yaw moment generated by the steering of the rear wheels can suppress the yaw moment, and thus the vehicle can follow the driving route corresponding to the steering operation of the steering wheel by the driver, and thus the rear wheels of the vehicle are controlled to steer to the third steering direction, wherein the third steering direction is the same as the direction of the additional yaw moment and opposite to the direction of the yaw moment.

[0090] In some embodiments, the steering direction of the wheels of the vehicle is determined according to the position of the faulty wheel, comprising:

[0091] In a first case, when the vehicle has only one faulty wheel, a fourth steering direction of a rear wheel and a fifth steering direction of a front wheel of the vehicle are determined according to the orientation of the faulty wheel, the fourth steering direction being the same as the orientation of the faulty wheel, and the fifth steering direction being opposite to the orientation of the faulty wheel.

[0092] For example, if the right front wheel of the vehicle has a lateral stability failure, the front wheel and the rear wheel of the vehicle can be controlled to steer at the same time, wherein the rear wheel is controlled to steer to the right, and the front wheel is controlled to steer to the left. By steering the front wheel and the rear wheel in opposite directions, the stability of the vehicle can be improved while the yaw moment is suppressed.

[0093] In a second case, when the vehicle has only one faulty wheel, a sixth steering direction of a rear wheel of the vehicle is determined according to the orientation of the faulty wheel, the sixth steering direction being opposite to the orientation of the faulty wheel.

[0094] For example, if the left front wheel of the vehicle has a lateral stability failure, and the vehicle has a low speed, only the rear wheel of the vehicle can be controlled to steer to the right, and the front wheel can follow the steering angle of the steering wheel controlled by the driver. Only the yaw moment generated by the steering of the rear wheel can suppress the yaw moment, so that the stability of the vehicle can be improved while the handling of the vehicle is ensured.

[0095] In an embodiment, when there is only one faulty wheel, the orientation of the faulty wheel is the same as the orientation of the yaw moment, and the direction of the additional yaw moment required to be applied to the vehicle is opposite to the orientation of the faulty wheel. Therefore, when there is only one faulty wheel, the steering direction of the wheel can be quickly determined according to the orientation of the faulty wheel, thereby reducing the response time of the steering control and increasing the safety of the vehicle.

[0096] In some embodiments, the driving state information includes the vehicle speed, the steering wheel angle, the steering wheel speed, and the actual yaw rate of the vehicle.

[0097] The vehicle speed can be the longitudinal vehicle speed of the vehicle.

[0098] The additional yaw moment is determined according to the driving state information, including:

[0099] The target yaw moment of the vehicle is determined according to the vehicle speed, the steering wheel angle, and the steering wheel speed, the target yaw moment being the yaw moment corresponding to the current driving state information of the vehicle when the lateral stability failure does not occur.

[0100] It is worth mentioning that the vehicle can collect the current driving state information of the vehicle through various sensors, such as obtaining the current vehicle speed of the vehicle through a vehicle speed sensor, obtaining the operation information of the driver on the steering wheel through a steering sensor, and obtaining the current actual yaw rate of the vehicle through a yaw rate sensor, and then the actual yaw moment of the vehicle at the current time can be determined through the product of the actual yaw rate and the preset moment of inertia, wherein the preset moment of inertia is determined according to the vehicle mass distribution and the vehicle shape.

[0101] The demand yaw moment is determined according to a difference between the actual yaw moment corresponding to the actual yaw rate and the target yaw moment.

[0102] In an embodiment, in the case that the vehicle is in a straight driving state, since the target yaw rate for keeping the vehicle laterally stable is 0 (rad / s, radian / second), and the current target yaw moment of the vehicle is also 0 (N.m, Newton.meter), the additional yaw moment is equal in size and opposite in direction to the actual yaw moment; in the case that the vehicle is in a steering driving state, the target yaw rate for keeping the vehicle laterally stable is greater than 0 (rad / s, radian / second), and then the additional yaw moment is the difference between the actual yaw moment and the target yaw moment.

[0103] The additional yaw moment is determined according to the size relationship between the demand yaw moment and a preset yaw moment, and the preset yaw moment is the maximum yaw moment that the vehicle can withstand when keeping the vehicle laterally stable.

[0104] The preset yaw moment is determined according to the vehicle mass distribution, the vehicle center of gravity position, and the vehicle mass.

[0105] In some embodiments, the determination of the additional yaw moment according to the size relationship between the demand yaw moment and the preset yaw moment comprises:

[0106] In the case that the demand yaw moment is greater than the preset yaw moment, the additional yaw moment is determined as the preset yaw moment.

[0107] In the case that the demand yaw moment is less than or equal to the preset yaw moment, the additional yaw moment is determined as the demand yaw moment.

[0108] It is worth mentioning that if the yawing moment generated when the vehicle has a lateral stability failure is very large, if an additional yaw moment with the same size and opposite direction as the yawing moment is applied to the vehicle, the stability of the vehicle will be greatly reduced, which may cause the vehicle to roll over.

[0109] Therefore, the maximum value of the additional yaw moment that can be applied, i.e., the preset yaw moment, can be set, wherein the wheel monitoring mechanism determines the preset yaw moment corresponding to the type and level of the wheel failure through table lookup and sends the preset yaw moment to the vehicle stability control system when the vehicle has a lateral stability failure.

[0110] After the vehicle has a lateral stability failure, if the required yaw moment of the vehicle is greater than the preset yaw moment, it indicates that the additional yaw moment that can be applied to the vehicle is insufficient to suppress the yawing moment, and then the steering control and / or the differential braking control can be performed on the vehicle to apply a moment to the vehicle that is the same in size as the preset yaw moment, so that the vehicle can travel as much as possible in accordance with the operation intention of the driver, and the lateral deviation of the vehicle is reduced.

[0111] If the required yaw moment of the vehicle does not exceed the preset yaw moment, the steering control and / or the differential braking control can be performed on the vehicle, and then a moment that is the same in size as the required yaw moment is applied to the vehicle, so that the vehicle completely follows the operation intention of the driver, thereby improving the effectiveness of the steering control and the differential braking control of the vehicle and the safety of the vehicle.

[0112] In some embodiments, the steering control of the wheels of the vehicle according to the driving state information comprises:

[0113] The steering control of the wheels of the vehicle and the differential braking control of the wheels of the vehicle are performed according to the driving state information.

[0114] In an embodiment, referring to FIG. 2, when the vehicle stability control system receives the tire burst signal, it first determines whether the differential braking function and the rear wheel steering function are in a normal state, and in the case that the rear wheel steering function fails, the determined strategy is to realize the stability control of the vehicle through differential braking, in the case that the differential braking function fails, the determined strategy is to realize the stability control of the vehicle through rear wheel steering, and in the case that both the differential braking function and the rear wheel steering function are in a normal state, the determined strategy is to realize the stability control of the vehicle through the open-closed loop fusion control.

[0115] The open-closed loop fusion control is a control method that takes the driving state information as the feedforward control information, takes the actual yaw rate of the vehicle as the feedback control information, and takes the differential braking moment distributed to the wheels and the wheel steering angle as the control quantity.

[0116] In an embodiment, referring to FIG. 3a, when the right front wheel of the vehicle has a tire burst, the vehicle deviates to the right front, and if only the differential braking control is used to stabilize the vehicle, the additional yaw moment corresponding braking force is distributed to the left front wheel, the left rear wheel, and the right rear wheel.

[0117] If only the steering control is used to stabilize the vehicle, the front wheels of the vehicle are steered to the left at a front wheel steering angle, and the rear wheels of the vehicle are steered to the right at a rear wheel steering angle, as shown in FIG. 3b.

[0118] If the fusion control combining the differential braking control and the steering control is used to stabilize the vehicle, the left front wheel, the left rear wheel and the right rear wheel of the vehicle are simultaneously controlled to brake, and the front wheels of the vehicle are steered to the left at a front wheel steering angle, and the rear wheels of the vehicle are steered to the right at a rear wheel steering angle, as shown in FIG. 3c.

[0119] It is worth mentioning that, in the case of only one faulty wheel, steering the front wheels of the vehicle to the opposite direction of the side of the faulty wheel can make the front wheels generate a yaw moment opposite to the yaw moment of the vehicle, and steering the rear wheels of the vehicle to the same side of the faulty wheel, i.e., the direction of steering the front wheels is opposite to the direction of steering the rear wheels, can suppress the yaw moment generated by the increased rolling resistance of the faulty wheel while improving the stability of the vehicle to prevent secondary collision injury.

[0120] In addition, after each execution of the open-closed loop fusion control, feedback control can also be performed on the vehicle according to the actual yaw rate of the vehicle.

[0121] In an embodiment, after the execution of the open-closed loop fusion control, the actual yaw rate of the vehicle is obtained as feedback information, and then whether the vehicle enters a lateral stable state is determined according to the size relationship between the actual yaw rate and a preset yaw rate threshold.

[0122] In the case that the actual yaw rate of the vehicle is greater than the preset yaw rate threshold, it is indicated that the vehicle does not enter the lateral stable state, and the open-closed loop fusion control is performed on the vehicle again by the vehicle stability control system until the vehicle enters the stable control range.

[0123] In the case that the actual yaw rate is less than or equal to the preset yaw rate threshold, it is indicated that the vehicle enters the lateral stable state, and the open-closed loop fusion control on the vehicle is stopped, and the vehicle stability control system enters a standby state until the wheel fault signal is received again and the active suspension of the vehicle is adjusted to the equilibrium state.

[0124] The preset yaw rate threshold can be set according to the speed of the vehicle, and the higher the current speed of the vehicle, the greater the corresponding preset yaw rate threshold. The preset yaw rate threshold can also be set as a fixed value, and in the case of straight-line driving of the vehicle, the preset yaw rate threshold can be set as 0 (rad / s, radian / second).

[0125] By the above method, the vehicle stability demand can be quickly responded, the delay caused by yaw angular velocity noise processing is reduced, and in the limit working condition of vehicle lateral stability failure, the stability of the vehicle can still be ensured in the case that any one of the differential braking function or the steering function of the vehicle fails.

[0126] In some embodiments, the differential braking control of the wheels of the vehicle comprises:

[0127] First, it is determined that the vehicle does not have a failure wheel of the lateral stability failure.

[0128] It is worth noting that after the lateral stability failure of the wheel, the actual braking force of the tire may be different from the braking force allocated by the vehicle stability control system, for example, the wheel has a tire burst, the rolling resistance of the wheel will increase, and if the wheel is used for braking, the actual braking force of the wheel will be greater than the allocated braking force, therefore, to ensure the effectiveness of the differential braking control, a failure-free wheel can be selected as a target wheel for braking.

[0129] Then, at least one of the failure-free wheels is determined as a target wheel, and the target wheel is subjected to differential braking control.

[0130] The differential braking control of the wheel is to allocate braking force to at least one target wheel, so that a braking force difference is generated on the left and right sides of the vehicle, and a yaw moment generated by the braking force difference is used to suppress the yaw moment generated by the lateral stability failure.

[0131] In some embodiments, the at least one of the failure-free wheels is determined as a target wheel, comprising:

[0132] In the case that any rear wheel of the vehicle does not have the lateral stability failure, at least the rear wheel of the failure-free wheel opposite to the failure wheel is determined as the target wheel.

[0133] In an embodiment, the rear wheel is preferentially selected as the target wheel for differential braking, which can further improve the stability of the vehicle, avoid vehicle skidding or loss of control during differential braking control, and effectively reduce the braking distance of the vehicle and improve the braking efficiency.

[0134] In some embodiments, the at least one of the failure-free wheels is determined as a target wheel, and the target wheel is subjected to differential braking control, comprising:

[0135] An additional yaw moment is determined according to the driving state information, and the additional yaw moment is used to suppress the yaw moment generated by the wheel failure of the vehicle.

[0136] differential braking control is performed on the target wheel according to the additional yaw moment.

[0137] For example, when the left front wheel of the vehicle is out of tire, the right rear wheel can be selected as the target wheel for differential braking, or the left rear wheel, the right front wheel and the right rear wheel can be selected for differential braking.

[0138] In an embodiment, when the vehicle is out of lateral stability, the differential braking function can be used to realize the stability control of the vehicle when the vehicle stability system detects that the steering function of the vehicle is out of order. For example, the controller collects signals such as vehicle speed and steering wheel angle to calculate the additional yaw moment required by the vehicle out of tire, and then provides the required additional yaw moment through differential braking, while adjusting the actuator response logic to preferentially use the non-tire-out wheels for braking, and using quadratic programming to calculate the required braking torque of each non-faulty wheel.

[0139] In some embodiments, the steering control and differential braking control of the wheels of the vehicle according to the driving state information comprises:

[0140] First, determine the additional yaw moment according to the driving state information, the additional yaw moment being used to suppress the yaw moment generated by the vehicle due to wheel failure.

[0141] Second, determine the steering direction of the wheels of the vehicle according to the direction of the additional yaw moment or the orientation of the faulty wheel, and determine the target wheel from the non-faulty wheels of the vehicle.

[0142] Third, determine the first yaw moment and the second yaw moment according to the additional yaw moment.

[0143] In an embodiment, the vehicle can be controlled by differential braking and wheel steering, and then an additional yaw moment is generated to suppress the yaw moment generated when the vehicle is out of lateral stability, wherein the first yaw moment is the yaw moment generated by wheel steering control, the second yaw moment is the yaw moment generated by differential braking control, and the sum of the first yaw moment and the second yaw moment is equal to the additional yaw moment.

[0144] In an embodiment, the additional yaw moment can be evenly distributed to differential braking control and wheel steering control.

[0145] For example, when the vehicle is out of lateral stability, the additional yaw moment required for the vehicle to enter a lateral stable state is 20 N.m (Newton.m), and if the additional yaw moment is evenly distributed to differential braking and wheel steering, the first yaw moment is 10 N.m and the second yaw moment is 10 N.m.

[0146] In another embodiment, the distribution ratio of the two can be determined according to the driving state information of the vehicle, for example, the distribution ratio of the yaw moment distributed to the differential braking control can be increased when the vehicle speed is greater than a preset vehicle speed threshold.

[0147] For example, when the vehicle has a lateral stability failure at a vehicle speed greater than 100 km / h, the preset vehicle speed threshold is 90 km / h, and the additional yaw moment required for the vehicle to enter the lateral stability state is 20 N.m (Newton.m), then the first yaw moment distributed to the steering control can be 5 N.m, and the second yaw moment distributed to the differential braking control can be 15 N.m.

[0148] In another embodiment, the additional yaw moment can be distributed to the differential braking control and the rear wheel steering control according to a preset distribution ratio.

[0149] For example, when the vehicle stability system preferably uses steering control, the distribution ratio of the yaw moment distributed to the steering control can be increased.

[0150] Fourthly, the wheel steering angle of the vehicle is determined according to the first yaw moment, and the vehicle is controlled according to the wheel steering angle and the wheel steering direction.

[0151] Fifthly, the target wheel of the vehicle is controlled by differential braking according to the second yaw moment.

[0152] In an embodiment, the differential braking control and / or the steering control of the wheels of the vehicle can be controlled based on the driver's intention, that is, the additional yaw moment is adjusted as a target value to the steering angle, the steering direction and the accelerator pedal depth of the wheels based on the steering and braking of the vehicle by the driver, wherein the driver's intention is the control operation of the driver on the accelerator, the steering wheel and the brake pedal.

[0153] For example, after the vehicle has a tire burst, the driver steers the steering wheel, then the front wheel steering angle of the vehicle can be determined according to the steering angle of the steering wheel, and the yaw moment corresponding to the rear wheel steering angle can be determined according to the difference between the additional yaw moment corresponding to the first yaw moment and the front wheel steering angle, and further the rear wheel steering angle can be determined. By the above method, the driving path of the vehicle can follow the driver's intention while ensuring the stability of the vehicle.

[0154] In another embodiment, the differential braking control and / or the steering control of the wheels of the vehicle can also be controlled instead of the driver's intention.

[0155] For example, the front wheel steering and the rear wheel steering can be automatically controlled, i.e., the front wheel steering angle and the rear wheel steering angle are directly determined according to the first yaw moment, so as to quickly realize the steering control of the vehicle and make the vehicle quickly enter the lateral stability state.

[0156] In addition, after the steering control and / or the differential braking control are performed on the wheels of the vehicle, the active suspension of the vehicle can be adjusted to the equilibrium state.

[0157] It is worth noting that after the tire blowout of the vehicle, the tire blowout side of the vehicle can be lowered, resulting in a decrease in the balance of the vehicle. By adjusting the active suspension, the stability and maneuverability of the vehicle can be increased.

[0158] In some embodiments, the method further comprises:

[0159] Obtaining the driver intention information after the lateral stability failure.

[0160] The driver intention information includes at least one of the steering wheel torque, the depth of the accelerator pedal, and the depth of the brake pedal.

[0161] It is worth noting that the steering wheel is used to control the front wheel steering of the vehicle. When the driver controls the steering wheel to steer, the front wheel of the vehicle will steer accordingly, and then the vehicle will generate a yaw moment. When the driver randomly turns the steering wheel or excessively returns the steering wheel, the yaw angular velocity of the vehicle will be too large, and the vehicle stability control system will be difficult to work effectively, thereby causing the vehicle to lose control and form potential traffic safety.

[0162] On the one hand, in the case that the yaw moment generated by the vehicle due to the wheel failure is in the same direction as the steering wheel torque of the vehicle and / or the steering wheel angle is greater than or equal to the preset steering angle threshold, the steering wheel assistance in the direction of the steering wheel angle is reduced to inhibit the subsequent steering control of the vehicle by the driver.

[0163] It is worth noting that the direction of the steering wheel torque is the steering direction of the steering wheel by the driver.

[0164] In an embodiment, if the yaw moment generated by the vehicle due to the lateral stability failure and the steering wheel torque are not in the same direction, it indicates that the yaw moment caused by the steering can reduce or offset the yaw moment, and the steering direction of the steering wheel by the driver is the correct direction. Therefore, the front wheel follows the steering operation of the driver, and the rear wheel is opposite to the steering direction of the front wheel, so that the vehicle can follow the driving path corresponding to the intention of the driver while ensuring the stability.

[0165] In another embodiment, if the yaw moment generated when the vehicle has a lateral stability failure and the direction of the steering wheel torque are consistent, it means that the yaw moment caused by steering will exacerbate the lateral deviation of the vehicle, and the driving risk of the vehicle will increase, so the steering operation of the driver on the steering wheel needs to be inhibited.

[0166] For example, if the left front wheel of the vehicle has a tire burst, the driving path of the vehicle will deviate to the left front, and if the driver turns the steering wheel to the left, it will cause the vehicle to deviate to the left, and in this case, the steering assist of the steering wheel turning to the left can be reduced, and the steering assist of the steering wheel turning to the right is normal, so as to inhibit the intention of the driver to turn to the left.

[0167] In one embodiment, if the steering wheel angle is greater than or equal to a preset angle threshold, it means that the driver has over-steered the steering wheel, and the steering control of the driver on the vehicle can be inhibited by reducing the steering assist in the direction of the steering wheel angle, so as to prevent the vehicle from over-steering.

[0168] In another embodiment, if the steering wheel angle is less than a preset angle threshold, it means that the driver has under-steered the steering wheel, and the vehicle follows the steering control of the driver on the steering wheel to steer, and additional additional yaw moment is applied to the vehicle through differential braking and / or rear wheel steering control for compensation control.

[0169] The preset angle threshold can be set according to the mass, wheelbase, tire cornering stiffness of each tire, and vehicle speed of the vehicle, and is the maximum steering wheel angle that ensures that the vehicle does not roll over or lose control in the event of a wheel failure.

[0170] On the other hand, in the case where the depth of the accelerator pedal of the vehicle exceeds the preset pedal depth threshold, the acceleration signal of the accelerator pedal is shielded to inhibit the subsequent acceleration control of the driver on the vehicle.

[0171] It is worth noting that in the case of a lateral stability failure of the vehicle, the driver may mistakenly press the accelerator pedal to cause the vehicle to accelerate, which reduces the stability of the vehicle and increases the driving risk, so as to avoid the above situation, in the case where the depth of the accelerator pedal exceeds the preset pedal depth threshold, the vehicle stability control system will inhibit the subsequent acceleration control of the driver on the vehicle, that is, the acceleration signal of the accelerator pedal is shielded, and the shielding of the accelerator pedal is released after the vehicle enters a lateral stability state.

[0172] In addition, when the wheel fails, the driver may quickly step on the brake pedal for emergency braking, and the emergency braking of the vehicle also causes the stability of the vehicle to decrease. Therefore, when it is detected that there is no obstacle in front of the vehicle, the brake pedal depth corresponding to the vehicle braking force can be adjusted by the vehicle stability control system in a case where the descending speed of the brake pedal of the vehicle is greater than a preset speed threshold or the depth of the brake pedal is greater than a preset brake pedal depth threshold, so as to inhibit the brake operation of the driver.

[0173] By the above method, the control strategy of the vehicle can be adjusted in combination with the intention of the driver, so as to make the vehicle follow the driving path corresponding to the operation of the driver as much as possible while ensuring the stability of the vehicle, and increase the maneuverability of the vehicle in the case of lateral stability failure.

[0174] FIG. 4 is a block diagram of a vehicle control device 500 according to an exemplary embodiment, which includes a determination module 510, an acquisition module 520, and a control module 530.

[0175] The determination module 510 is configured to determine that the vehicle has a lateral stability failure, and the lateral stability failure includes tire burst and / or wheel control failure.

[0176] The acquisition module 520 is configured to acquire driving state information of the vehicle.

[0177] The control module 530 is configured to perform steering control on at least the rear wheel of the vehicle according to the driving state information, so as to avoid lateral deviation of the vehicle.

[0178] In some embodiments, the control module 530 includes:

[0179] determining an additional yaw moment according to the driving state information, the additional yaw moment being used to inhibit the yawing moment of the vehicle due to the lateral stability failure;

[0180] determining a wheel steering direction of the vehicle according to the direction of the additional yaw moment or the orientation of the failure wheel, the failure wheel being the wheel having the lateral stability failure;

[0181] performing steering control on the vehicle according to the additional yaw and the wheel steering direction.

[0182] In some embodiments, the control module 530 includes:

[0183] determining a first steering direction of the rear wheel and a second steering direction of the front wheel of the vehicle according to the direction of the additional yaw moment, the first steering direction being opposite to the direction of the additional yaw moment, and the second steering direction being the same as the direction of the additional yaw moment; or

[0184] According to the direction of the additional yaw moment, a third turning direction of a rear wheel of the vehicle is determined, the third turning direction being the same as the direction of the additional yaw moment.

[0185] In some embodiments, the control module 530 comprises:

[0186] In the case that there is only one of the faulty wheels in the vehicle, according to the orientation of the faulty wheel, a fourth turning direction of a rear wheel of the vehicle and a fifth turning direction of a front wheel of the vehicle are determined, the fourth turning direction being the same as the orientation of the faulty wheel, and the fifth turning direction being opposite to the orientation of the faulty wheel; or,

[0187] In the case that there is only one of the faulty wheels in the vehicle, according to the orientation of the faulty wheel, a sixth turning direction of a rear wheel of the vehicle is determined, the sixth turning direction being opposite to the orientation of the faulty wheel.

[0188] In some embodiments, the driving state information comprises a vehicle speed, a steering wheel turning angle, a steering wheel turning speed and an actual yaw angular velocity of the vehicle.

[0189] The control module 530 comprises:

[0190] According to the vehicle speed, the steering wheel turning angle and the steering wheel turning speed, a target yaw moment of the vehicle is determined, the target yaw moment being a yaw moment corresponding to the current driving state information of the vehicle in the case that the lateral stability failure does not occur;

[0191] According to a difference between an actual yaw moment corresponding to the actual yaw angular velocity and the target yaw moment, the required yaw moment is determined.

[0192] According to a size relationship between the required yaw moment and a preset yaw moment, the additional yaw moment is determined, the preset yaw moment being a maximum yaw moment for the vehicle to maintain lateral stability.

[0193] In some embodiments, the control module 530 comprises:

[0194] In the case that the required yaw moment is greater than the preset yaw moment, the additional yaw moment is determined as the preset yaw moment.

[0195] In the case that the required yaw moment is less than or equal to the preset yaw moment, the additional yaw moment is determined as the required yaw moment.

[0196] In some embodiments, the control module 530 comprises:

[0197] steering control of wheels of the vehicle and differential braking control of wheels of the vehicle are performed according to the driving state information.

[0198] In some embodiments, the control module 530 comprises:

[0199] determining a non-faulty wheel of the vehicle in which the lateral stability fault does not occur;

[0200] determining at least one of the non-faulty wheels as a target wheel and performing differential braking control on the target wheel.

[0201] In some embodiments, the control module 530 comprises:

[0202] In the case that neither of the rear wheels of the vehicle has the lateral stability fault, at least the rear wheel of the non-faulty wheels opposite to the faulty wheel is determined as the target wheel.

[0203] In some embodiments, the control module 530 comprises:

[0204] determining an additional yaw moment according to the driving state information, the additional yaw moment being used to suppress the yawing moment of the vehicle due to the wheel fault;

[0205] performing differential braking control on the target wheel according to the additional yaw moment.

[0206] In some embodiments, the control module 530 comprises:

[0207] determining an additional yaw moment according to the driving state information, the additional yaw moment being used to suppress the yawing moment of the vehicle due to the wheel fault;

[0208] determining a wheel steering direction of the vehicle and a target wheel from the non-faulty wheels of the vehicle according to a direction of the additional yaw moment or a position of the faulty wheel;

[0209] determining a first yaw moment and a second yaw moment according to the additional yaw moment;

[0210] determining a wheel steering angle of the vehicle according to the first yaw moment and performing steering control of the vehicle according to the wheel steering angle and the wheel steering direction;

[0211] performing differential braking control on the target wheel of the vehicle according to the second yaw moment.

[0212] In some embodiments, the control module 530 comprises:

[0213] obtaining driver intention information after the lateral stability fault occurs;

[0214] in the case that the direction of the yaw moment generated by the wheel failure of the vehicle is consistent with the direction of the steering wheel torque of the vehicle and / or the steering wheel angle is greater than or equal to the preset angle threshold, reducing the steering wheel assistance in the direction of the steering wheel angle to inhibit the subsequent steering control of the vehicle by the driver, the driver intention information comprising the steering wheel torque; and / or,

[0215] in the case that the depth of the accelerator pedal of the vehicle exceeds the preset pedal depth threshold, shielding the acceleration signal of the accelerator pedal to inhibit the subsequent acceleration control of the vehicle by the driver, the driver intention information comprising the depth of the accelerator pedal.

[0216] As to the device in the above-mentioned embodiments, the specific manners in which the respective modules perform operations have been described in detail in the embodiments related to the method, and thus will not be described in detail here.

[0217] Based on the same inventive concept, the exemplary embodiments of the present disclosure further propose a controller for performing the vehicle control method proposed by the present disclosure.

[0218] Based on the same inventive concept, the exemplary embodiments of the present disclosure further propose a vehicle on which the controller proposed by the present disclosure is configured to perform the vehicle control method proposed by the present disclosure.

[0219] The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details in the above-mentioned embodiments. Within the scope of the technical concept of the present disclosure, the technical solution of the present disclosure can be variously modified, and these simple modifications all belong to the protection scope of the present disclosure.

[0220] In addition, it should be noted that each specific technical feature described in the above-mentioned specific embodiments can be combined in any appropriate manner without contradiction, and in order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0221] In addition, the various different embodiments of the present disclosure can also be combined in any manner, as long as it does not deviate from the idea of the present disclosure, it should also be considered as disclosed by the present disclosure.

Claims

1. A vehicle control method in which, The method comprises: determining that the vehicle has a lateral stability failure, the lateral stability failure comprising a tire burst and / or a wheel control failure; obtaining driving state information of the vehicle; controlling steering of at least rear wheels of the vehicle according to the driving state information to avoid lateral deviation of the vehicle.

2. The method of claim 1, wherein, The controlling steering of at least the rear wheels of the vehicle according to the driving state information comprises: determining an additional yaw moment according to the driving state information, the additional yaw moment being used to suppress a yawing moment of the vehicle caused by the lateral stability failure; determining a wheel steering direction of the vehicle according to a direction of the additional yaw moment or an orientation of a failure wheel, the failure wheel being a wheel having the lateral stability failure; controlling steering of the vehicle according to the additional yaw moment and the wheel steering direction.

3. The method of claim 2, wherein, The determining the wheel steering direction of the vehicle according to the direction of the additional yaw moment comprises: determining a first steering direction of rear wheels of the vehicle and a second steering direction of front wheels of the vehicle according to the direction of the additional yaw moment, the first steering direction being opposite to the direction of the additional yaw moment, and the second steering direction being the same as the direction of the additional yaw moment; or determining a third steering direction of the rear wheels of the vehicle according to the direction of the additional yaw moment, the third steering direction being the same as the direction of the additional yaw moment.

4. The method of claim 2, wherein, The determining the wheel steering direction of the vehicle according to the orientation of the failure wheel comprises: in a case where the vehicle has only one failure wheel, determining a fourth steering direction of the rear wheels of the vehicle and a fifth steering direction of the front wheels of the vehicle according to the orientation of the failure wheel, the fourth steering direction being the same as the orientation of the failure wheel, and the fifth steering direction being opposite to the orientation of the failure wheel; or in a case where the vehicle has only one failure wheel, determining a sixth steering direction of the rear wheels of the vehicle according to the orientation of the failure wheel, the sixth steering direction being opposite to the orientation of the failure wheel.

5. The method of claim 2, wherein, The driving state information comprises a vehicle speed, a steering wheel angle, a steering wheel speed, and an actual yaw rate of the vehicle, and the determining the additional yaw moment according to the driving state information comprises: determining a target yaw moment of the vehicle according to the vehicle speed, the steering wheel angle, and the steering wheel speed, the target yaw moment being a yaw moment corresponding to the current driving state information of the vehicle in a case where the lateral stability failure does not occur; determining a required yaw moment according to a difference between an actual yaw moment corresponding to the actual yaw rate and the target yaw moment; determining the additional yaw moment according to a size relationship between the required yaw moment and a preset yaw moment, the preset yaw moment being a maximum yaw moment for keeping lateral stability of the vehicle.

6. The method of claim 5, wherein, The determining the additional yaw moment according to the size relationship between the required yaw moment and the preset yaw moment comprises: in a case where the required yaw moment is greater than the preset yaw moment, determining the additional yaw moment as the preset yaw moment; In a case where the required yaw moment is less than or equal to the preset yaw moment, the additional yaw moment is determined as the required yaw moment.

7. The method of claim 1, wherein, The steering control of the wheels of the vehicle according to the driving state information comprises: The steering control of the wheels of the vehicle and the differential braking control of the wheels of the vehicle according to the driving state information.

8. The method of claim 7, wherein, The differential braking control of the wheels of the vehicle comprises: Determining a non-faulty wheel of the vehicle that does not have the lateral stability fault; Determining at least one of the non-faulty wheels as a target wheel and performing differential braking control on the target wheel.

9. The method of claim 8, wherein, The determination of at least one of the non-faulty wheels as a target wheel comprises: In a case where none of the rear wheels of the vehicle has the lateral stability fault, at least the rear wheel of the non-faulty wheels that is in the opposite direction of the faulty wheel is determined as the target wheel.

10. The method of claim 8, wherein, The determination of at least one of the non-faulty wheels as a target wheel and the differential braking control on the target wheel comprises: Determining an additional yaw moment according to the driving state information, the additional yaw moment being used to suppress the yawing moment of the vehicle caused by the wheel fault; Performing differential braking control on the target wheel according to the additional yaw moment.

11. The method of claim 10, wherein, The steering control of the wheels of the vehicle and the differential braking control of the wheels of the vehicle according to the driving state information comprises: Determining an additional yaw moment according to the driving state information, the additional yaw moment being used to suppress the yawing moment of the vehicle caused by the wheel fault; Determining a steering direction of the wheels of the vehicle and a target wheel from the non-faulty wheels of the vehicle according to the direction of the additional yaw moment or the direction of the faulty wheel; Determining a first yaw moment and a second yaw moment according to the additional yaw moment; Determining a steering angle of the wheels of the vehicle according to the first yaw moment and performing steering control on the vehicle according to the steering angle and the steering direction of the wheels; Performing differential braking control on the target wheel of the vehicle according to the second yaw moment.

12. The method of any one of claims 1-11, wherein, The method further comprises: Obtaining driver intention information after the lateral stability fault occurs; In a case where the direction of the yawing moment of the vehicle caused by the wheel fault is consistent with the direction of the steering wheel torque of the vehicle and / or the steering wheel angle is greater than or equal to the preset steering angle threshold, reducing the steering wheel assistance in the direction of the steering wheel angle to suppress the subsequent steering control of the vehicle by the driver, the driver intention information comprising the steering wheel torque; and / or, In a case where the depth of the accelerator pedal of the vehicle exceeds the preset pedal depth threshold, shielding the acceleration signal of the accelerator pedal to suppress the subsequent acceleration control of the vehicle by the driver, the driver intention information comprising the depth of the accelerator pedal.

13. A controller, wherein, Comprise: A memory having a computer program stored thereon; A processor configured to execute the computer program in the memory to implement the method of any one of claims 1-12.

14. A vehicle, wherein, The vehicle is provided with a controller as claimed in claim 13.

Images