Vehicle control method and device, and vehicle

Abstract

A vehicle control method and device, and a vehicle. The vehicle control method comprises: in response to an active steering instruction output by a steering and braking device, detecting road condition information of a vehicle; when the road condition information indicates a change in the road surface state, acquiring longitudinal offset data and lateral offset data of the vehicle; controlling a driving device on the basis of the longitudinal offset data; and controlling the steering and braking device on the basis of the lateral offset data.

Description

Vehicle control methods, control devices and vehicles

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202410842344.0, filed with the Chinese Patent Office on June 26, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the technical field of vehicle control, specifically to a vehicle control method, control device, and vehicle. Background Technology

[0004] With the rapid development of transportation, automobiles, as a common mode of transport, have garnered increasing attention to safety during operation. Currently, vehicles are equipped with drive systems and steering and braking systems. The drive system propels the vehicle forward, while the steering and braking systems control steering and braking. While the drive system can typically control vehicle deviation when road conditions change, changes in road surface during cornering can cause the vehicle to yaw, affecting its stability. Technical solutions

[0005] One objective of this application is to provide a new technical solution for vehicle control.

[0006] According to a first aspect of this application, a method for controlling a vehicle is provided, the vehicle including a drive unit and a steering and braking unit, the method comprising:

[0007] In response to the active steering command output by the steering and braking device, the vehicle's road condition information is detected;

[0008] In response to the road condition information indicating a change in road surface condition, the longitudinal offset data and lateral offset data of the vehicle are acquired;

[0009] Based on the longitudinal offset data, control the drive device; and

[0010] The steering braking device is controlled based on the lateral offset data.

[0011] In some embodiments, the road condition information includes a first estimated time for the vehicle to reach a first location; wherein the first location is the location where the change in road surface adhesion exceeds a set change amount;

[0012] In response to the road condition information indicating a change in road surface condition, the longitudinal and lateral offset data of the vehicle are acquired, including:

[0013] In response to the first duration of vehicle travel, longitudinal offset data and lateral offset data of the vehicle are acquired.

[0014] In some embodiments, the vehicle further includes wheel speed sensors, and the longitudinal offset data includes a slip ratio obtained through the wheel speed sensors;

[0015] The step of controlling the drive device based on the longitudinal offset data includes:

[0016] When the slip ratio exceeds the set range, a drive signal is output to the drive device based on the slip ratio and the road condition information.

[0017] In some embodiments, outputting the drive signal to the drive device based on the slip ratio and the road condition information includes:

[0018] Based on the slip ratio and the road condition information, indicating that the road surface adhesion has decreased to a first value, a first drive signal is output to the drive device, causing the drive device to reduce the driving force of the vehicle according to the first drive signal; and

[0019] Based on the slip ratio and the road condition information, the road surface adhesion is increased to a second value, and a second drive signal is output to the drive device, so that the drive device increases the driving force of the vehicle according to the second drive signal.

[0020] In some embodiments, the vehicle further includes a yaw rate sensor, and the lateral offset data includes a yaw rate obtained by the yaw rate sensor;

[0021] The step of controlling the steering braking device based on the lateral offset data includes:

[0022] In response to the yaw rate being greater than a set threshold, a control signal is output to the steering braking device based on the yaw rate and the road condition information.

[0023] In some embodiments, the steering braking device brakes the first wheel of the first axle of the vehicle individually;

[0024] When the yaw rate exceeds a set threshold, the step of outputting a control signal to the steering braking device based on the yaw rate and the road condition information includes:

[0025] In response to the yaw rate being greater than a set threshold, a first control signal is output to the steering braking device based on the yaw rate and the road condition information, so that the steering braking device adjusts the braking force on the first wheel according to the first control signal.

[0026] In some embodiments, the vehicle has an active steering mode and an assisted steering mode. In the active steering mode, the steering braking device controls each second wheel on the second axle of the vehicle to steer simultaneously. In the assisted steering mode, the steering braking device controls each second wheel on the second axle to steer simultaneously and controls each third wheel on the third axle of the vehicle to steer simultaneously.

[0027] The response to the yaw rate exceeding a set threshold, based on the yaw rate and the road condition information, includes outputting a control signal to the steering braking device, including:

[0028] In response to the yaw rate exceeding a set threshold, the steering braking device is set to enter the assisted steering mode; and

[0029] Based on the yaw rate and the road condition information, a second control signal is output to the steering braking device, causing the steering braking device to adjust the steering force of each third wheel on the third axle according to the second control signal.

[0030] In some embodiments, the method further includes:

[0031] In response to the yaw rate being less than or equal to a set threshold, the steering braking device is set to the active steering mode.

[0032] According to a second aspect of this application, a vehicle control device is also provided, comprising:

[0033] The information acquisition unit is used to respond to the active steering command output by the steering and braking device and detect the road condition information of the vehicle.

[0034] The data acquisition unit is used to acquire the longitudinal offset data and lateral offset data of the vehicle in response to the road condition information indicating changes in road surface conditions.

[0035] A drive control unit is configured to control the drive device based on the longitudinal offset data; and

[0036] The steering control unit is used to control the steering braking device based on the lateral offset data.

[0037] According to a third aspect of this application, a vehicle control device is also provided, including a memory and a processor, wherein the memory is used to store computer instructions; and the processor is used to execute the computer instructions to implement the method according to the first aspect of this application.

[0038] According to a fourth aspect of this application, a computer-readable storage medium is also provided, wherein computer instructions are stored on the computer-readable storage medium, which, when executed by a processor, implement the method described according to the first aspect of this application.

[0039] According to a fifth aspect of this application, a computer program product is also provided, including computer instructions that, when executed by a processor, implement the method described according to a first aspect of this application.

[0040] According to a sixth aspect of this application, a vehicle is also provided, comprising:

[0041] Includes drive unit, steering and braking unit and control unit;

[0042] The control device is the vehicle control device described in the first aspect, and the control device is communicatively connected to the drive device and the steering and braking device to control the drive device and the steering and braking device. Beneficial effects

[0043] One beneficial effect of the embodiments of this application is that the vehicle control method provided by this application can detect the road condition information of the vehicle when the vehicle is turning, and obtain the longitudinal offset data and lateral offset data of the vehicle when the road condition information indicates a change in the road surface state. The drive device is controlled by the longitudinal offset data, and the steering and braking device is controlled by the lateral offset data. Thus, when the road surface changes during the vehicle turning process, the vehicle's longitudinal and lateral stability can be adjusted. This vehicle control method can be applied to vehicles with different drive modes such as front-wheel drive, rear-wheel drive, or four-wheel drive, and has low hardware requirements for the vehicle. Attached Figure Description

[0044] Other features and advantages of the embodiments of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings.

[0045] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the embodiments of the present application.

[0046] Figure 1 is a schematic diagram of the composition structure of a vehicle applicable according to one embodiment;

[0047] Figure 2 is a flowchart illustrating a vehicle control method according to one embodiment;

[0048] Figure 3 is a block diagram of a vehicle control device according to one embodiment;

[0049] Figure 4 is a schematic diagram of the hardware structure of a vehicle control device according to one embodiment. Embodiments of the present invention

[0050] Various exemplary embodiments of this application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this application.

[0051] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0052] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0053] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0054] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0055] <System Implementation Example>

[0056] Figure 1 is a schematic diagram of the composition of a vehicle applicable according to one embodiment. As shown in Figure 1, the vehicle may include a road condition detection device 10, a control device 20, a drive device 30, and a steering and braking device 40.

[0057] The road condition detection device 10 may include a pre-aiming system 11, a driver input device 12, and a road surface detection sensor 13. The pre-aiming system 11 can be an existing pre-aiming system, such as a front-facing camera, responsible for real-time monitoring of the road conditions ahead of the vehicle. The driver input device 12 can be a touchscreen or buttons inside the vehicle cabin, allowing the driver to manually input the road conditions ahead. The road surface detection sensor 13 is, for example, an infrared sensor, used to detect the road conditions ahead of the vehicle.

[0058] The drive device 30 mentioned above can be a vehicle drive motor, which can control the rotation of one wheel of the vehicle, control the rotation of each wheel of one axle of the vehicle, or control the rotation of all wheels of the vehicle, without limitation.

[0059] The steering and braking device 40 described above may include a steering component 41 and a braking component 42. The steering component 41 can control the independent rotation of each wheel of the vehicle, the simultaneous rotation of all wheels on one axle of the vehicle, or the coordinated rotation of wheels on different axles of the vehicle; this is not limited to these specific actions. For example, the steering component can control the front wheels of the vehicle to rotate at a larger angle while simultaneously controlling the rear wheels to rotate at a smaller angle, thereby reducing the turning radius of the vehicle and making it more agile. The braking component 42 can control the independent stopping or low-speed rotation of each wheel of the vehicle, or the stopping or low-speed rotation of all wheels on one axle of the vehicle; this is not limited to these specific actions either.

[0060] The control device 20 mentioned above can be an electronic control unit (ECU). The control device 20 can be electrically connected to the road condition detection device 10, the drive device 30 and the steering and braking device 40 respectively, or it can be communicatively connected to the road condition detection device 10, the drive device 30 and the steering and braking device 40 respectively. No limitation is made here.

[0061] In the embodiments of this application, the memory of the control device 20 is used to store computer instructions for controlling the processor of the control device 20 to operate according to the vehicle control method of any embodiment. Those skilled in the art can design the computer instructions based on the schemes of the embodiments of this application. How these computer instructions control the processor to operate is well known in the art and will not be described in detail here.

[0062] <Method Implementation>

[0063] Figure 2 is a schematic flowchart of a vehicle control method according to one embodiment. The implementing entity is, for example, the control device 20 in Figure 1.

[0064] As shown in Figure 2, the vehicle control method of this embodiment may include the following steps S210 to S240:

[0065] Step S210: Respond to the active steering command output by the steering and braking device and detect the road condition information of the vehicle.

[0066] In some examples, the steering braking device may include a steering wheel angle sensor that detects whether the driver is steering the wheel. This sensor provides feedback on the steering angle to the steering braking device, which then generates a corresponding active steering command to control the wheels to rotate by the appropriate angle. The control device may also respond to this active steering command to activate the road condition detection device.

[0067] In step S220, in response to changes in road condition indicated by road condition information, longitudinal offset data and lateral offset data of the vehicle are acquired.

[0068] In this embodiment, the change in road surface condition can be a change in the road surface adhesion. For example, when a vehicle travels from a dry road surface to a wet road surface or an ice surface, the road surface condition can change from the adhesion corresponding to the dry road surface to the adhesion corresponding to the wet road surface or ice surface.

[0069] In some examples, taking a four-wheeled vehicle as an example, longitudinal offset data can be represented by the relative speed difference between the two front wheels and the two rear wheels and the vehicle speed, i.e., by the slip ratio. Lateral offset data can be represented by the relative speed difference between the two wheels on the same axle and the wheel steering angle, i.e., by the yaw angle.

[0070] In some examples, in response to road condition information indicating no change in road conditions or no active steering command received, there is no need to activate wheel speed sensors or yaw rate sensors, so as not to acquire longitudinal and lateral offset data of the vehicle.

[0071] In some embodiments, to enable precise control of the vehicle's drive system and steering and braking system when road conditions change, the operating time of each sensor detecting offset data is reduced. This road condition information may include a first estimated time for the vehicle to reach a first position; wherein the first position is the position where the change in road surface adhesion exceeds a set change amount. Step S220 may include the following step S310:

[0072] In step S310, in response to the first duration of vehicle travel, longitudinal offset data and lateral offset data of the vehicle are acquired.

[0073] In this embodiment, the amount of change can be set manually, and there is no limitation on it here.

[0074] In this embodiment, the aforementioned pre-aiming system can provide feedback to the control device on the distance between the current position and the first position. The control device can then estimate the first time required to reach the first position using the vehicle's speed and this distance. Simultaneously, the control device can establish communication with the drive unit and the steering and braking unit, putting them into a standby state.

[0075] In other words, the control device can represent changes in road surface conditions by the first time taken to reach surfaces with different adhesion, thereby enabling digital control of the vehicle.

[0076] Step S230: Control the drive device based on the longitudinal offset data.

[0077] In some examples, when the longitudinal offset data indicates a high slip ratio, if the road surface adhesion changes from high to low, the drive unit can be controlled to reduce the driving force, i.e., reduce the drive voltage of the drive motor that drives the wheels. If the road surface adhesion changes from low to high, the drive unit can be controlled to increase the driving force, i.e., increase the drive voltage of the drive motor that drives the wheels.

[0078] In some embodiments, the vehicle further includes wheel speed sensors, and the longitudinal offset data includes the slip ratio obtained by the wheel speed sensors. Step S230 may include the following step S410:

[0079] In step S410, in response to the slip ratio exceeding the set range, a drive signal is output to the drive unit based on the slip ratio and road condition information.

[0080] In this embodiment, the set range is, for example, 10% to 15% or 12% to 15%, which can be set manually and is not limited here.

[0081] In other words, the control device determines whether to control the drive device based on the slip ratio, thereby achieving digital control of the drive device.

[0082] In some embodiments, in order to control the drive device to reduce the occurrence of vehicle slippage, step S410 may include the following steps S4101 and S4102:

[0083] In step S4101, based on the slip ratio and road condition information, indicating that the road surface adhesion has decreased to a first value, a first drive signal is output to the drive device, so that the drive device reduces the driving force of the vehicle according to the first drive signal.

[0084] In this embodiment, different road surface adhesion values ​​can correspond to different first driving signals. The specific correspondence can be set manually and is not limited here.

[0085] In step S4102, based on the slip ratio and road condition information, the road surface adhesion is increased to a second value, and a second drive signal is output to the drive device, so that the drive device increases the driving force of the vehicle according to the second drive signal.

[0086] In other words, when road surface adhesion decreases sharply, the control device can control the drive unit to reduce the driving force on the vehicle, causing the vehicle to decelerate. When road surface adhesion suddenly increases, the control device can control the drive unit to increase the driving force on the vehicle, causing the vehicle to accelerate, thereby effectively reducing the occurrence of vehicle slippage.

[0087] Step S240: Control the steering braking device based on the lateral offset data.

[0088] In some examples, when the lateral offset data indicates a large yaw rate, if the road surface adhesion changes, one side of the wheels can be braked to reduce the speed of that side of the wheels, or the rear wheels can be controlled to change the turning radius of the vehicle.

[0089] In some embodiments, to control the steering braking device to reduce vehicle yaw, the vehicle further includes a yaw rate sensor, and the lateral offset data includes the yaw rate obtained by the yaw rate sensor. Step S240 may include the following step S510:

[0090] In step S510, in response to the yaw rate being greater than a set threshold, a control signal is output to the steering braking device based on the yaw rate and road condition information.

[0091] In this embodiment, the threshold is set to, for example, 2 radians / second or 5 radians / second, which can be set manually and is not limited here.

[0092] In other words, the control device determines whether to control the steering brake based on the yaw rate, thereby achieving digital control of the steering brake.

[0093] In some embodiments, the steering braking device brakes the first wheel of the first axle of the vehicle individually. Step S510 may include the following step S5101:

[0094] In step S5101, in response to the yaw rate being greater than a set threshold, a first control signal is output to the steering braking device based on the yaw rate and road condition information, so that the steering braking device adjusts the braking force on the first wheel according to the first control signal.

[0095] In some examples, taking a four-wheeled vehicle as an example, the first wheel is one of the two front wheels of the vehicle, the first axle is the axle corresponding to the front wheel of the vehicle, and the braking components of the steering braking device can control the two first wheels to rotate at different speeds.

[0096] In this embodiment, different yaw angular velocities can correspond to different first control signals. The specific correspondence can be set manually and is not limited here.

[0097] In some examples, in response to a yaw rate greater than a set threshold and a relatively large yaw rate, a larger braking force is output to the steering braking device as a first control signal, so as to apply greater braking force to the first wheel with the faster speed among the two first wheels.

[0098] In some embodiments, the vehicle has an active steering mode and an assisted steering mode. In the active steering mode, the steering braking device controls the simultaneous steering of each second wheel on the second axle of the vehicle. In the assisted steering mode, the steering braking device controls the simultaneous steering of each second wheel on the second axle and the simultaneous steering of each third wheel on the third axle of the vehicle. Step S510 may include the following steps S5102 and S5103:

[0099] In step S5102, in response to the yaw rate being greater than a set threshold, the steering braking device is set to enter the assisted steering mode.

[0100] In some examples, taking a four-wheeled vehicle as an example, the second wheel is the two front wheels of the vehicle, and the second axle is the axle corresponding to these two front wheels. The third wheel is the two rear wheels of the vehicle, and the third axle is the axle corresponding to these two rear wheels. While the second wheels are turning, the third wheel can also assist in steering to reduce the turning radius of the vehicle.

[0101] In this embodiment, when the vehicle is in assisted steering mode, the control device can control the steering of the rear wheels to reduce the yaw rate of the front wheels.

[0102] Step S5103: Based on the yaw rate and road condition information, a second control signal is output to the steering braking device, so that the steering braking device adjusts the steering force of each third wheel on the third axle according to the second control signal.

[0103] In some examples, for vehicles with assisted steering modes, the corresponding steering angle coefficients for the second and third wheels can be set based on the steering angle of the second wheel, and a two-degree-of-freedom dynamic model for rear-wheel steering can be established. The specific expression is as follows:

[0104] In equation (1), k1 is the lateral stiffness of the second wheel, k2 is the lateral stiffness of the front and rear wheels, and β is the speed of the second wheel. Let δ1 be the derivative of the velocity of the second wheel with respect to time; δ2 be the rotation angle of the first wheel; m be the mass of the vehicle; u be the speed of the vehicle; a be the distance from the center of mass to the front axle; b be the distance from the center of mass to the rear axle; w be the velocity of the vehicle. r This refers to the yaw rate; Differentiate the yaw rate with respect to time; I z Let Z be the moment of inertia of the vehicle about the Z-axis, which is the axis along which the vehicle's height is located.

[0105] In w r When = 0, the vehicle does not yaw, and w r Substituting 0 into equation (1), we obtain the expression for the proportional coefficient k of the steering angle of the first wheel and the second wheel, which is shown in the following formula (2):

[0106] The proportional coefficient of the steering angle of the first and second wheels is k = δ2 / δ1. Based on k and the steering angle of the second wheels, the steering angle of the third wheel can be obtained. Furthermore, the direction of the steering angle of the third wheel is opposite to the direction of yaw. The control device can generate a corresponding second control signal based on the steering angle and direction of the third wheel, so that the steering braking device adjusts the steering force of each third wheel on the third axle according to the second control signal.

[0107] In other words, by utilizing the third wheel, the occurrence of vehicle yaw is reduced, effectively improving the utilization efficiency of the third wheel.

[0108] In some embodiments, the method further includes the following step S610:

[0109] In step S610, in response to the yaw rate being less than or equal to a set threshold, the steering braking device is set to active steering mode.

[0110] In other words, when the vehicle's yaw rate is small, using the second wheel as the steering wheel can effectively improve the vehicle's stability when turning.

[0111] Figure 3 is a schematic block diagram of a control device according to one embodiment. As shown in Figure 3, the vehicle control device 300 may include an information acquisition unit 310, a data acquisition unit 320, a drive control unit 330, and a steering control unit 340.

[0112] The information acquisition unit 310 is used to respond to the active steering command output by the steering and braking device and detect the road condition information of the vehicle.

[0113] The data acquisition unit 320 is used to acquire longitudinal and lateral offset data of the vehicle in response to changes in road surface condition indicated by road condition information.

[0114] The drive control unit 330 is used to control the drive device based on longitudinal offset data; and

[0115] The steering control unit 340 is used to control the steering braking device based on lateral offset data.

[0116] In some embodiments, the data acquisition unit 320 is further configured to acquire longitudinal offset data and lateral offset data of the vehicle in response to a first vehicle travel time.

[0117] In some embodiments, the drive control unit 330 is further configured to output a drive signal to the drive device based on the slip ratio and road condition information in response to the slip ratio exceeding a set range.

[0118] In some embodiments, the drive control unit 330 is further configured to, based on the slip ratio and road condition information, indicate that the road surface adhesion has decreased to a first value, output a first drive signal to the drive device, so that the drive device reduces the driving force of the vehicle according to the first drive signal; and based on the slip ratio and road condition information, indicate that the road surface adhesion has increased to a second value, output a second drive signal to the drive device, so that the drive device increases the driving force of the vehicle according to the second drive signal.

[0119] In some embodiments, the steering control unit 340 is further configured to output a control signal to the steering braking device based on the yaw rate and road condition information in response to the yaw rate being greater than a set threshold.

[0120] In some embodiments, the steering control unit 340 is further configured to, in response to a yaw rate greater than a set threshold, output a first control signal to the steering braking device based on the yaw rate and road condition information, so that the steering braking device adjusts the braking force on the first wheel according to the first control signal.

[0121] In some embodiments, the steering control unit 340 is further configured to set the steering braking device to enter the assisted steering mode in response to the yaw rate being greater than a set threshold.

[0122] Based on the yaw rate and road condition information, a second control signal is output to the steering braking device, causing the steering braking device to adjust the steering force of each third wheel on the third axle according to the second control signal.

[0123] In some embodiments, the vehicle control device 300 further includes a mode setting unit, which is used to set the steering braking device to active steering mode in response to a yaw rate less than or equal to a set threshold.

[0124] The vehicle's control device 300 can be the control device 20 shown in Figure 1.

[0125] Figure 4 is a schematic diagram of the hardware structure of a vehicle control device according to another embodiment.

[0126] As shown in FIG4, the vehicle control device 400 includes a processor 410 and a memory 420. The memory 420 is used to store executable computer instructions, and the processor 410 is used to execute the method as described in any of the above method embodiments according to the control of the computer instructions.

[0127] The vehicle's control device 400 can be the control device 20 shown in Figure 1.

[0128] Each functional part of the control device 300 described above can be implemented by the processor 410 in this embodiment executing the computer instructions stored in the memory 420, or it can be implemented by other structures, which are not limited here.

[0129] This application may be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this application.

[0130] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination of the foregoing. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0131] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0132] The computer instructions used to perform the operations of this application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are personalized by utilizing the status information of the computer-readable program instructions. These electronic circuits can execute the computer-readable program instructions to implement various aspects of this application.

[0133] Various aspects of this application are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0134] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0135] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0136] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a functional unit, program segment, or portion of an instruction, which includes one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be well known to those skilled in the art that implementation in hardware, implementation in software, and implementation in a combination of software and hardware are equivalent.

[0137] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technological improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this application is defined by the appended claims.

Claims

1. A method for controlling a vehicle, the vehicle comprising a drive unit and a steering and braking unit, the method comprising: In response to the active steering command output by the steering and braking device, the vehicle's road condition information is detected; In response to the road condition information indicating a change in road surface condition, the longitudinal offset data and lateral offset data of the vehicle are acquired; The drive device is controlled based on the longitudinal offset data; and The steering braking device is controlled based on the lateral offset data.

2. The method according to claim 1, wherein, The road condition information includes the estimated first time it takes for the vehicle to reach the first position; wherein, the first position is the position where the change in road surface adhesion exceeds a set change amount; In response to the road condition information indicating a change in road surface condition, the longitudinal and lateral offset data of the vehicle are acquired, including: In response to the first duration of vehicle travel, longitudinal offset data and lateral offset data of the vehicle are acquired.

3. The method according to claim 1 or 2, wherein, The vehicle also includes wheel speed sensors, and the longitudinal offset data includes the slip ratio obtained through the wheel speed sensors; The step of controlling the drive device based on the longitudinal offset data includes: When the slip ratio exceeds the set range, a drive signal is output to the drive device based on the slip ratio and the road condition information.

4. The method according to claim 3, wherein, The step of outputting the drive signal to the drive device based on the slip ratio and the road condition information includes: Based on the slip ratio and the road condition information, indicating that the road surface adhesion has decreased to a first value, a first drive signal is output to the drive device, causing the drive device to reduce the driving force of the vehicle according to the first drive signal; and Based on the slip ratio and the road condition information, the road surface adhesion is increased to a second value, and a second drive signal is output to the drive device, so that the drive device increases the driving force of the vehicle according to the second drive signal.

5. The method according to any one of claims 1-4, wherein, The vehicle also includes a yaw rate sensor, and the lateral offset data includes the yaw rate obtained by the yaw rate sensor. The step of controlling the steering braking device based on the lateral offset data includes: In response to the yaw rate being greater than a set threshold, a control signal is output to the steering braking device based on the yaw rate and the road condition information.

6. The method according to claim 5, wherein, The steering braking device brakes the first wheel of the first axle of the vehicle individually. The response to the yaw rate exceeding a set threshold, based on the yaw rate and the road condition information, includes outputting a control signal to the steering braking device, including: In response to the yaw rate being greater than a set threshold, a first control signal is output to the steering braking device based on the yaw rate and the road condition information, so that the steering braking device adjusts the braking force on the first wheel according to the first control signal.

7. The method according to claim 5, wherein, The vehicle has an active steering mode and an assisted steering mode. In the active steering mode, the steering braking device controls each second wheel on the second axle of the vehicle to turn simultaneously. In the assisted steering mode, the steering braking device controls each second wheel on the second axle to turn simultaneously, and also controls each third wheel on the third axle of the vehicle to turn simultaneously. The response to the yaw rate exceeding a set threshold, based on the yaw rate and the road condition information, includes outputting a control signal to the steering braking device, including: In response to the yaw rate being greater than a set threshold, the steering braking device is set to enter the assisted steering mode; and Based on the yaw rate and the road condition information, a second control signal is output to the steering braking device, causing the steering braking device to adjust the steering force of each third wheel on the third axle according to the second control signal.

8. The method according to claim 7, further comprising: In response to the yaw rate being less than or equal to a set threshold, the steering braking device is set to the active steering mode.

9. A vehicle control device, comprising: The information acquisition unit is used to respond to the active steering command output by the steering and braking device and detect the road condition information of the vehicle. The data acquisition unit is used to acquire the longitudinal offset data and lateral offset data of the vehicle in response to the road condition information indicating changes in road surface conditions. A drive control unit is configured to control the drive device based on the longitudinal offset data. and The steering control unit is used to control the steering braking device based on the lateral offset data.

10. A vehicle control device, comprising a memory and a processor, the memory for storing computer instructions; the processor for executing the computer instructions to implement the method according to any one of claims 1 to 8.

11. A computer storage medium storing computer instructions that, when executed by a processor, implement the method according to any one of claims 1 to 8.

12. A computer instruction product comprising computer instructions that, when executed by a processor, implement the method of any one of claims 1 to 8.

13. A vehicle, comprising a drive unit, a steering and braking unit, and a control unit; in, The control device is the vehicle control device according to claim 9 or 10, and the control device is communicatively connected to the drive device and the steering and braking device to control the drive device and the steering and braking device.

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