Vehicle control method, system and apparatus, and vehicle

Abstract

A vehicle control method, system and apparatus, and a vehicle. The method comprises: when it is determined that a vehicle travel stability function state is in an activated state, calculating a left rear motor target torque and a right rear motor target torque of a vehicle; and applying the left rear motor target torque and the right rear motor target torque to a left rear drive motor and a right rear drive motor of the vehicle, respectively, so as to control the travel stability of the vehicle. In the method, system and apparatus, and the vehicle, by applying the left rear motor target torque and the right rear motor target torque to the left rear wheel and the right rear wheel of the vehicle, respectively, a compensation yaw moment is generated, so that when the vehicle is in a state such as emergency braking, the control response is faster, the travel stability of the vehicle is better maintained, and the problem of deviation during traveling is solved.

Description

Vehicle control method, system, device and vehicle

[0001] The present application claims priority to the Chinese patent application No. 202410866315.8, filed on June 28, 2024, and entitled "Vehicle control method, system, device and vehicle", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of automobile technology, and more particularly to a vehicle control method, system, device and vehicle. BACKGROUND

[0003] With the rapid development of the automobile industry, the addition of new functions such as intelligent car machines has continuously improved the vehicle riding experience. Since the car is a mobile tool for people, ensuring the safe driving of the vehicle is a technical key that cannot be ignored in the development of the automobile industry. When the vehicle is braked at high speed, a small external disturbance (such as a change in road adhesion, uneven road surface) can easily cause the vehicle to deviate from the original driving direction, which seriously affects the straight driving tracking ability and driving safety of the vehicle.

[0004] In the related art, a rear wheel steering system is used to generate a compensating yaw moment to reduce the deflection of the vehicle during emergency braking. However, high-speed braking is a transient condition, and the yaw moment generated by the rear wheel steering system for adjustment has the problems of untimely response and high control difficulty. SUMMARY

[0005] The present application is proposed to solve the above problems. According to an aspect of the present application, a vehicle control method is provided, the method comprising: determining that a vehicle driving stability function state is in an activated state, calculating a left rear motor target torque and a right rear motor target torque of the vehicle; applying the left rear motor target torque and the right rear motor target torque to a left rear drive motor and a right rear drive motor of the vehicle, respectively, to control the vehicle driving stability.

[0006] In an embodiment of the present application, determining the vehicle driving stability function state comprises:

[0007] Obtaining state information of the vehicle; determining the vehicle driving stability function state based on the state information.

[0008] In an embodiment of the present application, the state information comprises at least one of the following: brake depth, throttle depth, steering wheel angle, vehicle speed, actual yaw rate, lateral acceleration and longitudinal acceleration.

[0009] In one embodiment of the present application, the left rear motor target torque and the right rear motor target torque of the vehicle are calculated, comprising: obtaining a total motor torque based on the accelerator depth, and distributing the total motor torque to obtain the left rear motor actual torque and the right rear motor actual torque according to a proportional relationship; and calculating the left rear motor target torque and the right rear motor target torque according to the left rear motor actual torque and the right rear motor actual torque, respectively.

[0010] In one embodiment of the present application, the left rear motor target torque and the right rear motor target torque of the vehicle are calculated, further comprising: determining a side slip state of the vehicle based on the actual yaw rate and the steering wheel angle; when the side slip state of the vehicle is left side slip, the left rear motor target torque is less than the right rear motor target torque; and when the side slip state of the vehicle is right side slip, the left rear motor target torque is greater than the right rear motor target torque.

[0011] In one embodiment of the present application, the left rear motor actual torque and the right rear motor actual torque are distributed from the total motor torque according to a proportional relationship, comprising: obtaining an inter-axle transfer ratio and a rear wheel transfer ratio of the vehicle based on state information; obtaining the rear axle motor actual torque based on the total motor torque and the inter-axle transfer ratio; and obtaining the left rear motor actual torque and the right rear motor actual torque based on the rear axle motor actual torque and the rear wheel transfer ratio.

[0012] In one embodiment of the present application, the inter-axle transfer ratio and the rear wheel transfer ratio of the vehicle are obtained based on state information, comprising: obtaining a target yaw rate based on the vehicle speed, the steering wheel angle and a first preset relationship table, and obtaining a yaw rate difference according to the target yaw rate and the actual yaw rate, wherein the first preset relationship table records a corresponding numerical relationship between the vehicle speed and the steering wheel angle and the target yaw rate; obtaining an understeering flag and an oversteering flag of the vehicle, and obtaining a steering state bit according to the understeering flag and the oversteering flag; obtaining the inter-axle transfer ratio according to the yaw rate difference, the steering state bit and a second preset relationship table, wherein the second preset relationship table records a corresponding numerical relationship between the yaw rate difference and the steering state bit and the inter-axle transfer ratio; and obtaining the rear wheel transfer ratio according to the yaw rate difference, the steering state bit and a third preset relationship table, wherein the third preset relationship table records a corresponding numerical relationship between the yaw rate difference and the steering state bit and the rear wheel transfer ratio.

[0013] In an embodiment of the present application, the left rear motor target torque and the right rear motor target torque are calculated according to the left rear motor actual torque and the right rear motor actual torque, comprising: obtaining an inter-axle correction coefficient and an inter-wheel correction coefficient based on the state information; obtaining a front-rear inter-axle transfer torque according to the inter-axle correction coefficient, an inter-axle transfer ratio and a total motor torque; obtaining a rear inter-wheel transfer torque according to the inter-wheel correction coefficient, a yaw rate difference, a rear wheel transfer ratio and the total motor torque; obtaining the left rear motor target torque according to the left rear motor actual torque, the front-rear inter-axle transfer torque and the rear inter-wheel transfer torque; and obtaining the right rear motor target torque according to the right rear motor actual torque, the front-rear inter-axle transfer torque and the rear inter-wheel transfer torque.

[0014] In an embodiment of the present application, the method further comprises: obtaining a front axle motor actual torque based on the total motor torque and the inter-axle transfer ratio; obtaining a front axle motor target torque according to the front axle motor actual torque and the front-rear inter-axle transfer torque; and applying the front axle motor target torque to the front wheels of the vehicle.

[0015] In an embodiment of the present application, the inter-axle correction coefficient and the inter-wheel correction coefficient are obtained based on the state information, comprising: obtaining the inter-axle correction coefficient based on a vehicle speed, the total motor torque and a fourth preset relationship table, wherein the fourth preset relationship table records a corresponding numerical relationship between the vehicle speed and the total motor torque and the inter-axle correction coefficient; and obtaining the inter-wheel correction coefficient based on the vehicle speed, the total motor torque and a fifth preset relationship table, wherein the fifth preset relationship table records a corresponding numerical relationship between the vehicle speed and the total motor torque and the inter-wheel correction coefficient.

[0016] In an embodiment of the present application, the method further comprises: when the vehicle driving stability function state is determined to be in an active state, calculating a target left rear wheel steering angle and a target right rear wheel steering angle of the vehicle, and applying the target left rear wheel steering angle and the target right rear wheel steering angle to a left rear wheel steering gear and a right rear wheel steering gear of the vehicle, respectively, to control the vehicle driving stability.

[0017] In an embodiment of the present application, the target left rear wheel steering angle and the target right rear wheel steering angle of the vehicle are calculated, comprising: obtaining an actual yaw rate, a steering wheel steering angle and a vehicle speed of the vehicle; obtaining a target yaw rate based on the vehicle speed, the steering wheel steering angle and a first preset relationship table, and obtaining a yaw rate difference according to the target yaw rate and the actual yaw rate, wherein the first preset relationship table records a corresponding numerical relationship between the vehicle speed and the steering wheel steering angle and the target yaw rate; and obtaining the target left rear wheel steering angle and the target right rear wheel steering angle of the vehicle based on the yaw rate difference, the vehicle speed and a sixth preset relationship table, wherein the sixth preset relationship table records a corresponding numerical relationship between the yaw rate difference and the vehicle speed and the target left rear wheel steering angle and the target right rear wheel steering angle.

[0018] In an embodiment of the present application, the target right rear wheel steering angle is equal in size and opposite in direction to the target left rear wheel steering angle.

[0019] According to another aspect of the present application, a vehicle control system is provided, the system comprising: a vehicle controller, a drive motor, an electric power steering subsystem and an electro-hydraulic brake subsystem, wherein: the vehicle controller is configured to calculate a left rear motor target torque and a right rear motor target torque of the vehicle when a vehicle stability function state is an active state; the drive motor comprises a left rear drive motor and a right rear drive motor, the left rear drive motor and the right rear drive motor being connected to the vehicle controller, the left rear drive motor applying the left rear motor target torque to a left rear wheel of the vehicle, the right rear drive motor applying the right rear motor target torque to a right rear wheel of the vehicle; the electric power steering subsystem and the electro-hydraulic brake subsystem being connected to the vehicle controller.

[0020] In an embodiment of the present application, the vehicle controller calculating the left rear motor target torque and the right rear motor target torque of the vehicle comprises: obtaining an accelerator depth of the vehicle, obtaining a total motor torque based on the accelerator depth, distributing the total motor torque to obtain a left rear motor actual torque and a right rear motor actual torque according to a proportional relationship, and calculating the left rear motor target torque and the right rear motor target torque according to the left rear motor actual torque and the right rear motor actual torque respectively.

[0021] In an embodiment of the present application, the system further comprises a steering gear, the steering gear comprising a left rear wheel steering gear and a right rear wheel steering gear, the left rear wheel steering gear and the right rear wheel steering gear being connected to the vehicle controller, the left rear wheel steering gear and the right rear wheel steering gear applying a target left rear wheel steering angle and a target right rear wheel steering angle calculated by the vehicle controller to the left rear wheel and the right rear wheel respectively.

[0022] According to another aspect of the present application, a vehicle control device is provided, the device comprising a processor and a memory, wherein the memory has stored thereon a computer executable program which, when executed by the processor, causes the processor to perform the vehicle control method.

[0023] According to still another aspect of the present application, a vehicle is provided, the vehicle comprising the vehicle control system or the vehicle control device.

[0024] According to another aspect of the present application, a storage medium is provided, the storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to perform the vehicle control method.

[0025] According to another aspect of the present application, a computer program is provided, the computer program, when executed by a processor, causing the processor to perform the vehicle control method.

[0026] The vehicle control method, system, device and vehicle of the present application obtain the left rear motor target torque and the right rear motor target torque when determining that the vehicle driving stability function state is the active state, and apply the left rear motor target torque and the right rear motor target torque to the left rear wheel and the right rear wheel of the vehicle respectively, to generate a compensation yaw moment, so that the vehicle has a faster control response and better maintains the stability of the vehicle driving process in the emergency braking state and the like, and solves the problem of deviation during driving. BRIEF DESCRIPTION OF DRAWINGS

[0027] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description of embodiments of the present application when taken in conjunction with the accompanying drawings. The drawings provided in the present application are for the purpose of illustration and explanation only and thus do not limit the present application. In the drawings:

[0028] FIG. 1 shows a schematic block diagram of an example electronic device of a vehicle control method and device according to an embodiment of the present application.

[0029] FIG. 2 shows a schematic flowchart of a vehicle control method according to an embodiment of the present application.

[0030] FIG. 3 shows a schematic structural diagram of a vehicle control system according to an embodiment of the present application.

[0031] FIG. 4 shows a schematic structural diagram of a vehicle carrying a vehicle control system according to an embodiment of the present application.

[0032] FIG. 5 shows a schematic structural block diagram of a vehicle control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0033] In order to make the objects, technical solutions and advantages of the present application more obvious, the following will describe example embodiments according to the present application in detail with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative labor should fall within the protection scope of the present application.

[0034] First, referring to FIG. 1, an example electronic device 100 for implementing a vehicle control method and device according to an embodiment of the present application is described.

[0035] As shown in FIG. 1, the electronic device 100 includes one or more processors 102, one or more memory devices 104, an input device 106, and an output device 108, which are interconnected through a bus system 110 and / or other form of connection mechanism (not shown). It should be noted that the components and structures of the electronic device 100 shown in FIG. 1 are only exemplary and are not restrictive, and the electronic device can also have other components and structures as needed.

[0036] The processor 102 can be a central processing unit (CPU) or other form of processing unit having data processing and / or instruction execution capabilities, and can control other components in the electronic device 100 to perform desired functions.

[0037] The memory device 104 can include one or more computer program products, which can include various forms of computer readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM), cache memory, and / or the like. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory, and / or the like. One or more computer program instructions can be stored on the computer readable storage medium, and the processor 102 can execute the program instructions to implement the client functions (implemented by the processor) in the embodiments of the present application described below and / or other desired functions. Various application programs and various data, such as various data used and / or generated by the application programs, and the like, can also be stored in the computer readable storage medium.

[0038] The input device 106 can be a device used by a user to input instructions, and can include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like. In addition, the input device 106 can also be any interface that receives information.

[0039] The output device 108 can output various information (such as images or sounds) to the outside (such as a user), and can include one or more of a display, a speaker, and the like. In addition, the output device 108 can also be any other device with output function.

[0040] Exemplarily, an example electronic device for implementing the vehicle control method and device according to the embodiments of the present application can be implemented, such as a smart in-vehicle terminal, and the like.

[0041] Below, the vehicle control method 200 according to the embodiment of the application will be described with reference to FIG. 2, which can be used for the control of the vehicle braking and can also be used for the control of other driving states of the vehicle, which is not limited in the application. FIG. 2 shows a schematic flow chart of the vehicle control method 200 according to the embodiment of the application. As shown in FIG. 2, the vehicle control method 200 according to the embodiment of the application can include the following steps:

[0042] In step S210, when the vehicle driving stability function state is determined to be the active state, the left rear motor target torque and the right rear motor target torque of the vehicle are calculated.

[0043] In step S220, the left rear motor target torque and the right rear motor target torque are respectively applied to the left rear drive motor and the right rear drive motor of the vehicle to control the vehicle driving stability.

[0044] Below, the braking is taken as an example to illustrate that in the embodiment of the application, when the vehicle needs to perform the emergency braking control during the driving process, the vehicle braking function state at this time is determined through the real-time state information of the vehicle, and the vehicle braking function state is divided into multiple states. When the vehicle braking stability function state (i.e., the vehicle driving stability function state) is the active state, the left rear motor target torque and the right rear motor target torque of the vehicle are calculated at this time; then the calculated left rear motor target torque is applied to the left rear drive motor of the vehicle, and the left rear drive motor drives the left rear wheel of the vehicle; and then the right rear motor target torque is applied to the right rear drive motor of the vehicle, and the right rear drive motor drives the right rear wheel of the vehicle. Therefore, the yaw moment generated when the vehicle deviates is compensated through the differential torque provided by the left and right motors of the rear axle of the vehicle, so that the vehicle can be kept stable during the driving process.

[0045] Therefore, the vehicle control method 200 according to the embodiment of the application obtains the left rear motor target torque and the right rear motor target torque of the vehicle when the vehicle driving stability function state is determined to be the active state, and applies the left rear motor target torque and the right rear motor target torque to the left rear wheel and the right rear wheel of the vehicle respectively to generate the compensation yaw moment, so that the vehicle can respond faster and keep the driving process more stable in the state of emergency braking, etc., and the problem of deviation during the driving process is solved.

[0046] In the embodiments of the present application, before determining that the vehicle driving stability function state is in the active state, further comprising: obtaining state information of the vehicle; determining the vehicle driving stability function state based on the state information. In one example, when the vehicle is braked at high speed, a slight external disturbance (such as road adhesion change, road inequality) is easy to cause the vehicle to deviate from the original driving direction during driving, causing unnecessary accidents, so a vehicle control method is needed. For the vehicle control method, first, when the vehicle needs to be braked, it is necessary to determine whether the vehicle braking control function is turned on, and after determining that the vehicle braking function is turned on, it is also necessary to determine the vehicle driving stability control function state. At this time, the vehicle driving stability control function state is determined by the current state information of the vehicle, and the state information is the parameter information obtained by the sensor of the active part of the vehicle during driving.

[0047] In the embodiments of the present application, the state information of the vehicle includes at least one of the following: brake depth, throttle depth, steering wheel angle, vehicle speed, yaw angular velocity, lateral acceleration and longitudinal acceleration. Specifically, the steering wheel angle is used to realize the steering of the wheels of the vehicle, and the steering wheel angle can generally rotate 360 degrees, but according to different vehicle models and designs, it can sometimes rotate more, for example, 900 degrees; the brake depth refers to the depth of the brake pedal of the vehicle being stepped on by the driver; the throttle depth refers to the depth of the throttle pedal of the vehicle being stepped on by the driver; the yaw angular velocity refers to the angular velocity of rotation around the direction perpendicular to the vehicle body chassis (i.e. the Z axis of the vehicle body), which is a key parameter for lateral stability when the vehicle turns; the lateral acceleration refers to the acceleration in the direction perpendicular to the direction of vehicle travel (i.e. the X axis of the vehicle body), which is the acceleration caused by the centrifugal force when the vehicle turns, and the lateral acceleration helps to stabilize the vehicle body and evaluate the stability and handling performance of the vehicle. The greater the lateral acceleration, the more likely the vehicle is to deviate from the original driving path in theory; the longitudinal acceleration refers to the acceleration of the vehicle in the longitudinal direction of the vehicle body (i.e. the Y axis of the vehicle body, by default, the direction from the tail to the head).

[0048] In some examples, the state information of the vehicle can also have gear information, vehicle slope, road type information, etc. The gear information refers to the gear state of the vehicle, and the gears of the vehicle generally have a parking gear (i.e. P gear), at which time the wheels are in a mechanical lock state to prevent rolling, a reverse gear (i.e. R gear) for use when the vehicle needs to reverse, a neutral gear (i.e. N gear) for temporary parking (such as a red light), a forward gear (i.e. D gear) for use when the vehicle is moving forward; the vehicle slope refers to the slope information of the flat ground at this time; the road type refers to the type of road on which the vehicle is driving, for example, a cement road, an asphalt road, an ice and snow road, etc. Of course, the state information of the vehicle can also include other suitable parameter information, or one or more of the above listed state information, which is not specifically limited.

[0049] In the embodiments of the present application, based on the state information, the vehicle driving stability function state is determined. Specifically, the vehicle driving stability function state is divided into multiple function states, including: a closed state, a standby state, an activated state and a quit state. In one example, when the front axle motor control module, the left rear motor control module and the right rear motor control module motor permission opening flag is permission, the drive motor transmission ratio fault state is no fault, the steering wheel angle effective flag is valid, the steering wheel angle calibration flag is calibrated, the vehicle speed signal state is no fault, the brake depth effective flag is valid, and the gear system state is normal, the vehicle driving stability function is in standby state at this time; when the steering wheel angle meets a certain angle threshold, the brake depth meets a certain depth threshold, the vehicle speed meets a certain speed threshold, and the throttle depth meets a certain throttle depth threshold, etc., the vehicle state information meets the conditions, and the vehicle driving stability function state is determined to be activated at this time. When one of the above vehicle state information does not meet the conditions, the vehicle driving stability function state is in the quit state.

[0050] In the embodiments of the present application, when the vehicle driving stability function state is in the activated state in step S210, the left rear motor target torque and the right rear motor target torque of the vehicle are calculated. Specifically, when the vehicle driving stability function state is in the activated state at this time, according to the state parameters of the vehicle under the current driving condition, such as the vehicle speed, lateral acceleration, longitudinal acceleration and yaw angular velocity parameters at this time, the yaw moment generated by the vehicle side slip can be determined, and then the rear wheel differential torque of the vehicle is calculated, and the rear wheel differential torque (i.e. the left rear motor target torque and the right rear motor target torque of the vehicle) is used to compensate for the generated yaw moment; when the vehicle is driving normally, the steering wheel remains stationary, and the front wheel is the required torque under normal driving conditions (i.e. the front wheel motor target torque at this time). Therefore, by applying the front axle motor target torque, the left rear motor target torque and the right rear motor target torque to the front wheel, the left rear wheel and the right rear wheel of the vehicle respectively, the vehicle can maintain stability during driving, and the driving safety is improved.

[0051] In the embodiments of the present application, the left rear motor target torque and the right rear motor target torque of the vehicle are calculated, including: obtaining the total motor torque based on the accelerator depth, distributing the total motor torque according to a proportional relationship to obtain the left rear motor actual torque and the right rear motor actual torque; and calculating the left rear motor target torque and the right rear motor target torque according to the left rear motor actual torque and the right rear motor actual torque respectively. Specifically, the total motor torque of the vehicle in the driving state can be obtained through the accelerator depth information in the state information of the vehicle. Generally, the total motor torque is a sum, that is, the torque output by the motor providing power to the front wheels of the vehicle (i.e. the front axle motor actual torque) plus the torque output by the motor providing power to the rear wheels of the vehicle (i.e. the rear axle motor actual torque, which is the sum of the left rear wheel motor actual torque and the right rear wheel motor actual torque). Therefore, the front axle motor actual torque, the left rear motor actual torque and the right rear motor actual torque can be obtained by distributing the total motor torque according to a certain proportional relationship, and the front axle motor target torque, the left rear motor target torque and the right rear motor target torque required by the vehicle are calculated based on the front axle motor actual torque, the left rear motor actual torque and the right rear motor actual torque. According to the corresponding driving motor corresponding to the target torque applied to the vehicle, the corresponding motor will act on the corresponding wheels of the vehicle to control the driving stability of the vehicle.

[0052] In the embodiments of the present application, the left rear motor actual torque and the right rear motor actual torque are obtained by distributing the total motor torque according to a proportional relationship based on the accelerator depth, including: obtaining the inter-axle transfer ratio and the rear wheel transfer ratio of the vehicle based on the state information; obtaining the rear axle motor actual torque based on the total motor torque and the inter-axle transfer ratio; and obtaining the left rear motor actual torque and the right rear motor actual torque based on the rear axle motor actual torque and the rear wheel transfer ratio. Wherein, the inter-axle transfer ratio and the rear wheel transfer ratio of the vehicle are first obtained based on the vehicle speed, the steering wheel angle and a first preset relationship table, and the yaw rate difference is obtained according to the target yaw rate and the actual yaw rate, wherein the first preset relationship table records the corresponding numerical relationship between the vehicle speed and the steering wheel angle and the target yaw rate; secondly, the understeering flag and the oversteering flag of the vehicle are obtained, and the steering state bit is obtained according to the understeering flag and the oversteering flag. Specifically, the understeering of the vehicle refers to the tendency of the vehicle to deviate to the outside of the curve during steering, at this time the understeering flag of the vehicle is 1; the oversteering of the vehicle refers to the tendency of the vehicle to deviate to the inside of the curve (i.e. the vehicle spins), at this time the oversteering flag of the vehicle is 1; when neither understeering nor oversteering (i.e. the vehicle neither deviates to the outside nor deviates to the inside), at this time the understeering flag is 0 and the oversteering flag is 0. The steering state bit of the vehicle can be determined through the understeering flag and the oversteering flag.

[0053] In this embodiment, the inter-axle transfer ratio is obtained according to the yaw rate difference, the steering state bit and a second preset relationship table, wherein the second preset relationship table records the corresponding numerical relationship between the yaw rate difference, the steering state bit and the inter-axle transfer ratio; the rear wheel transfer ratio is obtained according to the yaw rate difference, the steering state bit and a third preset relationship table, wherein the third preset relationship table records the corresponding numerical relationship between the yaw rate difference, the steering state bit and the rear wheel transfer ratio; the front axle motor actual torque and the rear axle motor actual torque are obtained based on the total motor torque and the inter-axle transfer ratio, and the left rear motor actual torque and the right rear motor actual torque are obtained according to the rear axle motor actual torque and the rear wheel transfer ratio. Meanwhile, the front axle motor actual torque can also be obtained based on the total motor torque and the inter-axle transfer ratio.

[0054] Specifically, first, the yaw rate difference can be obtained through the actual yaw rate in the vehicle state information and the target yaw rate, wherein the actual yaw rate mainly reflects the tilting state of the whole vehicle body at this time, and is obtained through the lateral acceleration and the vehicle speed ratio in the vehicle state information, and the target yaw rate is obtained through a relationship table (i.e., a first preset relationship table) between the vehicle speed and the steering wheel angle in the vehicle state information, i.e., a table lookup, the first preset relationship table reflects the relationship between the vehicle speed and the steering wheel angle and the yaw rate difference. Then, the inter-axle transfer ratio is obtained according to the absolute value of the obtained yaw rate difference and the steering state bit through a relationship table (i.e., a second preset relationship table), the inter-axle transfer ratio reflects the torque distribution between the front axle motor and the rear axle motor, and the second preset relationship table reflects the relationship between the yaw rate difference and the steering state bit and the inter-axle transfer ratio. Then, the rear wheel transfer ratio is obtained according to the absolute value of the yaw rate difference and the steering state bit through a relationship table (i.e., a third preset relationship table), the rear wheel transfer ratio reflects the torque distribution between the left rear motor and the right rear motor, and the third preset relationship table reflects the relationship between the yaw rate difference and the steering state bit and the rear wheel transfer ratio. Finally, the front axle motor actual torque and the rear axle motor actual torque are obtained through the total motor torque based on the inter-axle transfer ratio obtained through the table lookup, and the left rear motor actual torque and the right rear motor actual torque are obtained through the rear axle motor actual torque based on the rear wheel transfer ratio obtained through the table lookup.

[0055] In the embodiments of the present application, the left rear motor target torque and the right rear motor target torque are calculated according to the left rear motor actual torque and the right rear motor actual torque, comprising: obtaining an inter-axle correction coefficient and an inter-wheel correction coefficient based on state information; obtaining a front-rear inter-axle transfer torque according to the inter-axle correction coefficient, an inter-axle transfer ratio and a total motor torque; obtaining a rear inter-wheel transfer torque according to the inter-wheel correction coefficient, a yaw rate difference, a rear wheel transfer ratio and the total motor torque; obtaining the left rear motor target torque according to the left rear motor actual torque, the front-rear inter-axle transfer torque and the rear inter-wheel transfer torque; obtaining the right rear motor target torque according to the right rear motor actual torque, the front-rear inter-axle transfer torque and the rear inter-wheel transfer torque. Meanwhile, a front axle motor target torque is obtained according to a front axle motor actual torque and the front-rear inter-axle transfer torque. First, the inter-axle correction coefficient can be obtained according to the obtained vehicle speed, the total motor torque and a fourth preset relationship table, wherein the fourth preset relationship table records the corresponding numerical relationship between the vehicle speed and the total motor torque and the inter-axle correction coefficient; then the inter-wheel correction coefficient can be obtained according to the vehicle speed, the total motor torque and a fifth preset relationship table, wherein the fifth preset relationship table records the corresponding numerical relationship between the vehicle speed and the total motor torque and the inter-wheel correction coefficient.

[0056] Specifically, firstly, the inter-axle correction coefficient is obtained by looking up the table between the vehicle speed in the vehicle state information and the total motor torque, that is, the fourth preset relationship table, which is set to reduce the system error of the front and rear axles of the automobile; then the inter-axle transfer ratio is obtained by looking up the second preset relationship table, and the inter-axle transfer torque (that is, the distribution of the torque between the front axle motor and the rear axle motor) is obtained by calculating the product of the inter-axle transfer ratio, the inter-axle correction coefficient and the total motor torque according to the total target torque obtained according to the accelerator depth. Secondly, the inter-wheel correction coefficient is obtained by looking up the table between the vehicle speed in the state information and the total motor torque, that is, the fifth preset relationship table, which is set to reduce the system error of the wheels of the automobile and can improve the accuracy of the calculation result; then the rear wheel transfer ratio is obtained by looking up the third preset relationship table based on the calculated yaw rate difference and the total motor torque, and the rear axle inter-wheel transfer torque is obtained by calculating the product of the inter-wheel correction coefficient, the yaw rate difference, the rear wheel transfer ratio and the absolute value of the total motor torque. Specifically, the direction of the vehicle side slip is different, and the distribution of the rear wheel torque is different at this time, and the side slip state of the vehicle can be determined through the vehicle state information, for example, the actual yaw rate and the steering wheel angle in the state information can be used to determine the side slip state of the vehicle at this time. When the vehicle is left side slip, the left rear motor target torque is less than the right rear motor target torque at this time, and when the vehicle is right side slip, the left rear motor target torque is greater than the right rear motor target torque at this time. Finally, the front axle motor target torque can be obtained according to the difference between the front axle motor actual torque and the front and rear axle inter-transfer torque, the left rear motor target torque can be obtained according to the left rear motor actual torque plus half of the front and rear axle inter-transfer torque minus the rear axle inter-wheel transfer torque, and the right rear motor target torque can be obtained according to the right rear motor actual torque plus half of the front and rear axle inter-transfer torque plus the rear axle inter-wheel transfer torque.

[0057] In the embodiment of the present application, the left rear motor target torque and the right rear motor target torque are respectively applied to the left rear drive motor and the right rear drive motor in step S220 to control the driving stability of the vehicle. Specifically, the left rear motor target torque and the right rear motor target torque are respectively applied to the left rear drive motor and the right rear drive motor of the vehicle, and the obtained front axle motor target torque is applied to the front axle motor of the vehicle. The front axle motor, the left rear drive motor and the right rear drive motor act on the front wheel, the left rear wheel and the right rear wheel of the vehicle respectively, the differential torque provided by the left and right rear motors generates a compensation yaw moment, and the driving stability of the vehicle is maintained. Compared with hydraulic braking, the response speed is faster.

[0058] In the embodiments of the present application, the method further comprises: when the vehicle driving stability function state is determined to be in the active state, calculating a target left rear wheel steering angle and a target right rear wheel steering angle of the vehicle, and applying the target left rear wheel steering angle and the target right rear wheel steering angle to a left rear wheel steering gear and a right rear wheel steering gear of the vehicle respectively to control the vehicle driving stability. Wherein, the target left rear wheel steering angle and the target right rear wheel steering angle are first obtained based on an actual yaw rate, a steering wheel steering angle and a vehicle speed of the vehicle; the yaw rate difference (i.e. the target yaw rate is obtained based on the vehicle speed, the steering wheel steering angle and the first preset relationship table, and the yaw rate difference is obtained based on the target yaw rate and the actual yaw rate) can be obtained by the above table lookup method, and then the target left rear wheel steering angle and the target right rear wheel steering angle of the vehicle are obtained based on the yaw rate difference, the vehicle speed and the sixth preset relationship table, wherein the sixth preset relationship table records the corresponding numerical relationship between the yaw rate difference and the vehicle speed and the target left rear wheel steering angle and the target right rear wheel steering angle, and wherein the target right rear wheel steering angle is equal in size and opposite in direction to the target left rear wheel steering angle. Specifically, the left and right rear wheel steering angles can be obtained by looking up the relationship table between the vehicle speed in the obtained vehicle state information and the absolute value of the calculated yaw rate difference (i.e. the sixth preset relationship table), and the left and right rear wheels of the vehicle are rotated according to the left and right rear wheel steering angles to maintain braking stability. In one example, the vehicle braking stability can be achieved by adjusting the left rear wheel of the vehicle to rotate to the right by a certain angle and the right rear wheel to rotate to the left by a certain angle. Therefore, by controlling the differential torque provided by the left and right rear motors and the rear wheel steering angle, the vehicle driving stability can be better maintained, and the vehicle running deviation problem during driving can be solved.

[0059] Therefore, according to the vehicle control method of the embodiments of the present application, when the vehicle driving stability function state is determined to be in the active state, the left rear motor target torque and the right rear motor target torque of the vehicle are obtained, and the left rear motor target torque and the right rear motor target torque are applied to the left rear wheel and the right rear wheel of the vehicle respectively to generate a compensating yaw moment, so that the vehicle control response is faster in the emergency braking state and the like, and the vehicle driving process is better maintained, and the running deviation problem during driving is solved.

[0060] A vehicle control system according to another aspect of the present application is described below in combination with Fig. 3. Fig. 3 shows a schematic structural diagram of a vehicle control system 300 according to an embodiment of the present application. As shown in Fig. 3, the system comprises: a vehicle controller 301, a drive motor, an electric power steering subsystem 306 and an electro-hydraulic brake subsystem 307, wherein: the vehicle controller 301 is configured to calculate a left rear motor target torque and a right rear motor target torque of the vehicle when a vehicle driving stability function state is an active state; the drive motor comprises a left rear drive motor 302 and a right rear drive motor 303, the left rear drive motor 302 and the right rear drive motor 303 are connected to the vehicle controller 301, the left rear drive motor 302 is connected to a left rear wheel of the vehicle, the left rear drive motor 302 applies the left rear motor target torque to the left rear wheel of the vehicle, the right rear drive motor 303 is connected to a right rear wheel of the vehicle, and the right rear drive motor 303 applies the right rear motor target torque to the right rear wheel of the vehicle; and the electric power steering subsystem 306 and the electro-hydraulic brake subsystem 307 are connected to the vehicle controller 301.

[0061] In an embodiment of the present application, the vehicle controller 301 is configured to calculate the left rear motor target torque and the right rear motor target torque of the vehicle, comprising: obtaining an accelerator depth of the vehicle, obtaining a total motor torque based on the accelerator depth, distributing the total motor torque to obtain a left rear motor actual torque and a right rear motor actual torque according to a proportional relationship, and calculating the left rear motor target torque and the right rear motor target torque according to the left rear motor actual torque and the right rear motor actual torque, respectively. Specifically, the left rear motor target torque and the right rear motor target torque are transmitted to the left rear drive motor 302 and the right rear drive motor 303 to control the vehicle driving stability.

[0062] In the embodiment of the present application, the system further comprises a steering device, the steering device comprises a left rear wheel steering device 304 and a right rear wheel steering device 305, the left rear wheel steering device 304 and the right rear wheel steering device 305 are connected to the vehicle controller 301, the left rear wheel steering device 304 is connected to the left rear wheel of the vehicle, the right rear wheel steering device 305 is connected to the right rear wheel of the vehicle, the left rear wheel steering device 304 and the right rear wheel steering device 305 apply the target left rear wheel steering angle and the target right rear wheel steering angle of the vehicle calculated by the vehicle controller 301 to the left rear wheel and the right rear wheel respectively. The target right rear wheel steering angle is equal in size and opposite in direction to the target left rear wheel steering angle. The controller 301 transmits the target left rear wheel steering angle and the target right rear wheel steering angle to the left rear wheel steering device 304 and the right rear wheel steering device 305 respectively, and the left rear wheel steering device 304 and the right rear wheel steering device 305 pull the left rear wheel and the right rear wheel of the vehicle to deflect by a corresponding angle respectively, so as to control the stability of the vehicle during driving. In this embodiment, the vehicle control system can be applied to the vehicle to control the stability of the vehicle during driving. As shown in FIG. 4, the vehicle control system is applied to the vehicle. In one example, the vehicle control system can include an electric power steering subsystem, a front axle motor, an electro-hydraulic brake subsystem, a power battery, a vehicle controller, a right rear wheel steering device, a left rear wheel steering device, a right rear driving motor, a left rear driving motor, and an advanced driving assistance system domain controller (ADAS domain controller), etc. In another example, the vehicle control system can further include a multimedia host and a combination instrument, etc., which are not limited here.

[0063] Therefore, according to the vehicle control system of the embodiment of the present application, when the vehicle driving stability function state is determined to be in the active state, the left rear motor target torque and the right rear motor target torque of the vehicle are obtained, and the left rear motor target torque and the right rear motor target torque are applied to the left rear wheel and the right rear wheel of the vehicle respectively, so as to generate a compensation yaw moment, so that the vehicle can respond faster and better maintain the stability of the vehicle during driving in an emergency braking state or the like, and the problem of deviation during driving is solved.

[0064] According to another aspect of the present application, a vehicle control apparatus is provided. FIG. 5 shows a schematic structural block diagram of a vehicle control apparatus 500 according to an embodiment of the present application. As shown in FIG. 5, the vehicle control apparatus 500 includes a memory 510 and a processor 520, wherein the memory 510 stores a computer executable program which is run by the processor 520, and the computer executable program, when run by the processor 520, causes the processor 520 to perform the vehicle control method 200 described above. Those skilled in the art can understand the structure and specific operations of each module in the vehicle control apparatus 500 according to the embodiments of the present application in combination with the content described above, and thus the details are not described here. Therefore, according to the vehicle control apparatus according to the embodiments of the present application, when the vehicle driving stability function state is determined to be the active state, the left rear motor target torque and the right rear motor target torque of the vehicle are obtained, and the left rear motor target torque and the right rear motor target torque are applied to the left rear wheel and the right rear wheel of the vehicle respectively, so as to generate a compensating yaw moment, so that the vehicle has a faster control response and better maintains the stability of the vehicle driving process in the emergency braking state and the like, and solves the problem of deviation in the driving process.

[0065] In addition, according to the embodiments of the present application, a vehicle is also provided, which can include the vehicle control system 300 described above or the vehicle control apparatus 500 described above.

[0066] In addition, the present application also provides a storage medium having a computer program stored thereon, and the computer program, when run by a processor, causes the processor to perform the vehicle control method 200 according to the embodiments of the present application described above. The storage medium may, for example, include a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disc read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer readable storage medium can be any combination of one or more computer readable storage media.

[0067] In addition, the present application also provides a computer program having a computer program run by a processor stored thereon, and the computer program, when run by the processor, causes the processor to perform the vehicle control method 200 described above.

[0068] Based on the above description, the vehicle control method, system, apparatus and vehicle according to the embodiments of the present application determine the vehicle driving stability function state to be the active state, obtain the left rear motor target torque and the right rear motor target torque of the vehicle, and apply the left rear motor target torque and the right rear motor target torque to the left rear wheel and the right rear wheel of the vehicle respectively, so as to generate a compensating yaw moment, so that the vehicle has a faster control response and better maintains the stability of the vehicle driving process in the emergency braking state and the like, and solves the problem of deviation in the driving process.

[0069] While example embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the example embodiments are intended to be illustrative only and not limiting of the scope of the application. Many modifications and variations of the example embodiments described herein will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the application. Accordingly, it is intended that all of the modifications and variations that can be apparent to the skilled artisan be included within the scope of the application as defined by the appended claims.

[0070] Those skilled in the art can realize also that the exemplary units and algorithm steps described in connection with the embodiments disclosed herein can be realized by electronic hardware, computer software, or any combination of them. Whether such functionality is realized in hardware or software depends on the particular application and design constraints imposed on the overall system. Skilled artisans can implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

[0071] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and the division of the units is merely a logical function division. In actual implementation, another division manner can be used, for example, a plurality of units or components can be combined or integrated into another device, or some features can be omitted or not implemented.

[0072] In the specification provided herein, a large number of specific details are described. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some examples, well-known methods, structures and techniques are not described in detail in order not to obscure the understanding of the specification.

[0073] Similarly, it is to be understood that the features of the present application sometimes are grouped together in one or more embodiments, figures or descriptions thereof for the purpose of streamlining the disclosure and enhancing the understanding of one or more of the aspects of the application. The conflation of such described features, however, should not be interpreted as reflecting an intention that the application requires more features than are explicitly recited in each claim. Rather, inventive aspect lies in each claim, as recited by its respective preamble, that a respective technical problem can be solved with less features than all features of a disclosed single embodiment. The claims, therefore, follow closely on the specific embodiments and are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.

[0074] Those skilled in the art will appreciate that all features described herein (including all features and processes described in the claims, abstract and drawings) can be combined in any combination. Each feature or process of the description (including any accompanying claims, abstract and drawings) can be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature of the description (including any accompanying claims, abstract and drawings) is a non-limiting example.

[0075] Furthermore, those skilled in the art will appreciate that the features of the various embodiments described herein can be combined with each other, where compatible, in order to create additional embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0076] Embodiments of the application can be implemented in hardware, or as software modules running in one or more processors, or in combinations of both. Skilled persons will appreciate that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all of the functionality of some of the modules according to embodiments of the application. The application can also be implemented as a program (for example, a computer program and computer program product) for executing any or part of the methods described herein on a computer system. Such a program implementing the application can be stored on a computer readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, or provided on a carrier medium, or in any other form.

[0077] It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that one skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word 'comprising' does not exclude the presence of elements or steps other than those listed in a claim. The word 'a' or 'an' preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the system claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

[0078] The above description is provided as an enabling teaching of the application and is not intended to limit the scope of the application. Those skilled in the art will readily recognise variations and modifications of the principles of the application and applications of the application that are within the scope of the application. The scope of the application is defined by the appended claims.

Claims

1. A vehicle control method characterized by, The method comprises: When the vehicle driving stability function state is determined to be in an active state, calculating a left rear motor target torque and a right rear motor target torque of the vehicle; Applying the left rear motor target torque and the right rear motor target torque to a left rear drive motor and a right rear drive motor of the vehicle respectively to control the vehicle driving stability.

2. The method of claim 1, wherein, The determination of the vehicle driving stability function state comprises: Obtaining state information of the vehicle; Based on the state information, determining the vehicle driving stability function state.

3. The method of claim 2, wherein, The state information comprises at least one of brake depth, throttle depth, steering wheel angle, vehicle speed, actual yaw rate, lateral acceleration and longitudinal acceleration.

4. The method of claim 3, wherein, The calculation of the left rear motor target torque and the right rear motor target torque of the vehicle comprises: Based on the throttle depth, obtaining a total motor torque, and distributing the total motor torque to obtain a left rear motor actual torque and a right rear motor actual torque according to a proportional relationship; According to the left rear motor actual torque and the right rear motor actual torque, calculating the left rear motor target torque and the right rear motor target torque respectively.

5. The method of claim 4, wherein, The calculation of the left rear motor target torque and the right rear motor target torque of the vehicle further comprises: Based on the actual yaw rate and the steering wheel angle, determining a side slip state of the vehicle; When the side slip state of the vehicle is left side slip, the left rear motor target torque is less than the right rear motor target torque; When the side slip state of the vehicle is right side slip, the left rear motor target torque is greater than the right rear motor target torque.

6. The method of claim 4, wherein, The distribution of the total motor torque to obtain a left rear motor actual torque and a right rear motor actual torque according to a proportional relationship comprises: Based on the state information, obtaining an inter-axle transfer ratio and a rear wheel transfer ratio of the vehicle; Based on the total motor torque and the inter-axle transfer ratio, obtaining a rear axle motor actual torque; Based on the rear axle motor actual torque and the rear wheel transfer ratio, obtaining the left rear motor actual torque and the right rear motor actual torque.

7. The method of claim 6, wherein, The obtaining of the inter-axle transfer ratio and the rear wheel transfer ratio of the vehicle based on the state information comprises: Based on the vehicle speed, the steering wheel angle and a first preset relationship table, obtaining a target yaw rate, and according to the target yaw rate and the actual yaw rate, obtaining a yaw rate difference, wherein the first preset relationship table records a corresponding numerical relationship between the vehicle speed, the steering wheel angle and the target yaw rate; Obtaining an under-steering flag and an over-steering flag of the vehicle, and according to the under-steering flag and the over-steering flag, obtaining a steering state bit; According to the yaw rate difference, the steering state bit and a second preset relationship table, obtaining the inter-axle transfer ratio, wherein the second preset relationship table records a corresponding numerical relationship between the yaw rate difference, the steering state bit and the inter-axle transfer ratio; According to the yaw rate difference, the steering state bit and a third preset relationship table, obtaining the rear wheel transfer ratio, wherein the third preset relationship table records a corresponding numerical relationship between the yaw rate difference, the steering state bit and the rear wheel transfer ratio.

8. The method of claim 7, wherein, The left rear motor target torque and the right rear motor target torque are calculated according to the left rear motor actual torque and the right rear motor actual torque, respectively, and the method comprises: Obtaining an inter-axle correction coefficient and an inter-wheel correction coefficient based on the state information; Obtaining an inter-axle transfer torque according to the inter-axle correction coefficient, the inter-axle transfer ratio and the total motor torque; Obtaining a rear axle inter-wheel transfer torque according to the inter-wheel correction coefficient, the yaw rate difference, the rear wheel transfer ratio and the total motor torque; Obtaining the left rear motor target torque according to the left rear motor actual torque, the inter-axle transfer torque and the rear axle inter-wheel transfer torque; Obtaining the right rear motor target torque according to the right rear motor actual torque, the inter-axle transfer torque and the rear axle inter-wheel transfer torque.

9. The method of claim 8, wherein, The method further comprises: Obtaining the front axle motor actual torque based on the total motor torque and the inter-axle transfer ratio; Obtaining the front axle motor target torque according to the front axle motor actual torque and the inter-axle transfer torque; Applying the front axle motor target torque to the front wheels of the vehicle.

10. The method of claim 8, wherein, The method further comprises: Obtaining the inter-axle correction coefficient and the inter-wheel correction coefficient based on the state information, and the method comprises: Obtaining the inter-axle correction coefficient based on the vehicle speed, the total motor torque and a fourth preset relationship table, wherein the fourth preset relationship table records the corresponding numerical relationship between the vehicle speed, the total motor torque and the inter-axle correction coefficient; 11. The method of claim 1, wherein, Obtaining the inter-wheel correction coefficient based on the vehicle speed, the total motor torque and a fifth preset relationship table, wherein the fifth preset relationship table records the corresponding numerical relationship between the vehicle speed, the total motor torque and the inter-wheel correction coefficient. The method further comprises:

12. The method of claim 11, wherein, When the vehicle driving stability function state is determined to be in an activated state, calculating target left rear wheel steering angles and target right rear wheel steering angles of the vehicle, and applying the target left rear wheel steering angles and the target right rear wheel steering angles to left rear wheel steering gears and right rear wheel steering gears of the vehicle, respectively, to control the vehicle driving stability. The method further comprises: Obtaining an actual yaw rate, a steering wheel steering angle and a vehicle speed of the vehicle; Obtaining a target yaw rate based on the vehicle speed, the steering wheel steering angle and a first preset relationship table, and obtaining a yaw rate difference according to the target yaw rate and the actual yaw rate, wherein the first preset relationship table records the corresponding numerical relationship between the vehicle speed and the steering wheel steering angle and the target yaw rate; 13. The method according to claim 11 or 12, characterized in that, Obtaining the target left rear wheel steering angle and the target right rear wheel steering angle based on the yaw rate difference, the vehicle speed and a sixth preset relationship table, wherein the sixth preset relationship table records the corresponding numerical relationship between the yaw rate difference and the vehicle speed and the target left rear wheel steering angle and the target right rear wheel steering angle.

14. A vehicle control system characterized by comprising: The target right rear wheel steering angle is equal in size and opposite in direction to the target left rear wheel steering angle. The system comprises a vehicle controller, a drive motor, an electric power steering subsystem and an electro-hydraulic brake subsystem, and the vehicle controller is connected to the drive motor, the electric power steering subsystem and the electro-hydraulic brake subsystem. The vehicle controller is configured to calculate a left rear motor target torque and a right rear motor target torque of the vehicle when a vehicle stability function state is an active state. The driving motor includes a left rear driving motor and a right rear driving motor, the left rear driving motor and the right rear driving motor are connected to the vehicle controller, the left rear driving motor applies the left rear motor target torque to a left rear wheel of the vehicle, and the right rear driving motor applies the right rear motor target torque to a right rear wheel of the vehicle. The electric power steering subsystem and the electro-hydraulic brake subsystem are connected to the vehicle controller.

15. The system of claim 14, wherein, The vehicle controller calculates the left rear motor target torque and the right rear motor target torque of the vehicle by: obtaining an accelerator pedal depth of the vehicle, obtaining a total motor torque based on the accelerator pedal depth, and obtaining a left rear motor actual torque and a right rear motor actual torque by proportionally distributing the total motor torque. The left rear motor target torque and the right rear motor target torque are calculated based on the left rear motor actual torque and the right rear motor actual torque, respectively.

16. The system of claim 14, wherein, The system further includes a steering gear, the steering gear includes a left rear wheel steering gear and a right rear wheel steering gear, the left rear wheel steering gear and the right rear wheel steering gear are connected to the vehicle controller, and the left rear wheel steering gear and the right rear wheel steering gear apply a target left rear wheel steering angle and a target right rear wheel steering angle calculated by the vehicle controller to the left rear wheel and the right rear wheel, respectively.

17. A vehicle control device characterized by comprising: The apparatus includes a memory and a processor, wherein the memory has stored thereon a computer executable program that, when executed by the processor, causes the processor to perform the vehicle control method of any one of claims 1-13.

18. A vehicle characterized by comprising: The vehicle includes the vehicle control system of any one of claims 14-16 or the vehicle control apparatus of claim 17.

19. A storage medium, characterized by The storage medium has stored thereon a computer program that, when executed by a processor, causes the processor to perform the vehicle control method of any one of claims 1-13.

20. A computer program, characterized in that, The computer program, when executed by a processor, causes the processor to perform the vehicle control method of any one of claims 1-13.

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