Vehicle control method and apparatus, and drive system, vehicle and storage medium

Abstract

A vehicle control method and apparatus, and a drive system, a vehicle and a storage medium. The method comprises: when a target function is activated, controlling one first wheel at a first end of a vehicle to be in a braking state, and controlling two second wheels at a second end of the vehicle to rotate outwards by a target angle; and driving the vehicle, such that the vehicle rotates by taking the first wheel as a fixed point.

Description

Vehicle control method and device, driving system, vehicle and storage medium

[0001] This application claims priority to Chinese Patent Application No. 202411049781.3, filed on July 31, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of vehicle control, and particularly relates to a vehicle control method and device, a driving system, a vehicle and a storage medium. BACKGROUND

[0003] With the continuous progress of vehicle technology, vehicle steering systems have gradually matured. The vehicle steering system is a key component of an automobile and affects the controllability and safety of the vehicle. SUMMARY

[0004] The present disclosure provides a vehicle control method and device, a driving system, a vehicle and a storage medium.

[0005] In a first aspect, a vehicle control method is provided, the method comprising:

[0006] controlling a first wheel at a first end of the vehicle to be in a braking state, and controlling two second wheels at a second end of the vehicle to rotate outward by a target angle when a target function is activated;

[0007] driving the vehicle such that the vehicle rotates with the first wheel as a fixed point.

[0008] In some embodiments, the target angle is adapted to be set to any value between zero degrees and a steering angle threshold.

[0009] In some embodiments, the controlling the two second wheels at the second end of the vehicle to rotate outward by the target angle comprises:

[0010] controlling the two second wheels at the second end of the vehicle to rotate outward and to an angle corresponding to the steering angle threshold.

[0011] In some embodiments, the driving the vehicle comprises:

[0012] driving the two second wheels such that the vehicle rotates with the first wheel as a fixed point.

[0013] In some embodiments, the driving the two second wheels comprises:

[0014] drive one of the two second wheels to move in a first direction, and drive the other of the two second wheels to move in a second direction, the first direction being different from the second direction.

[0015] In some embodiments, the driving the two second wheels comprises:

[0016] determining a driving parameter of each of the two second wheels;

[0017] controlling a motor corresponding to each of the two second wheels according to the driving parameter of each of the two second wheels.

[0018] In some embodiments, the driving parameter comprises a target wheel speed, and the target wheel speed of each of the two second wheels is determined according to a running mode of the vehicle and a preset corresponding relationship, the running mode comprising a snow and ice mode, an off-road mode, and a road mode.

[0019] In some embodiments, the controlling the motor corresponding to each of the two second wheels according to the driving parameter of each of the two second wheels comprises:

[0020] correcting the driving parameter of each of the two second wheels according to a yaw rate, and controlling the motor corresponding to each of the two second wheels according to the corrected driving parameter.

[0021] In some embodiments, the controlling the motor corresponding to each of the two second wheels according to the driving parameter of each of the two second wheels comprises:

[0022] controlling the motor corresponding to each of the two second wheels according to at least one of a torque loading slope or a wheel speed loading slope of each of the two second wheels, so that the target wheel speed and the target torque satisfy at least one of: the target wheel speed is between a preset upper limit of wheel speed and a preset lower limit of wheel speed, or the target torque is between a preset upper limit of torque and a preset lower limit of torque.

[0023] In some embodiments, the driving the vehicle comprises:

[0024] driving the other of the first wheels of the first end of the vehicle, and driving the two second wheels, so that the vehicle rotates with the first wheel as a fixed point.

[0025] In some embodiments, the driving the other of the first wheels of the first end of the vehicle, and driving the two second wheels comprises:

[0026] driving a first target wheel of the two second wheels to move in a first direction, driving a second target wheel of the two second wheels to move in a second direction, and driving another first wheel of the first end of the vehicle to move in the first direction, the first direction being different from the second direction, the first target wheel being on the same side of the vehicle as the first wheel.

[0027] In some embodiments, the driving the another first wheel of the first end of the vehicle and the two second wheels comprises:

[0028] determining driving parameters of the another first wheel and the two second wheels;

[0029] controlling motors corresponding to the another first wheel and the two second wheels according to the driving parameters of the another first wheel and the two second wheels.

[0030] In some embodiments, the controlling motors corresponding to the another first wheel and the two second wheels according to the driving parameters of the another first wheel and the two second wheels comprises:

[0031] correcting the driving parameters of the another first wheel and the two second wheels according to a yaw rate, and controlling the motors corresponding to the another first wheel and the two second wheels according to the corrected driving parameters.

[0032] In some embodiments, the driving parameters comprise target wheel speeds, the target wheel speeds of the another first wheel and the two second wheels being determined according to a running mode of the vehicle and a preset correspondence relationship, the running mode comprising an ice and snow mode, an off-road mode, and a highway mode.

[0033] In some embodiments, the controlling motors corresponding to the another first wheel and the two second wheels according to the driving parameters of the another first wheel and the two second wheels comprises:

[0034] controlling the motors corresponding to the another first wheel and the two second wheels according to at least one of a torque loading slope or a wheel speed loading slope of the another first wheel and the two second wheels, so that the target wheel speeds and the target torques satisfy at least one of the following conditions: the target wheel speeds are between a preset upper limit value of wheel speed and a preset lower limit value of wheel speed, or the target torques are between a preset upper limit value of torque and a preset lower limit value of torque.

[0035] In some embodiments, before the target function is activated, the method further comprises:

[0036] The target function is activated when it is determined according to the vehicle environment information and the vehicle driving related information that the vehicle meets a preset activation condition;

[0037] The target function is not activated when it is determined according to the vehicle environment information and the vehicle driving related information that the vehicle does not meet the preset activation condition.

[0038] In some embodiments, the vehicle driving information includes vehicle indicator light information, motor information, steering wheel information, vehicle speed signal state, brake depth identification bit information, gear state information, four-door two-cover state, and battery state parameter; and the vehicle environment information includes slope information.

[0039] The preset activation condition includes that the vehicle indicator light information, the motor information, the steering wheel information, the vehicle speed signal state, the brake depth information, the gear state information, the four-door two-cover state are in a preset state, and the battery state parameter is greater than a preset battery parameter.

[0040] In some embodiments, the slope information is less than a preset threshold, and a duration is at least more than a first preset time length.

[0041] In some embodiments, the vehicle speed is less than a preset vehicle speed, and a duration is more than a second preset time length.

[0042] In some embodiments, before the target function is activated, the method further includes:

[0043] Obtaining user inputted rotation parameter information, the rotation parameter information including rotation direction and rotation angle information; and driving the vehicle to rotate with the first wheel as a fixed point, including:

[0044] Driving the vehicle to rotate with the first wheel as a fixed point, in the rotation direction, and by an angle corresponding to the rotation angle information.

[0045] In some embodiments, further including:

[0046] Determining a target turning angle of the vehicle in the rotation process;

[0047] Determining a target turning radius of the vehicle in the rotation process;

[0048] Generating a turning track of the vehicle based on the target turning angle and the target turning radius, and displaying the turning track.

[0049] In some embodiments, the determining of the target turning angle of the vehicle in the turning process includes:

[0050] obtaining rotation angle information input by a user, determining an initial turning angle according to the rotation angle information;

[0051] predicting the target turning angle of the next turning control of the vehicle based on the initial turning angle and yaw rate information.

[0052] In some embodiments, the predicting the target turning angle of the next turning control of the vehicle based on the initial turning angle and the yaw rate information comprises:

[0053] determining a target angle difference value according to the yaw rate information;

[0054] determining the target turning angle according to the initial turning angle and the target angle difference value.

[0055] In some embodiments, the determining the target angle difference value according to the yaw rate information comprises:

[0056] obtaining a first yaw rate filter value of the last turning control of the vehicle and a second yaw rate filter value of the current turning control;

[0057] determining a yaw rate filter average value of the first yaw rate filter value and the second yaw rate filter value;

[0058] determining the target angle difference value based on a product of the yaw rate filter average value and a preset turning control period.

[0059] In some embodiments, the method further comprises:

[0060] correcting a current driving track according to the yaw rate, and outputting and displaying the corrected driving track to assist the driver.

[0061] In a second aspect, a control device is provided, comprising: a vehicle controller and a motor control unit; the vehicle controller and the motor control unit are configured to perform the vehicle control method as described above.

[0062] In a third aspect, a drive system is provided, comprising: the control device as described above, a first motor, a second motor, and a third motor.

[0063] The first motor is configured to output torque to the left front wheel and the right front wheel;

[0064] The second motor is configured to output torque to the left rear wheel;

[0065] The third motor is configured to output torque to the right rear wheel.

[0066] In a fourth aspect, a vehicle is provided, comprising: a vehicle controller and a motor control unit; the vehicle controller and the motor control unit are configured to perform the vehicle control method as described above.

[0067] In a fifth aspect, a computer readable storage medium is provided, the computer readable storage medium has a computer program stored thereon, the computer program, when executed by a processor, implements the vehicle control method as described above.

[0068] In some embodiments of the present disclosure, when the target function is activated, the first wheel at the first end of the vehicle is controlled to be in a braking state, and the two second wheels at the second end of the vehicle are both controlled to rotate outward by a target angle; the vehicle is driven so that the vehicle rotates with the first wheel as a fixed point, which realizes rotating around a single wheel with a certain front wheel as a fixed wheel, thereby reducing the turning diameter. BRIEF DESCRIPTION OF DRAWINGS

[0069] In order to more clearly illustrate the technical solutions of the present disclosure, the drawings needed to be used in the description of the present disclosure will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art without any creative labor based on these drawings.

[0070] FIG. 1 is a flowchart of a vehicle control method according to some embodiments;

[0071] FIG. 2 is a flowchart of another vehicle control method according to some embodiments;

[0072] FIG. 3 is a flowchart of still another vehicle control method according to some embodiments;

[0073] FIG. 4 is a flowchart of still another vehicle control method according to some embodiments;

[0074] FIG. 5 is a flowchart of still another vehicle control method according to some embodiments;

[0075] FIG. 6 is a flowchart of still another vehicle control method according to some embodiments;

[0076] FIG. 7 is a flowchart of still another vehicle control method according to some embodiments;

[0077] FIG. 8A is a schematic diagram of a turning according to some embodiments;

[0078] FIG. 8B is an architectural diagram of a system according to some embodiments;

[0079] FIG. 8C is a flowchart of a vehicle turning control according to some embodiments;

[0080] FIG. 9 is a block diagram of a control device according to some embodiments;

[0081] FIG. 10 is a block diagram of a driving system according to some embodiments;

[0082] FIG. 11 is a block diagram of a vehicle according to some embodiments. DETAILED DESCRIPTION

[0083] In order to make the above objectives, features and advantages of the present disclosure more obvious and understandable, the present disclosure will be further described in detail below with reference to the drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the protection scope of the present disclosure.

[0084] In the related art, the steering function of the vehicle needs to be controlled by the driver operating the steering wheel to control the front wheel angle, but the turning radius is large. For the working condition of turning or U-turn of the vehicle in a narrow road, the ordinary normal steering is limited by the too large turning diameter and cannot complete the U-turn or steering.

[0085] To solve the above problems, some embodiments of the present disclosure provide a vehicle control method.

[0086] Referring to FIG. 1, a flowchart of a vehicle control method according to some embodiments is shown, which can include the following steps S101 and S102.

[0087] Step S101, when the target function is activated, the first wheel at the first end of the vehicle is controlled to be in a braking state, and the two second wheels at the second end of the vehicle are both controlled to rotate outward by a target angle.

[0088] The target angle is suitable to be set to any value between zero degrees and a steering angle threshold.

[0089] In actual application, the vehicle is equipped with a turning function, and the target function in some embodiments of the present disclosure is the turning function. The characteristic of the turning function is to turn around a certain wheel in the vehicle as a fixed point, and the turning process of the vehicle in the activated state of the target function is similar to a compass. In the activated state of the target function, the two second wheels at the second end of the vehicle are both controlled to rotate outward by a target angle away from the center of the vehicle, and the target angle can be set according to the actual scene.

[0090] When the vehicle activates the target function, the first wheel at the first end of the vehicle can be controlled to be in a braking state, and the first wheel can be any wheel of the vehicle.

[0091] For example, when the first end wheel is a front wheel of the vehicle, the second end wheel is a rear wheel of the vehicle. When the first end wheel is a rear wheel of the vehicle, the second end wheel is a front wheel of the vehicle.

[0092] In some embodiments of the present disclosure, the control of the two second wheels at the second end of the vehicle to rotate outward by a target angle includes: controlling the two second wheels at the second end of the vehicle to rotate outward and rotate to an angle corresponding to a steering angle threshold.

[0093] In some embodiments of the present disclosure, the target function is activated when it is determined according to the vehicle environment information and the vehicle driving related information that the vehicle meets a preset activation condition before the target function is activated; and the target function is not activated when it is determined according to the vehicle environment information and the vehicle driving related information that the vehicle does not meet the preset activation condition.

[0094] The vehicle driving information includes vehicle indicator light information, motor information, steering wheel information, vehicle speed signal state, brake depth identification bit information, gear state information, four-door two-cover state, and battery state parameter; and the vehicle environment information includes slope information.

[0095] The preset activation condition includes: the vehicle indicator light information, the motor information, the steering wheel information, the vehicle speed signal state, the brake depth information, the gear state information, the four-door two-cover state being a preset state, and the battery state parameter being greater than a preset battery parameter.

[0096] For example, a vehicle control unit (VCU) in the vehicle can be used to determine the start condition of the target model.

[0097] When the OK indicator light is OK; the front motor control unit (FMCU) / rear left motor control unit (RLMCU) / rear right motor control unit (RRMCU) motor permission opening flag is permission (i.e., the system has confirmed that all necessary conditions have been met and the motor can be safely started); the drive motor transmission ratio fault state is no fault; the steering wheel angle effective flag bit is effective; the steering wheel angle calibration flag bit is calibrated; the vehicle speed signal state is no fault; the brake depth effective flag is effective; the gear system state is normal; the four-door two-cover is in a closed state; and the state of charge (SOC) of the vehicle battery is greater than 15%, the target function start condition is standby.

[0098] In the target function standby state, the vehicle environment information can be further collected to determine whether the target function can be activated. When the slope information is less than a preset threshold, and the duration is at least more than a first preset time length, it is confirmed that the target function is activated.

[0099] When the vehicle slope judgment is not met, the target model is in a closed state, and the switch of the target function in the application interface is grayed out, so that the user cannot start the target function.

[0100] For example, the vehicle slope judgment Anti-Lock Braking System (ABS) (VCU calculates the slope) is less than 3% of the small slope threshold when the vehicle is on flat ground, and lasts for 200ms.

[0101] Further, the vehicle speed can be combined to determine whether the target function is activated. The vehicle speed is less than a preset speed, and the duration is more than a second preset time length.

[0102] For example, the vehicle stationary judgment ABS (VCU calculates the vehicle speed) is less than 0.5km / h of the lower limit of the vehicle stationary judgment speed, and lasts for 200ms.

[0103] In some embodiments of the present disclosure, when the Personal Digital Assistant (PAD) issues the target fulcrum, the target rotation direction, and the rotation angle, if the vehicle is on flat ground (the slope is greater than a certain threshold); the vehicle is stationary; the gear is in Drive (D) gear; and the Didyna intelligent driving assistance system judges that the Electric Power Steering (EPS) return, single-wheel braking, rear rotation has been executed, and other subsystems such as the disus full-stack self-research intelligent electric control active suspension technology have met the requirements, the target function is activated.

[0104] In some embodiments of the present disclosure, the target model can be applied to a vehicle with three-motor independent control and differential torque feedback. The target model can be based on front-wheel steering and front motor, left rear motor, and right rear motor speed control. At a narrow turning place, through real-time monitoring of vehicle speed, rotation angle, slip rate, and yaw rate signals, the braking, steering, and driving systems are cooperatively controlled, so as to realize compass U-turn.

[0105] Step S102, drive the vehicle so that the vehicle rotates with the first wheel as the fixed point.

[0106] After adjusting the second wheel, the vehicle can be driven for turning control, and the vehicle can rotate with the first wheel as the fixed point.

[0107] In some embodiments of the present disclosure, before the target function is activated, the user inputted rotation parameter information can also be obtained, the rotation parameter information including rotation direction and rotation angle information; and then after the vehicle is driven, the vehicle can be caused to rotate along the rotation direction with the first wheel as the fixed point, and rotate by an angle corresponding to the rotation angle information.

[0108] In some embodiments of the present disclosure, the target turning angle of the vehicle in the rotation process can be determined; the target turning radius of the vehicle in the rotation process can be determined; and based on the target turning angle and the target turning radius, the turning trajectory of the vehicle can be generated and displayed.

[0109] In actual application, the target turning angle and the target turning radius of the vehicle in the rotation process can be fitted into the turning trajectory of the vehicle, and the turning trajectory can be displayed on the display screen of the vehicle to feedback the turning process of the vehicle to the user.

[0110] In some examples, the process of determining the target turning radius of the vehicle in the turning process includes: obtaining a road adhesion coefficient lookup table and a current road adhesion coefficient of the vehicle; querying the target turning radius corresponding to the road adhesion coefficient based on the road adhesion coefficient lookup table, wherein the road adhesion coefficient lookup table includes the corresponding relationship between the road adhesion coefficient and the turning radius of each wheel.

[0111] As shown in Table 1, it is a road adhesion coefficient lookup table.

[0112] Table 1

[0113] In some embodiments of the present disclosure, predicting the target turning angle of the next turning control of the vehicle based on the initial turning angle and the yaw rate information includes: determining a target angle difference value according to the yaw rate information; and determining the target turning angle based on the initial turning angle and the target angle difference value.

[0114] In some embodiments of the present disclosure, determining the target angle difference value according to the yaw rate information includes: obtaining a first yaw rate filter value of the last turning control of the vehicle and a second yaw rate filter value of the current turning control; determining a yaw rate filter average value of the first yaw rate filter value and the second yaw rate filter value; and determining the target angle difference value based on the product of the yaw rate filter average value and a preset turning control period.

[0115] For example, the process of determining the target turning angle of the vehicle in the turning process includes: obtaining user inputted rotation angle information; determining an initial turning angle according to the rotation angle information; and predicting the target turning angle of the next turning control of the vehicle based on the initial turning angle and the yaw rate information.

[0116] For example, the target turning angle of the next turning control of the vehicle is predicted based on the initial turning direction, including: obtaining a first yaw rate filter value of the last turning control of the vehicle and a second yaw rate filter value of the current turning control; determining a yaw rate filter average of the first yaw rate filter value and the second yaw rate filter value; determining a target angle difference value based on a product of the yaw rate filter average and a preset turning control period; and adding the initial turning angle and the target angle difference value to obtain the target turning angle of the next turning control of the vehicle.

[0117] In some embodiments of the present disclosure, the user can set a target turning angle after starting the target function, and the target turning angle can be used as an initial angle in the turning process of the vehicle, based on which each angle in the turning process of the vehicle is predicted step by step. For example, the relationship between the turning angles in the turning control processes before and after the turning control can be calculated according to the yaw rate filter values.

[0118] Turning angle (t+1) = turning angle (t) + 0.5 * [yaw rate filter value (t-1) + yaw rate filter value (t)] * software execution period.

[0119] Turning angle (t) is the turning angle at time t, turning angle (t+1) is the turning angle at time t+1, yaw rate filter value (t-1) is the yaw rate filter value at time t-1, yaw rate filter value (t) is the yaw rate filter value at time t, and the execution period is the time interval between the turning control processes before and after the turning control. It should be noted that the turning angle (t+1) in some embodiments of the present disclosure can be greater than the vehicle turning angle threshold 360°, that is, the vehicle can complete a turning of more than 360°.

[0120] In some embodiments of the present disclosure, the current driving track is corrected according to the yaw rate, and the corrected driving track is output and displayed to assist the driver.

[0121] In some embodiments of the present disclosure, when the target function is activated, the first wheel at the first end of the vehicle is controlled to be in a braking state, and the two second wheels at the second end of the vehicle are both controlled to rotate outward by a target angle; and the vehicle is driven to rotate with the first wheel as the fixed point, so that the vehicle rotates around a single wheel with a certain front wheel as the fixed wheel, thereby reducing the turning diameter.

[0122] Referring to FIG. 2, a flowchart of another vehicle control method according to some embodiments is shown, which can include the following steps S201 and S202.

[0123] Step S201, when the target function is activated, the first wheel at the first end of the vehicle is controlled to be in a braking state, and the two second wheels at the second end of the vehicle are both controlled to rotate outward by a target angle.

[0124] In step S202, the two second wheels are driven so that the vehicle rotates with the first wheel as a fixed point.

[0125] In some embodiments of the present disclosure, the rotation with the first wheel as a fixed point can be achieved by driving the two second wheels.

[0126] In some embodiments of the present disclosure, the process of driving the two second wheels in step S202 includes driving one of the two second wheels to move in a first direction and driving the other of the two second wheels to move in a second direction, the first direction being different from the second direction.

[0127] The two wheels move in different directions, and the first direction and the second direction form an outer octagon shape.

[0128] Referring to FIG. 3, in another embodiment of the present disclosure, driving the two second wheels includes steps S11 and S12.

[0129] In step S11, a driving parameter of each second wheel is determined.

[0130] The driving parameter can include a target wheel speed, and the target wheel speed of each second wheel is determined according to a running mode of the vehicle and a preset corresponding relationship, the running mode including an ice and snow mode, an off-road mode, or a highway mode.

[0131] In step S12, a motor corresponding to each second wheel is controlled according to the driving parameter of each second wheel.

[0132] In some embodiments of the present disclosure, controlling the motor corresponding to each second wheel according to the driving parameter of each second wheel includes:

[0133] The driving parameter of each second wheel is corrected according to a yaw rate, and the motor corresponding to each second wheel is controlled according to the corrected driving parameter.

[0134] In some embodiments of the present disclosure, controlling the motor corresponding to each second wheel according to the driving parameter of each second wheel includes:

[0135] The motor corresponding to each second wheel is controlled according to at least one of a torque loading slope or a wheel speed loading slope of each second wheel, so that the target wheel speed and the target torque satisfy at least one of the following conditions:

[0136] The target wheel speed is between a preset upper limit of wheel speed and a preset lower limit of wheel speed, or the target torque is between a preset upper limit of torque and a preset lower limit of torque.

[0137] For example, the process of controlling the motor corresponding to each second wheel according to at least one of the torque loading slope or the wheel speed loading slope of each second wheel includes:

[0138] (1) obtaining actual torque information and / or required torque information of the front wheels or the rear wheels of the vehicle;

[0139] The actual torque information of the front wheels or the rear wheels of the vehicle is the torque information of the vehicle during the turning control process, which can be calculated and controlled by the motor control unit (MCU) according to the current driving condition, vehicle state and driver input. The required torque information is the torque information that the driver expects the motor to output.

[0140] (2) determining the first torque information of the wheels other than the fixed wheels when the vehicle is turning in the mode state based on the actual torque information and / or the required torque information;

[0141] The torque of the vehicle when turning in different mode states is different, so the first torque information of the wheels other than the fixed wheels when turning can be determined according to the known mode state. That is, in some embodiments of the present disclosure, the wheels other than the fixed wheels of the vehicle can be respectively assigned a torque (i.e., a differential torque) during the turning process of the vehicle to reduce the turning radius.

[0142] In some embodiments of the present disclosure, when the mode state is the working state, a delay function of the vehicle torque is determined, the delay function being a function of the actual torque of the vehicle; the first torque information of the wheels other than the fixed wheels of the vehicle when turning is determined based on the delay function and the actual torque information.

[0143] The role of the delay function is to introduce a time delay, so that the first torque information is not immediately responsive to the change of the actual torque information. This delay can help the system to smoothly transition and avoid vehicle instability or difficult handling caused by rapid changes in torque. Therefore, the delay function in some embodiments of the present disclosure is a function of the actual torque information, and after substituting the actual torque information into the delay function, the first torque information after the delay can be obtained, thereby achieving smooth transition during the turning process of the vehicle.

[0144] In practical applications, each wheel of the vehicle other than the fixed wheels can be provided with a corresponding delay function, and when the current preset turning module of the vehicle is in the working state, the obtained actual torque information can be substituted into the delay function to calculate the first torque information.

[0145] For example, the first torque information of the front axle = (delay)(front axle actual torque information).

[0146] The first torque information of the left rear motor = delay (left rear motor actual torque information).

[0147] Right rear motor first torque information = delay (right rear motor actual torque information).

[0148] In some embodiments of the present disclosure, the demand torque information includes front wheel demand torque information and rear wheel demand torque information, the first torque information includes front wheel first torque information and rear wheel first torque information, when the mode state is the exiting state, the front wheel demand torque information is taken as the front wheel first torque information of the vehicle, and the rear wheel first torque information is obtained by weighting the rear wheel demand torque information with a preset weight coefficient.

[0149] When the target model is in the exiting state, the front wheel first torque information = the front wheel demand torque information; the rear wheel first torque information = the weight coefficient * the rear wheel demand torque information, the weight coefficient can be set according to actual demand, and the weight coefficients of different rear wheels can be the same or different.

[0150] For example, when the weight coefficient of the rear axle is 0.5:

[0151] Front axle first torque information = front axle driver demand torque information.

[0152] Left rear motor first torque information = rear axle driver demand torque information / 2.

[0153] Right rear motor first torque information = rear axle driver demand torque information / 2.

[0154] (3) determining the first wheel speed information of the other wheels of the vehicle in the mode state except the fixed wheels;

[0155] In some embodiments of the present disclosure, the first wheel speed information of the other wheels of the vehicle in the mode state except the fixed wheels is determined, including: when the mode state is the working state, determining the vehicle driving terrain of the vehicle; determining the first wheel speed information corresponding to the target driving terrain based on a preset corresponding relationship table of driving terrain and vehicle wheel speed.

[0156] In actual application, the wheel speed of the vehicle when driving is related to the driving terrain, so that the corresponding relationship table between the driving terrain and the vehicle wheel speed can be constructed in advance, and when the target model is determined to be in the working state, the corresponding vehicle first wheel speed information can be queried in the corresponding relationship table according to the terrain selected by the user or the current real-time terrain of the vehicle. The driving terrain can include but is not limited to ice and snow, off-road, highway and the like.

[0157] In some embodiments of the present disclosure, when the working state of the target model is the function exiting state, the target wheel speed of the front wheel VF / the left rear wheel VRL / the right rear wheel VRR is 0 km / h.

[0158] (4) controlling the vehicle to turn based on the first wheel speed information and the first torque information.

[0159] After determining the first wheel speed information and the first torque information, the vehicle can perform vehicle turning based on the wheel speed and the torque.

[0160] In some embodiments of the present disclosure, after the target model is opened, the method further comprises: determining a target turning angle of the vehicle during the turning process; determining a target turning radius of the vehicle during the turning process; generating a turning trajectory of the vehicle based on the target turning angle and the target turning radius, and displaying the turning trajectory.

[0161] The process of determining the target turning angle comprises: in response to a selection operation for the angle during the turning process of the vehicle, determining an initial turning angle; and predicting a target turning angle of the next turning control of the vehicle based on the initial turning direction.

[0162] Referring to FIG. 4, in some embodiments of the present disclosure, determining the motor speed information based on the first wheel speed information comprises the following sub-steps S21 to S24.

[0163] Sub-step S21, limiting the first wheel speed information according to a preset wheel speed limit value to obtain second wheel speed information.

[0164] When the first wheel speed information is greater than the maximum value of the preset wheel speed limit value, the second wheel speed information after the first wheel speed information limiting processing is the maximum wheel speed. When the first wheel speed information is less than the minimum value of the preset wheel speed limit value, the second wheel speed information after the first wheel speed information limiting processing is the minimum wheel speed.

[0165] The upper limit of the preset wheel speed limit value can be set to 15 kph, and the lower limit of the wheel speed can be set to -15 kph.

[0166] Sub-step S22, determining wheel speed slope information of the vehicle.

[0167] The wheel speed slope information can be used for smoothing the wheel speed. The wheel speed slope information can include a wheel speed loading slope and a wheel speed unloading slope. In a vehicle control system, the loading and unloading slopes are used to smoothly adjust the wheel speed to ensure the stability and safety of the vehicle when turning or performing other operations. These slopes are usually used to control the rate of change of the wheel speed, so as to avoid the instability or difficulty of the vehicle caused by sudden changes in speed.

[0168] For example, the process of determining the wheel speed slope information of the vehicle comprises: obtaining first selection information of the wheel speed slope of the vehicle; and determining the wheel speed slope information corresponding to the selection information. The user can set the selection to open the setting wheel speed slope, and then the corresponding wheel speed slope information can be generated according to the user's selection.

[0169] For example, when the user opens the wheel speed loading selection switch (the default selection switch attribute value is 1), the wheel speed loading slope = the preset wheel speed loading slope calibration value (such as 0.015).

[0170] When the user closes the wheel speed loading selection switch (the selection switch attribute value is 0), the loading slope needs to be determined according to the second wheel speed information after limiting, and in some examples, the wheel speed loading slope = the target wheel speed after limiting / the wheel speed loading time (such as the wheel speed loading time can be set to 500 ms).

[0171] When the user opens the wheel speed unloading selection switch (the default selection switch attribute value is 1), the wheel speed unloading slope = the preset wheel speed unloading slope calibration value (such as -0.015).

[0172] When the user closes the wheel speed unloading selection switch (the selection switch attribute value is 0), the loading slope needs to be determined according to the second wheel speed information after limiting, and in some examples, the wheel speed unloading slope = the target wheel speed after limiting / the wheel speed unloading time (such as the wheel speed unloading time can be set to 500 ms).

[0173] Sub-step S23, determining third wheel speed information of the vehicle after smoothing based on the wheel speed slope information and the second wheel speed information;

[0174] Sub-step S24, determining the motor speed information corresponding to the third wheel speed information.

[0175] For example, determining the motor speed information corresponding to the third wheel speed information includes: obtaining the wheel rolling radius of the vehicle and the first motor transmission ratio, the first motor transmission ratio being used to convert the wheel speed into the motor speed; determining the motor speed information based on the wheel rolling radius, the first motor transmission ratio, and the third wheel speed information.

[0176] The wheel rolling radius refers to the distance from the center of the wheel to the ground when the wheel is rolling. This value is usually determined according to the design parameters of the vehicle, or can be obtained by measurement.

[0177] The first motor transmission ratio refers to the speed ratio between the motor output shaft and the wheel. This ratio depends on the design of the vehicle's power transmission system, including the configuration of the gear box, transmission shaft, differential, etc.

[0178] The third wheel speed information is the wheel speed data after smoothing, which is more stable and reliable, and can be used in the decision-making process of the vehicle dynamic control system.

[0179] The wheel rolling radius, the first motor transmission ratio can establish the conversion relationship between the third wheel speed information and the motor speed information, so that, after obtaining the wheel rolling radius, the first motor transmission ratio and the third wheel speed information, the motor speed information can be determined according to the conversion relationship.

[0180] In some embodiments of the present disclosure, the motor speed = a * third wheel speed information * first motor transmission ratio / wheel rolling radius, a is a constant. The first motor transmission ratio of different wheels and a can be the same or different, and the value can be set according to the actual scene of the vehicle.

[0181] For example: front motor target speed = smooth rear front wheel third speed information VF ÷ 3.6 ÷ wheel rolling radius × 9.55 × front axle first motor transmission ratio.

[0182] Left rear motor target speed = smooth rear left rear wheel third speed information VRL ÷ 3.6 ÷ wheel rolling radius × 9.55 × left rear first motor transmission ratio.

[0183] Right rear motor target speed = smooth rear right rear wheel third speed information VRR ÷ 3.6 ÷ wheel rolling radius × 9.55 × right rear first motor transmission ratio.

[0184] Referring to FIG. 5, in some embodiments of the present disclosure, the motor torque information is determined based on the first torque information, including the following sub-steps S31 to S34.

[0185] Sub-step S31, limit processing the first torque information according to a preset wheel speed limit value to obtain second torque information.

[0186] When the first torque information is greater than the maximum value of the preset torque limit value, the second torque information after the first torque information limit processing is the maximum torque. When the first torque information is less than the minimum value of the preset torque limit value, the second torque information after the first torque information limit processing is the minimum torque.

[0187] The upper limit of the preset torque limit value can be set to 2500 Nm, and the lower limit of the torque can be set to -2500 Nm.

[0188] Sub-step S32, determine the torque slope information of the vehicle.

[0189] The torque slope information can be used for smoothing the torque. The torque slope information can specifically include a torque loading slope and a torque unloading slope. In the vehicle control system, the loading and unloading slopes are used to adjust the vehicle torque smoothly to ensure the stability and safety of the vehicle when turning or performing other operations. These slopes are usually used to control the rate of change of the vehicle torque, so as to avoid the instability or difficult operation of the vehicle caused by sudden speed changes.

[0190] For example, determining the torque slope information of the vehicle includes: obtaining second selection information of the torque slope of the vehicle; and determining the torque slope information corresponding to the selection information.

[0191] For example, when the user opens the torque loading selection switch (the default selection switch attribute value is 1), the torque loading slope = the preset torque loading slope calibration value (such as 30).

[0192] When the user torque loading selection switch is closed (the selection switch attribute value is 0), the loading slope needs to be determined according to the second torque information after limiting, and in an example, the torque loading slope = the target torque after limiting / the torque loading time (such as the torque loading time can be set to 500 ms).

[0193] When the user torque unloading selection switch is opened (the default selection switch attribute value is 1), the torque unloading slope = the preset torque unloading slope calibration value (such as -30).

[0194] When the user torque unloading selection switch is closed (the selection switch attribute value is 0), the loading slope needs to be determined according to the second torque information after limiting, and in some examples, the torque unloading slope = the target torque after limiting / the torque unloading time (such as the torque unloading time can be set to 500 ms).

[0195] Sub-step S33, determining third torque information of the vehicle after smoothing based on the torque slope information and the second torque information;

[0196] Sub-step S34, determining the motor torque information corresponding to the third torque information.

[0197] For example, determining the motor torque information corresponding to the third torque information includes: obtaining a second motor transmission ratio of the vehicle, the second motor transmission ratio being used to convert the wheel end torque into the motor torque; and determining the motor torque information based on the second motor transmission ratio and the third torque information.

[0198] The second motor transmission ratio refers to the speed ratio between the motor output shaft and the wheel. This ratio depends on the powertrain design of the vehicle, including the configuration of the gear box, the transmission shaft, the differential, and other components.

[0199] The second motor transmission ratio can be used to establish a conversion relationship between the third torque information and the motor torque information, so that, after obtaining the second motor transmission ratio and the third torque information, the motor torque information can be determined according to the conversion relationship.

[0200] In some embodiments of the present disclosure, the motor torque = b*third torque information*second motor transmission ratio, where a is a constant. The second motor transmission ratios of different wheels and b can be the same or different, and the values can be set according to the actual scene of the vehicle.

[0201] For example: front motor target torque = smoothed front axle motor wheel end third torque information ÷ front axle second motor transmission ratio.

[0202] The left rear motor target torque = the smoothed left rear motor wheel end third torque information ÷ the left rear second motor transmission ratio.

[0203] The right rear motor target torque = the smoothed right rear motor wheel end third torque information ÷ the right rear second motor transmission ratio.

[0204] In some embodiments of the present disclosure, during the vehicle steering control process, the two second wheels are driven to make the vehicle rotate with the first wheel as the fixed point, so as to reduce the turning diameter.

[0205] Referring to FIG. 6, a flowchart of another vehicle control method according to some embodiments is shown, which can include steps S301 and S302.

[0206] Step S301, when the target function is activated, controlling the first wheel at the first end of the vehicle to be in a braking state, and controlling the two second wheels at the second end of the vehicle to rotate outward by a target angle;

[0207] Step S302, driving another first wheel at the first end of the vehicle, and driving the two second wheels to make the vehicle rotate with the first wheel as the fixed point.

[0208] In some embodiments of the present disclosure, the step of driving another first wheel at the first end of the vehicle, and driving the two second wheels, includes:

[0209] Driving a first target wheel of the two second wheels to move in a first direction, and driving a second target wheel of the two second wheels to move in a second direction, and driving another first wheel at the first end of the vehicle to move in the first direction, the first direction being different from the second direction, and the first target wheel being on the same side of the vehicle as the first wheel.

[0210] Referring to FIG. 7, in some embodiments of the present disclosure, the step of driving another first wheel at the first end of the vehicle, and driving the two second wheels, includes sub-step 41 and sub-step 42.

[0211] Sub-step 41, determining driving parameters of another first wheel and each second wheel;

[0212] The driving parameters include target wheel speeds, and the target wheel speeds of another first wheel and each second wheel are determined according to a running mode of the vehicle and a preset corresponding relationship, wherein the running mode includes an ice and snow mode, an off-road mode, or a highway mode.

[0213] Sub-step 42, controlling the motors corresponding to another first wheel and each second wheel according to the driving parameters of another first wheel and each second wheel.

[0214] In some embodiments of the present disclosure, the control of the motor corresponding to the other first wheel and each second wheel according to the driving parameters of the other first wheel and each second wheel comprises:

[0215] The driving parameters of the other first wheel and each second wheel are corrected according to the yaw rate, and the motor corresponding to the other first wheel and each second wheel is controlled according to the corrected driving parameters.

[0216] In some embodiments of the present disclosure, the control of the motor corresponding to the other first wheel and each second wheel according to the driving parameters of the other first wheel and each second wheel comprises:

[0217] The motor corresponding to the other first wheel and each second wheel is controlled according to at least one of the torque loading slope or the wheel speed loading slope of the other first wheel and each second wheel, so that the target wheel speed and the target torque satisfy at least one of the following conditions:

[0218] The target wheel speed is between the preset upper limit of wheel speed and the preset lower limit of wheel speed, or the target torque is between the preset upper limit of torque and the preset lower limit of torque.

[0219] In some embodiments of the present disclosure, during the steering control of the vehicle, the other first wheel at the first end of the vehicle is driven, and the two second wheels are driven, so that the vehicle rotates around the first wheel as the fixed point, thereby reducing the turning diameter.

[0220] Referring to FIG. 8A, it is a schematic diagram of a turning in some embodiments of the present disclosure, in which the front left wheel is the fixed wheel, and the front right wheel, the rear left wheel and the rear right wheel can turn around the front left wheel. By controlling the speed and torque of each wheel of the vehicle, the purpose of reducing the turning diameter is achieved, and the tire grinding problem in some scenarios is also solved.

[0221] Referring to FIG. 8B, it is an architecture diagram of a system in some embodiments of the present disclosure, which can include electronic control systems such as Passenger Airbag Deactivation, Motor Controller Unit (MCU), Vehicle Control Unit (VCU), Vehicle Motion Controller, Steering Control System EPS, Integrated Power Brake (IPB) system, Electronic Parking Brake (EPB) system, active suspension system Disus and Rear Wheel Steering (RWS) system. Based on the above structure, the compass U-turn function in the present disclosure can be realized.

[0222] VCU: Receive the function switch signal sent by PAD, the control center of compass turning function.

[0223] PAD: Feedback to VCU driver compass turning function entry\exit request and function activation\interruption request, as well as the target direction and target distance of the driver; VCU feedback to PAD function cannot enter the reason, function running state, function exit reason, obstacle information, as well as the actual driving scene, actual direction, actual corner, current fulcrum wheel; Respond to the alarm sound request of VCU, remind the driver to pay attention to the obstacle.

[0224] RWS: Respond to the target steering wheel angle sent by Didyna.

[0225] EPS: Respond to the target steering wheel angle of Didyna, keep the middle position; Detect the user's hand force and feedback to VCU.

[0226] FMCU / RLMCU / RRMCU: Send actual torque signal to VCU, while receiving target torque signal sent by VCU.

[0227] EPB: Receive Didyna parking request, while feedback EPB actual state signal.

[0228] Advanced Driving Assistance System (ADAS): Detect obstacle information when the compass turning function is entered, and send it to VCU.

[0229] Smart Control Unit (SCU): Respond to the gear shift request of compass turning function; Feedback SCU state to VCU.

[0230] Left domain: Turn on double flash when the compass turning function is activated; Send the state of four doors and two covers to VCU.

[0231] Disus: Respond to Didyna height, stiffness and height request.

[0232] IPB: Respond to Didyna single wheel hydraulic brake request, while shielding ABS, EBD and VDC functions.

[0233] The function trigger can enter, exit and execute the real-time picture display in the process through the PAD. The PAD feeds back the function requirements such as entering, exiting and the target rotation direction and target rotation angle of the driver to the vehicle controller VCU; the vehicle controller VCU feeds back the function entering state, fault prompt, actual rotation fulcrum, direction and rotation angle and the like information to the PAD and presents them to the driver. When the compass U-turn function works normally, the corresponding obstacle position, distance and the like related information need to be displayed on the PAD and the instrument, and when the obstacle affecting the operation of the compass U-turn function is detected, the alarm information should be sent to the driver in time to avoid it.

[0234] When the compass steering function works normally, the ultrasonic radar and the sensing system in the ADAS control system cooperate to realize the sensing and detection of the 360-degree omnidirectional obstacles around the vehicle. In order to monitor the deviation in real time, the high-precision vehicle position and attitude signals and the corresponding obstacle position related information need to be sent to the Controller Area Network (CAN) bus. When the vehicle executes the compass U-turn function, in case of emergency, the system triggers the parking brake system EPB to brake and stop, and at the same time the compass U-turn function exits.

[0235] The vehicle gear control module SCU gear needs to be in D position to execute the compass U-turn function, which can be realized by controlling the positive and negative torque of the wheels to realize the clockwise and counterclockwise rotation of the vehicle.

[0236] When the left domain receives the activation state of the compass U-turn function, the turn signal light switches to the double flash state.

[0237] The MCU is configured to receive and execute the torque demand size and direction of the VCU for the four wheels to realize the whole vehicle compass U-turn function.

[0238] The vehicle controller VCU should have the function of monitoring and sending the compass U-turn function state bit to judge the execution or detect the VCU fault and failure mode. When the VCU receives the PAD switch and target rotation angle signal, the VCU executes the following logic: when the vehicle locks the left front wheel or the right front wheel, the locked wheel is the fulcrum for clockwise and counterclockwise rotation, the VCU distributes the torque to the front axle, the left rear wheel and the right rear wheel, when the function is activated, the TCS needs to be closed, the accelerator pedal needs to be shielded, and the positive and negative torque is output to the three wheels which are not locked to realize the clockwise or counterclockwise steering or U-turn of the vehicle.

[0239] When Didyna receives the PAD switch and target turning angle signal, the following logic is performed on other systems involved: the steering control system EPS feeds back the actual turning angle and torque of the vehicle during driving; Disus responds to the height, damping, and stiffness requests of Didyna and feeds back the corresponding state; the intelligent integrated braking system IPB responds to the left / right front single-wheel braking request of Didyna and feeds back the actual single-wheel braking pressure state signal; the parking brake system EPB responds to the parking brake request of Didyna and feeds back the actual EPB state bit signal; the rear-wheel steering system RWS responds to the rear-wheel turning angle request of Didyna and feeds back the actual turning angle and state bit signal, etc.

[0240] Referring to FIG. 8C, a vehicle turning control flowchart according to some embodiments is shown.

[0241] The user manually starts the compass U-turn function on the PAD interface and selects the rotation target direction and angle; sends the compass U-turn function start instruction to the VCU, the VCU starts the condition judgment, the compass U-turn function is started, and the VCU calculates the target speed and torque and sends the calculated target speed and torque to the MCU. The turning radius and turning angle are calculated and fed back to the PAD to generate the vehicle trajectory and display.

[0242] Didyna receives the compass U-turn start instruction, judges the brake pedal release, and controls the EPS angle correction, IPB single-wheel hydraulic braking, and rear turning angle, and generates Didyna fault instructions and returns the state bit to the VCU through the Didyna fault instructions; the VCU starts the condition judgment, generates the compass U-turn function activation instruction in Didyna, and controls the rear-wheel turning angle and single-wheel braking.

[0243] It should be noted that, for the method embodiments, in order to simply describe, they are expressed as a series of action combinations, but those skilled in the art should know that some embodiments of the present disclosure are not limited to the action sequence described, because according to some embodiments of the present disclosure, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by some embodiments of the present disclosure.

[0244] Referring to FIG. 9, some embodiments of the present disclosure further provide a control device 10, which comprises a vehicle control unit and a motor control unit; the vehicle control unit and the motor control unit are configured to perform the vehicle control method as described above.

[0245] Referring to FIG. 10, some embodiments of the present disclosure further provide a driving system 20, comprising the control device 10, a first motor, a second motor, and a third motor as described above. The first motor is configured to output torque to the left front wheel and the right front wheel; the second motor is configured to output torque to the left rear wheel; and the third motor is configured to output torque to the right rear wheel.

[0246] Referring to FIG. 11, some embodiments of the present disclosure further provide a vehicle 30, comprising a vehicle controller and a motor control unit; the vehicle controller and the motor control unit are configured to perform the vehicle control method as described above.

[0247] Some embodiments of the present disclosure further provide a computer readable storage medium, having stored thereon a computer program, which when executed by a processor, implements the vehicle control method as described above.

[0248] Each of the embodiments in the present specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to each other.

[0249] Those skilled in the art should understand that some embodiments of the present disclosure can be provided as a method, device, or computer program product. Therefore, some embodiments of the present disclosure can be in the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. In addition, some embodiments of the present disclosure can be in the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, compact disc read-only memory (CD-ROM), optical storage, etc.) containing computer-usable program code.

[0250] Some embodiments of the present disclosure are described with reference to flowcharts and / or block diagrams of methods, terminal devices (systems), and computer program products according to some embodiments of the present disclosure. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal devices to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal devices produce a device that implements the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0251] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart or flowsheets and / or block or blocks of the block diagrams.

[0252] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart or flowsheets and / or block or blocks of the block diagrams.

[0253] Although preferred embodiments of some of the embodiments of the present disclosure have been described, those skilled in the art will, upon acquiring an understanding of the basic inventive concept, make additional changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of some of the embodiments of the present disclosure.

[0254] Finally, it should also be noted that, in this document, relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0255] The above provides a vehicle control method and device, a driving system, and a storage medium, and the principles and implementation manners of the present application are described by using examples. The above description of the embodiments is only used to help understand the method and core idea of the present disclosure; meanwhile, for those skilled in the art, according to the idea of the present disclosure, the specific implementation manners and application ranges can be changed, and the above description of the present disclosure should not be understood as a limitation.

Claims

1. A vehicle control method, comprising: controlling a first wheel at a first end of a vehicle to be in a braking state and controlling two second wheels at a second end of the vehicle to rotate outward by a target angle when a target function is activated; driving the vehicle such that the vehicle rotates with the first wheel as a pivot point.

2. The control method according to claim 1, wherein The target angle is adapted to be set to any value between zero degrees and a threshold turning angle.

3. The control method according to claim 1 or 2, wherein The controlling the two second wheels at the second end of the vehicle to rotate outward by a target angle comprises: controlling the two second wheels at the second end of the vehicle to rotate outward and rotate to an angle corresponding to a threshold turning angle.

4. The control method according to any one of claims 1 to 3, wherein The driving the vehicle comprises: driving the two second wheels such that the vehicle rotates with the first wheel as a pivot point.

5. The control method according to claim 4, wherein The driving the two second wheels comprises: driving one of the two second wheels to move in a first direction and driving the other of the two second wheels to move in a second direction, wherein the first direction and the second direction are different.

6. The control method according to claim 4, wherein The driving the two second wheels comprises: determining a driving parameter of each of the two second wheels; controlling a motor corresponding to each of the two second wheels according to the driving parameter of each of the two second wheels.

7. The control method according to claim 6, wherein The driving parameter comprises a target wheel speed, and the target wheel speed of each of the two second wheels is determined according to a running mode of the vehicle and a preset corresponding relationship, wherein the running mode comprises an ice and snow mode, an off-road mode, and a road mode.

8. The control method according to claim 6, wherein The controlling the motor corresponding to each of the two second wheels according to the driving parameter of each of the two second wheels comprises: correcting the driving parameter of each of the two second wheels according to a yaw rate, and controlling the motor corresponding to each of the two second wheels according to the corrected driving parameter.

9. The control method of claim 6, the drive parameter comprising a target wheel speed, wherein, The controlling the motor corresponding to each of the two second wheels according to the driving parameter of each of the two second wheels comprises: controlling the motor corresponding to each of the two second wheels according to at least one of a torque loading slope or a wheel speed loading slope of each of the two second wheels, such that the target wheel speed and a target torque satisfy at least one of the following conditions: the target wheel speed is between a preset upper limit wheel speed and a preset lower limit wheel speed, or the target torque is between a preset upper limit torque and a preset lower limit torque.

10. The control method according to any one of claims 1 to 9, wherein The driving the vehicle comprises: driving another first wheel at the first end of the vehicle and driving the two second wheels such that the vehicle rotates with the first wheel as a pivot point.

11. The control method according to claim 10, wherein The driving the another first wheel at the first end of the vehicle and driving the two second wheels comprises: driving a first target wheel of the two second wheels to move in a first direction, driving a second target wheel of the two second wheels to move in a second direction, and driving the another first wheel at the first end of the vehicle to move in the first direction, wherein the first direction and the second direction are different, and the first target wheel is on the same side of the vehicle as the first wheel.

12. The control method according to claim 10, wherein The method comprises the following steps: determining driving parameters of the other first wheel and each of the two second wheels; controlling the motor corresponding to the other first wheel and each of the two second wheels according to the driving parameters of the other first wheel and each of the two second wheels.

13. The control method according to claim 12, wherein The method comprises the following steps: correcting the driving parameters of the other first wheel and each of the two second wheels according to the yaw rate, and controlling the motor corresponding to the other first wheel and each of the two second wheels according to the corrected driving parameters.

14. The control method according to claim 12, wherein The driving parameters comprise target wheel speed, and the target wheel speed of the other first wheel and each of the two second wheels is determined according to the running mode of the vehicle and a preset corresponding relationship, wherein the running mode comprises ice and snow mode, off-road mode and highway mode.

15. The control method according to claim 12, wherein The method comprises the following steps: controlling the motor corresponding to the other first wheel and each of the two second wheels according to at least one of the torque loading slope or the wheel speed loading slope of the other first wheel and each of the two second wheels, so that the target wheel speed and the target torque satisfy at least one of the following conditions: the target wheel speed is between a preset upper limit of wheel speed and a preset lower limit of wheel speed, or the target torque is between a preset upper limit of torque and a preset lower limit of torque.

16. The control method according to any one of claims 1 to 15, wherein Before the target function is activated, the method further comprises the following steps: when it is determined according to vehicle environment information and vehicle driving related information that the vehicle meets a preset activation condition, the target function is activated; when it is determined according to the vehicle environment information and the vehicle driving related information that the vehicle does not meet the preset activation condition, the target function is not activated.

17. The control method according to claim 16, wherein The vehicle driving information comprises vehicle indicator light information, motor information, steering wheel information, vehicle speed signal state, brake depth identification bit information, gear state information, four-door two-cover state, and battery state parameter; the vehicle environment information comprises slope information; The preset activation condition comprises that the vehicle indicator light information, the motor information, the steering wheel information, the vehicle speed signal state, the brake depth information, the gear state information, the four-door two-cover state are in a preset state, and the battery state parameter is greater than a preset battery parameter.

18. The control method according to claim 17, wherein The slope information is less than a preset threshold value, and the duration exceeds a first preset time length.

19. The control method according to claim 17, wherein The vehicle speed is less than a preset vehicle speed, and the duration exceeds a second preset time length.

20. The control method according to any one of claims 1 to 19, wherein, Before the target function is activated, the method further comprises the following steps: obtaining user inputted rotation parameter information, wherein the rotation parameter information comprises rotation direction and rotation angle information; The method comprises the following steps: controlling the motor corresponding to the other first wheel and each of the two second wheels according to the driving parameters of the other first wheel and each of the two second wheels. driving the vehicle such that the vehicle is centered on the first wheel and rotated in the rotation direction by an angle corresponding to the rotation angle information.

21. The control method of any one of claims 1-20, further comprising: determining a target turning angle of the vehicle during a turning process; determining a target turning radius of the vehicle during the turning process; generating a turning trajectory of the vehicle based on the target turning angle and the target turning radius, and displaying the turning trajectory.

22. The control method according to claim 21, wherein The determining a target turning angle of the vehicle during a turning process comprises: obtaining rotation angle information input by a user, and determining an initial turning angle according to the rotation angle information; predicting the target turning angle of the vehicle for next turning control based on the initial turning angle and yaw rate information.

23. The control method according to claim 22, wherein The predicting the target turning angle of the vehicle for next turning control based on the initial turning angle and the yaw rate information comprises: determining a target angle difference value according to the yaw rate information; determining the target turning angle based on the initial turning angle and the target angle difference value.

24. The control method according to claim 23, wherein The determining a target angle difference value according to the yaw rate information comprises: obtaining a first yaw rate filter value of last turning control of the vehicle and a second yaw rate filter value of current turning control; determining a yaw rate filter average value of the first yaw rate filter value and the second yaw rate filter value; determining the target angle difference value based on a product of the yaw rate filter average value and a preset turning control period.

25. The control method of any one of claims 1-24, further comprising: correcting a current driving trajectory according to the yaw rate, and outputting and displaying the corrected driving trajectory to assist a driver in driving.

26. A control device, comprising: a vehicle control unit and a motor control unit; the vehicle control unit and the motor control unit are configured to perform the vehicle control method according to any one of claims 1-25.

27. A driving system, comprising: the control device according to claim 18; a first motor configured to output torque to a left front wheel and a right front wheel; a second motor configured to output torque to a left rear wheel; and a third motor configured to output torque to a right rear wheel. a vehicle control unit and a motor control unit; the vehicle control unit and the motor control unit are configured to perform the vehicle control method according to any one of claims 1-25.

28. A vehicle comprising: The computer readable storage medium has stored thereon a computer program, and the computer program is executed by a processor to implement the vehicle control method according to any one of claims 1-25.

29. A computer readable storage medium, wherein, ​

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