Vehicle control method, vehicle controller, vehicle, storage medium, and program product

Abstract

A vehicle control method, a vehicle controller, a vehicle, a storage medium, and a program product. The vehicle control method comprises: acquiring pose data of an electronic device that is communicating with a vehicle (S401); and on the basis of the pose data, controlling the vehicle to execute a target action corresponding to the electronic device (S402).

Description

Vehicle control methods, vehicle controllers, vehicles, storage media, and software products

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411786909.4, filed on December 5, 2024, entitled "Vehicle Control Method, Vehicle Controller, Vehicle and Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of vehicle control technology, and in particular to a vehicle control method, a vehicle controller, a vehicle, a storage medium, and a program product. Background Technology

[0004] Vehicle actuators are devices used to control the movement and functions of a vehicle. Typically, the vehicle control system generates corresponding command signals based on the driver's input, driving the vehicle actuators to perform corresponding actions, thus controlling the vehicle's movement and functions. With the continuous development and application of Internet of Things (IoT) technology, the interaction between different objects and devices is becoming increasingly widespread. Improving the interaction and control between vehicles and other devices to enrich the control functions of automobiles has been a continuous focus of the industry. Technical solutions

[0005] This application provides a vehicle control method, a vehicle controller, a vehicle, a storage medium, and a program product, which improves the linkage control effect between the vehicle and electronic devices, thereby at least partially solving the above-mentioned technical problems.

[0006] To achieve the above objectives, according to a first aspect of this application, a vehicle control method is provided, comprising:

[0007] Acquire attitude data from electronic devices that communicate with the vehicle;

[0008] The vehicle is controlled to perform target actions corresponding to the electronic equipment based on attitude data.

[0009] According to a second aspect of this application, a vehicle controller is provided, comprising:

[0010] A memory and a processor, wherein the memory stores computer instructions; when the computer instructions are executed by the processor, a vehicle control method is implemented.

[0011] According to a third aspect of this application, a vehicle is provided, comprising:

[0012] The aforementioned vehicle controller.

[0013] According to a fourth aspect of this application, a computer-readable storage medium is provided, on which computer instructions are stored, which, when executed by a processor, implement the vehicle control method described above.

[0014] According to a fifth aspect of this application, a computer program product is provided, the computer program product including computer instructions, which, when executed by a processor, implement the vehicle control method described above.

[0015] In summary, this application can control the vehicle to perform target actions corresponding to the electronic devices based on the attitude data of the electronic devices communicating with the vehicle. The attitude data of the electronic devices can be collected in real time. Thus, based on the real-time collected attitude data of the electronic devices, the vehicle can be dynamically controlled to perform corresponding target actions. For example, it can achieve follow-up control of the vehicle following the electronic devices, thereby improving the linkage control effect between the vehicle and the electronic devices.

[0016] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0019] Figure 1 is a schematic diagram of an application scenario of a vehicle control method provided in an embodiment of this application;

[0020] Figure 2 is a schematic diagram of a three-axis coordinate system of an electronic device provided in an embodiment of this application;

[0021] Figure 3 is a schematic diagram of a three-axis coordinate system of a vehicle provided in an embodiment of this application;

[0022] Figure 4 is a flowchart illustrating a vehicle control method provided in an embodiment of this application;

[0023] Figure 5 is a structural block diagram of a vehicle controller provided in an embodiment of this application;

[0024] Figure 6 is a structural block diagram of a vehicle provided in an embodiment of this application.

[0025] Implementation methods of this application

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0027] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified. In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to implement and use this application. In the following description, details are set forth for illustrative purposes. It should be understood that those skilled in the art will recognize that this application can be implemented without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid unnecessary detail that would obscure the description of this application. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0028] Figure 1 is a schematic diagram of an application scenario of a vehicle control method provided in an embodiment of this application. As shown in Figure 1, this application scenario provides a vehicle, which may include a vehicle controller 1 and an actuator 3. The vehicle can communicate with an electronic device 2. For example, the vehicle and the electronic device 2 can communicate in the same local area network, or the communication connection between the vehicle and the electronic device 2 can be achieved through hotspot, Bluetooth, etc.

[0029] In this embodiment, the vehicle controller 1 receives attitude data sent by the electronic device 2. The electronic device 2 may include, but is not limited to, mobile terminal devices such as computers, tablets, smartphones, and smartwatches. The electronic device 2 may also include an accelerometer for acquiring the acceleration of the electronic device and a gyroscope for acquiring the angular velocity of the electronic device. Therefore, the attitude data of the electronic device 2 may include, but is not limited to, acceleration data and gyroscope data. For example, the attitude data may be three-axis acceleration data and three-axis gyroscope data.

[0030] Then, vehicle controller 1 can generate control parameters based on the attitude data. These control parameters are used to cause actuator 3 to output the actuation force for controlling the vehicle to perform the target action. The attitude data of electronic device 2 is obtained based on the coordinate system defined by electronic device 2. Therefore, vehicle controller 1 can first convert the attitude data of electronic device 2 from the coordinate system defined by electronic device 2 to the coordinate system defined by the vehicle.

[0031] Please refer to Figures 2 and 3. Figure 2 is a schematic diagram of a three-axis coordinate system for an electronic device provided in an embodiment of this application, and Figure 3 is a schematic diagram of a three-axis coordinate system for a vehicle provided in an embodiment of this application. The following description uses the example of a three-axis coordinate system, where the coordinate system of the electronic device in Figure 2 and the coordinate system of the vehicle in Figure 3 are both three-axis coordinate systems.

[0032] As shown in Figure 2, in the three-axis coordinate system of the electronic device, the direction parallel to the electronic device and pointing upwards is the positive y-axis, the direction parallel to the electronic device and pointing to the right is the positive x-axis, and the direction perpendicular to the plane of the electronic device and pointing upwards is the positive z-axis. The application program of the electronic device can define the three-axis coordinate system based on the orientation of the x, y, and z axes. However, the three-axis coordinate system of the electronic device is not consistent with the three-axis coordinate system of the vehicle. Therefore, a conversion is needed to accurately reflect the effect of the vehicle following the posture data of the electronic device. As shown in Figure 3, in the three-axis coordinate system of the vehicle, the direction parallel to the vehicle's forward movement is the positive x-axis, the left side of the vehicle body is the positive y-axis, and the direction perpendicular to the plane of the vehicle body and pointing upwards is the positive z-axis. As can be seen from Figures 2 and 3, the three-axis coordinate system of the electronic device and the three-axis coordinate system of the vehicle are not the same. Therefore, in the application program of the electronic device, the y-axis coordinate system of the electronic device can be set as the x-axis coordinate system of the vehicle, and the opposite direction of the x-axis coordinate system of the electronic device can be used as the y-axis coordinate system of the vehicle. The z-axis coordinate system does not need to be processed. Acceleration data and gyroscope data can both be converted and calculated using this coordinate system.

[0033] In this embodiment, the actuator 3 is a device that generates actuation force based on control parameters sent by the vehicle controller 1 to control the movement of the vehicle. For example, the actuator 3 can execute a target action corresponding to the electronic device 2 based on the control parameters sent by the vehicle controller 1. The target action may include, but is not limited to, the vehicle's roll, pitch, and vertical movements.

[0034] Actuator 3 may include, but is not limited to, electromagnetic actuators and hydraulic pump actuators. Taking an electromagnetic actuator as an example, the electromagnetic actuator can be installed on the vehicle's suspension, and the magnitude of the actuating force applied to the suspension is calculated based on control parameters. Then, by applying the actuating force to the suspension, the vehicle moves according to the requirements of the electronic device 2. For example, it can perform roll, pitch, and vertical movements. In one example, multiple actuators 3 can be installed on different suspensions of the vehicle, with each actuator 3 controlling the actuation of its corresponding suspension. In another example, a single actuator 3 can be installed to simultaneously control the actuation of multiple suspensions of the vehicle.

[0035] It should be understood that the application scenarios shown in Figures 1, 2, and 3 are merely adaptive. Other application scenarios can be configured according to implementation needs. The vehicle control method of this application embodiment will now be described in detail with reference to the accompanying drawings. Although a logical sequence is shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than that shown in the drawings.

[0036] Figure 4 is a flowchart illustrating a vehicle control method provided in an embodiment of this application. As shown in Figure 4, the vehicle control method may include steps 401-402, which will be described in detail below.

[0037] Step 401: Acquire attitude data of electronic devices communicating with the vehicle.

[0038] Step 402: Control the vehicle to perform the target action corresponding to the electronic equipment based on the attitude data.

[0039] In this embodiment, the attitude data of the electronic device refers to the orientation and attitude information of the electronic device in space. For example, it may include three-axis acceleration data and three-axis gyroscope data of the electronic device. This embodiment can match the user's operation of the electronic device with the target action the user expects the vehicle to perform. Thus, the user can hold the electronic device and operate it, causing the device to rotate, tilt, etc., as expected. The vehicle controller only needs to acquire the attitude data of the electronic device to determine the target action the user expects the vehicle to perform. Therefore, controlling the vehicle's target action based on the attitude data of the electronic device can improve the efficiency of vehicle control.

[0040] Furthermore, embodiments of this application can control the vehicle to perform target actions corresponding to the electronic devices based on the attitude data of the electronic devices communicating with the vehicle. The attitude data of the electronic devices can be collected in real time. Thus, based on the real-time collected attitude data of the electronic devices, the vehicle can be dynamically controlled to perform corresponding target actions, thereby achieving a "follow-up" effect between the vehicle and the electronic devices and improving the linkage control effect between the vehicle and the electronic devices.

[0041] In practical applications, it is sometimes unnecessary for the vehicle to move in accordance with the attitude data of the electronic device. Therefore, embodiments of this application can execute the function of moving the vehicle in accordance with the attitude data of the electronic device only when the target function of the electronic device is enabled. As an example, the target function may refer to the follow-up function that controls the vehicle's movement based on the attitude data of the electronic device.

[0042] Specifically, in response to a target function activation request sent by an electronic device, the vehicle controller can first check whether the vehicle state meets the conditions for activating the target function. If the conditions for activating the target function are met, the controller proceeds to the step of acquiring the attitude data of the electronic device communicating with the vehicle. If the conditions for activating the target function are not met, the controller can send a prompt message to the electronic device.

[0043] In one example, a target function activation request refers to an electronic device requesting the vehicle controller to activate a target function. For instance, the user can be configured to trigger the target function activation request when they press and hold a function switch on the electronic device for t seconds. The vehicle controller can then detect whether the current vehicle state meets the conditions for activating the target function. For example, if the vehicle is currently in motion and cannot perform the target actions of tilting, pitching, or vertical movement, it is determined that the current vehicle state does not meet the conditions for activating the target function. In this case, the vehicle controller can provide a corresponding prompt to the electronic device and / or the vehicle's display screen, indicating that the target function activation has failed. Conversely, if the current vehicle state meets the conditions for activating the target function, the electronic device can send a function switch signal and its attitude data to the vehicle controller after t seconds via communication methods such as the vehicle's infotainment hotspot.

[0044] As an example, the vehicle controller can forward the function switch signal to the vehicle's intelligent access network. The intelligent access network then forwards the signal to the chassis network via the body domain controller. The chassis network can then return the corresponding function status signal to the electronic devices. For example, if the function status signal returns a "OFF" signal to the electronic devices, it indicates that the target function has failed to activate. If the signal returns an "ON" signal, it indicates that the target function has successfully activated. The vehicle controller can then control the vehicle to perform the corresponding target action based on the acquired attitude data from the electronic devices.

[0045] Thus, by setting the activation conditions for the target function of the electronic device, the target function of controlling the vehicle based on attitude data can be turned off when the vehicle does not need to move with the attitude data of the electronic device, thereby improving the safety of vehicle control.

[0046] In step 402, the vehicle controller can first calculate the control parameters of the actuators used to control the vehicle based on the attitude data. Then, based on the control parameters, it controls the actuators to output the actuation force used to control the vehicle to perform the target action.

[0047] In this embodiment, the attitude data may include three-axis acceleration data and three-axis gyroscope data. The three-axis acceleration data can be obtained by averaging a first three-axis acceleration value and two second three-axis acceleration values. The first three-axis acceleration value is the three-axis acceleration value of the electronic device sampled in the current sampling period. The second three-axis acceleration values ​​are two three-axis acceleration values ​​of the electronic device sampled in the two sampling periods prior to the current sampling period. After obtaining the first three-axis acceleration value and the two second three-axis acceleration values, the average acceleration value of the first three-axis acceleration value and the two second three-axis acceleration values ​​can be used as the three-axis acceleration data. The three-axis gyroscope data may include the roll rate (roll angle) of rotation around the y-axis of the three-axis coordinate system of the electronic device, the pitch rate (pitch angle) of rotation around the x-axis of the three-axis coordinate system of the electronic device, and the yaw rate (yaw angle) of rotation around the z-axis of the three-axis coordinate system of the electronic device. After receiving the attitude data from the electronic device, the vehicle controller can invert the roll angular velocity and the y-axis acceleration from the three-axis gyroscope data of the electronic device, and then calculate the control parameters.

[0048] The control parameters of an actuator typically involve attitude angle, displacement, feedforward force, feedback force, and damping force. Attitude angle refers to the rotation angle relative to a three-axis coordinate system. Displacement refers to the change in position of the vehicle's suspension in space, controlled by the actuator. Feedforward force is a pre-calculated or estimated force applied by the actuator to the suspension to achieve the desired response. Feedback force is a force calculated based on error signals to correct the response or achieve closed-loop control; it is calculated based on suspension feedback data. Damping force refers to the damping force exerted on the actuator and suspension in proportion to speed.

[0049] Based on this, in the embodiments of this application, the control parameters can be calculated through the following steps. First, the control parameters of the actuator used to control the vehicle are calculated based on the attitude data. Then, the actuator is controlled to output the actuating force used to control the vehicle to perform the target action according to the control parameters.

[0050] In one example, the attitude angles of an electronic device can be calculated based on three-axis acceleration data and three-axis gyroscope data. Then, the control parameters of the vehicle actuators can be calculated based on the attitude angles.

[0051] The calculation process for the attitude angle of an electronic device may include the following steps. First, based on three-axis acceleration data, a first attitude angle of the electronic device is calculated. The first attitude angle refers to the attitude angle calculated based on the acceleration of the electronic device. Then, based on three-axis gyroscope data, a second attitude angle of the electronic device is calculated. The second attitude angle refers to the attitude angle calculated based on the angular velocity of the electronic device. Finally, the first attitude angle and the second attitude angle are fused to obtain the attitude angle of the electronic device. In one example, the attitude angle of the electronic device may include pitch angle and roll angle. The calculation process is illustrated below using pitch angle and roll angle as examples.

[0052] Specifically, for calculating the first attitude angle, the initial attitude angle of the electronic device can first be obtained based on the triaxial acceleration data. Then, a first-order low-pass filter is applied to the initial attitude angle to obtain the first attitude angle. The initial attitude angle may include an initial pitch angle and an initial roll angle. The first attitude angle may include a first pitch angle and a first roll angle.

[0053] The initial pitch angle can be calculated using formula (1), and the initial roll angle can be calculated using formula (2):

[0054] Among them, A x Let A be the acceleration in the x-direction. y Let A be the acceleration in the y-direction. z Let θ1 be the initial pitch angle and θ2 be the initial roll angle.

[0055] The first pitch angle and the first roll angle in the first attitude angle can both be calculated using formula (3):

[0056] Where, d t Δu is the sampling time, x(k1) is the current sampled value, which includes the initial pitch angle θ1 and the initial roll angle θ2, y(k1-1) is the filtered output value of the previous moment, and y(k1) is the filtered output value of the current moment, i.e. the first attitude angle.

[0057] To calculate the second attitude angle, the angular velocity signal of the electronic device can first be obtained from the data of the three-axis gyroscope. Then, the angular velocity signal is integrated once. Next, the integrated result is subjected to a first-order high-pass filter to obtain the second attitude angle. The second attitude angle may include a second pitch angle and a second roll angle.

[0058] The second pitch angle and the second roll angle in the second attitude angle can both be calculated using formula (4):

[0059] Where, d tΔu is the sampling time, x(k2) is the current sampled value, which includes pitch angular velocity ω1 and roll angular velocity ω2, x(k2-1) is the sampled value at the previous moment, y(k2-1) is the filtered output value at the previous moment, and y(k2) is the filtered output value at the current moment, which is the second attitude angle.

[0060] Finally, the first attitude angle calculated based on acceleration and the second attitude angle calculated based on angular velocity can be fused using a complementary filtering fusion method to obtain the final attitude angle relative to the electronic device. The attitude angle of the electronic device can be calculated using the fusion method in formula (5). total =q×y(k2)+(1-q)×y(k1); (5)

[0061] Among them, A total Let y(k2) be the attitude angle of the electronic device. The attitude angle of the electronic device can also include the final calculated values ​​of the pitch angle and roll angle. Let y(k1) be the second attitude angle and y(k2) be the first attitude angle. Let q be the weight and 0. <q<1。

[0062] The control parameters of the actuator can include parameters by which the actuator controls the suspension. Therefore, the calculation of the actuator's control parameters can begin by calculating the feedforward force of the actuator on the vehicle suspension based on the attitude angle. Then, the actuator signal is acquired, and the feedback force and damping force of the suspension are calculated based on the actuator signal. Finally, the parameters by which the actuator controls the suspension are obtained based on the feedforward force, feedback force, and damping force.

[0063] The calculation of the feedforward force of the actuator on the vehicle's suspension can be achieved by first calculating the suspension displacement required by the actuator based on the attitude angle. Then, the feedforward force of the actuator on the vehicle's suspension is calculated based on the suspension displacement required by the actuator.

[0064] The calculation process for the suspension displacement required by the actuator includes the following steps: First, acquire the vehicle's suspension data and track width data. Then, calculate the vehicle's suspension displacement as the required suspension displacement for the actuator based on the suspension data, track width data, and attitude angle. The calculation of the suspension feedforward force includes the following steps: Acquire the vehicle's front suspension stiffness parameters. Then, calculate the left front target action feedforward force based on the left front suspension target displacement, the front suspension stiffness parameters, and the front suspension lever ratio. The feedforward force includes the left front target action feedforward force.

[0065] The following description will elaborate on the example of an actuator that can control the four suspensions of a vehicle separately.

[0066] In this embodiment, it is assumed that the vehicle has four suspensions: a left front suspension, a right front suspension, a left rear suspension, and a right rear suspension. The calculation process for the suspension displacement to be executed by the actuator may include the following steps: First, acquire the vehicle's suspension data and track width data. The suspension data may include the distance from the center of gravity of the suspension to the front axle, the distance from the center of gravity to the rear axle, the front suspension lever ratio, and the rear suspension lever ratio. The track width data includes the vehicle's front axle track width and rear axle track width. Then, calculate the vehicle's suspension displacement as the suspension displacement to be executed by the actuator based on the suspension data, track width data, and attitude angles. The suspension displacement may include the target displacement of the left front suspension, the target displacement of the right front suspension, the target displacement of the left rear suspension, and the target displacement of the right rear suspension.

[0067] In one example, the suspension displacement required by the actuator can be calculated using formula (6):

[0068] Among them, l a l is the distance from the center of mass to the front axle. b i is the distance from the center of mass to the rear axle. f For the front suspension lever ratio, i r For the rear suspension lever ratio, w f The front axle track width, w r The rear axle track, A pit,total A is the pitch angle of the electronic device. roll,total The roll angle of the electronic equipment. Target displacement H of the left front suspension. fl =A(1), Right front suspension target displacement H fr =A(2), left rear suspension target displacement H rl =A(3), Right rear suspension target displacement H rr =A(4).

[0069] In the embodiments of this application, the feedforward force of the actuator on the vehicle's suspension may include the feedforward force for the left front target action of the left front suspension, the feedforward force for the right front target action of the right front suspension, the feedforward force for the left rear target action of the left rear suspension, and the feedforward force for the right rear target action of the right rear suspension.

[0070] The calculation process of the actuator's feedforward force to the vehicle's suspension may include the following steps: First, obtain the front suspension stiffness parameters and rear suspension stiffness parameters of the vehicle. Then, calculate the left front target motion feedforward force based on the left front suspension target displacement, front suspension stiffness parameters, and front suspension lever ratio. Calculate the right front target motion feedforward force based on the right front suspension target displacement, front suspension stiffness parameters, and front suspension lever ratio. Calculate the left rear target motion feedforward force based on the left rear suspension target displacement, rear suspension stiffness parameters, and rear suspension lever ratio. And calculate the right rear target motion feedforward force based on the right rear suspension target displacement, rear suspension stiffness parameters, and rear suspension lever ratio.

[0071] In one example, the feedforward forces of the left front target motion and the right front target motion can both be calculated using formula (7), and the feedforward forces of the left rear target motion and the right rear target motion can both be calculated using formula (8):

[0072] Among them, F f For the feedforward force of the left front target movement or the feedforward force of the right front target movement, F r For the feedforward force of the left rear target motion or the feedforward force of the right rear target motion, H f H represents the target displacement of the left front suspension or the target displacement of the right front suspension. r k represents the target displacement of the left rear suspension or the target displacement of the right rear suspension. f k is the front suspension stiffness parameter. r These are the rear suspension stiffness parameters. The target motion feedforward force for each suspension is calculated based on the target displacement and suspension stiffness parameters corresponding to that suspension.

[0073] In this embodiment, the suspension feedback force includes position feedback force and velocity feedback force, and the actuator signal includes actual suspension displacement and actual suspension speed. The calculation process of the suspension feedback force includes the calculation of position feedback force and velocity feedback force. The calculation of position feedback force includes: calculating the position feedback force based on the suspension displacement, the actual suspension displacement, and a preset position feedback coefficient. The calculation of velocity feedback force includes: integrating the suspension displacement to obtain the suspension speed, and calculating the velocity feedback force based on the suspension speed, the actual suspension speed, and a preset velocity feedback coefficient. The calculation of suspension damping force includes: calculating the suspension damping force by multiplying the actual suspension speed by a set adjustable coefficient.

[0074] In this embodiment, it is assumed that the target suspension is any suspension in the vehicle. The feedback force may include position feedback force and speed feedback force. The suspension feedback force can be calculated first based on the target suspension displacement, the actual vehicle suspension displacement, and a preset position feedback coefficient. Then, the target suspension speed feedback force is calculated based on the target suspension speed, the actual vehicle suspension speed, and a preset speed feedback coefficient. The suspension damping force can be calculated by multiplying the actual suspension speed by a set adjustable coefficient.

[0075] In one example, for each target suspension, its position feedback force can be calculated using formula (9), its velocity feedback force can be calculated using formula (10), and its actuator feedback force can be calculated using formula (11): F location =(HH) act )×k p_loc (9) Fvelocity =(VV act )×k p__vel (10) F fedback =F location +F velocity (11)

[0076] Among them, F location For the position feedback force of the target suspension, F velocity For the speed feedback force of the target suspension, F fedback H represents the total feedback force of the target suspension, and H represents the target suspension displacement. act k represents the actual suspension displacement of the target suspension. p_loc The position feedback coefficient is 0. <k p_loc <1, V is the target suspension speed of the target suspension, V act k represents the actual suspension speed of the target suspension. p_vel The velocity feedback coefficient is 0 < k p_vel <1.

[0077] For each target suspension, its damping force can be calculated using formula (12): F damp =k3×V act (12)

[0078] Among them, F damp V is the damping force of the target suspension. act The actual suspension speed of the target suspension is given by k, where k3 is a set adjustable coefficient and -10. <k3<0。

[0079] In the embodiments of this application, the control parameters can be obtained by synthesizing the feedforward force, feedback force, and damping force to achieve the actuator's control over the suspension. For example, multiplying the feedforward force, feedback force, and damping force by a proportional coefficient yields the roll and pitch output force. Alternatively, it can be a vertical target force that satisfies the vehicle's vertical movement.

[0080] In one example, the target action may include a roll action to control the vehicle to roll and / or a pitch action to control the vehicle to pitch. Therefore, controlling the actuator output force to control the vehicle to perform the target action according to the control parameters may involve controlling the actuator to output a roll / pitch output force to the vehicle to control the vehicle to perform a roll action and / or control the vehicle to perform a pitch action. The roll / pitch output force may include, but is not limited to, a roll output force to control the vehicle to perform a roll action and a pitch output force to control the vehicle to perform a pitch action.

[0081] In another example, the target action may also include controlling the vehicle to perform vertical motion. The actuator's control parameters include a vertical target force. Therefore, the vertical target force can be obtained from the triaxial acceleration data. The actuator is controlled to output the vertical target force to the vehicle to control the vehicle to perform vertical motion. Specifically, the vertical displacement can be obtained from the z-axis acceleration data in the triaxial acceleration data. Then, the vertical target force is obtained from the vertical displacement. The actuator is then controlled to output the vertical target force to the vehicle to control the vehicle to perform vertical motion.

[0082] The following example uses the total actuation force, including the roll / pitch output force and the vertical target force. The received z-axis acceleration data can be integrated once, and after a first-order high-pass filter, the z-axis acceleration is obtained. Then, a second integration is performed, and after another first-order high-pass filter, the vertical displacement is obtained. Multiplying the displacement by the gain value yields the target force required for the vertical actuation. The roll / pitch output force plus the vertical target force, plus the actuator's limiting force (i.e., the limiting force output based on the real-time feedback of the actuator position), finally calculates the actuation force F. total Limiting the output can be performed, for example, outputting the total working force corresponding to each target suspension, and also outputting the functional status signal of the target suspension. The functional status signal refers to the signal representing the state of the target suspension, which can be an electrical signal, a digital signal, or other forms of signal, used to characterize the state information of the target suspension. Among them, the total working force can be calculated by formula (13): F total =k4×(F fedfor +F fedback +F damp )+F z +F lim (13)

[0083] Among them, F total F is the total actuating force of the actuator. fedfor F is the feedforward force of the actuator on the target suspension. fedback For the feedback force of the target suspension, F damp For the damping force of the target suspension, F z F is the vertical target force exerted by the actuator on the target suspension. lim The limiting force of the actuator is k4, which is an adjustable parameter and is 0. <k4<1。

[0084] It should be noted that, in addition to the tilting, pitching, and vertical movements exemplified in the above embodiments, the target actions controlled by the vehicle in this application embodiment can also be the vehicle's forward movement, backward movement, lateral movement, and yaw movement.

[0085] Figure 5 is a structural block diagram of a vehicle controller 1 provided in an embodiment of this application. As shown in Figure 5, the vehicle controller 1 may include a memory 501 and a processor 502. The memory 501 is configured to store computer instructions. When the computer instructions are executed by the processor 502, the above-described vehicle control method is implemented.

[0086] Figure 6 is a structural block diagram of a vehicle provided in an embodiment of this application. As shown in Figure 6, the vehicle may include the vehicle controller 1 described above.

[0087] The vehicle in this application embodiment may be a gasoline vehicle, a plug-in hybrid electric vehicle, or a new energy vehicle, etc., and this application does not make any specific limitation.

[0088] This application also provides a computer-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the vehicle control method described above.

[0089] Since the vehicle controller, the vehicle, and the computer instructions stored in the computer-readable storage medium can execute the steps in any of the vehicle control methods provided in the embodiments of this application, the beneficial effects that any of the vehicle control methods provided in the embodiments of this application can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0090] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0091] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer instructions. These computer instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0092] These computer instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0093] These computer instructions may 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 one or more flowcharts and / or one or more block diagrams.

[0094] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0095] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0096] Computer-readable media include both permanent and non-permanent, removable and non-removable media, which can store information by any method or technology. Information can be computer-readable instructions, data structures, elements of a program, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated communication signals and carrier waves.

[0097] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0098] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A vehicle control method, wherein, include: Acquire attitude data of the electronic device (2) that communicates with the vehicle (600); and The vehicle is controlled to perform a target action corresponding to the electronic device based on the attitude data.

2. The vehicle control method according to claim 1, wherein, The step of controlling the vehicle to perform actions corresponding to the electronic device based on the attitude data includes: Based on the attitude data, control parameters for controlling the actuator (3) of the vehicle are calculated; and The actuator is controlled to output a force according to the control parameters to control the vehicle to perform the target action.

3. The vehicle control method according to claim 2, wherein, The attitude data includes three-axis acceleration data and three-axis gyroscope data; The control parameters for controlling the actuator (3) of the vehicle, calculated based on the attitude data, include: The attitude angle of the electronic device is calculated based on the triaxial acceleration data and the triaxial gyroscope data; and The control parameters of the vehicle's actuators are calculated based on the attitude angle.

4. The vehicle control method according to claim 3, wherein, The calculation of the attitude angle of the electronic device based on the triaxial acceleration data and the triaxial gyroscope data includes: Based on the triaxial acceleration data, the first attitude angle of the electronic device is calculated; Based on the data from the three-axis gyroscope, the second attitude angle of the electronic device is calculated; and The attitude angle of the electronic device is obtained by fusing the first attitude angle and the second attitude angle.

5. The vehicle control method according to claim 4, wherein, The step of calculating the first attitude angle of the electronic device based on the triaxial acceleration data includes: The initial attitude angle of the electronic device is obtained based on the triaxial acceleration data; and The initial attitude angle is subjected to a first-order low-pass filter to obtain the first attitude angle.

6. The vehicle control method according to any one of claims 4-5, wherein, The step of calculating the second attitude angle of the electronic device based on the data from the three-axis gyroscope includes: The angular velocity signal of the electronic device is obtained from the data of the three-axis gyroscope; and The angular velocity signal is integrated once, and then the integrated result is subjected to a first-order high-pass filter to obtain the second attitude angle.

7. The vehicle control method according to any one of claims 3-6, wherein, The control parameters of the actuator include the parameters by which the actuator controls the suspension; The control parameters of the vehicle's actuators, calculated based on the attitude angle, include: The feedforward force of the actuator on the vehicle's suspension is calculated based on the attitude angle. The actuator signal of the actuator is acquired, and the feedback force and damping force of the suspension are calculated based on the actuator signal; and The parameters by which the actuator controls the suspension are obtained based on the feedforward force, the feedback force, and the damping force.

8. The vehicle control method according to claim 7, wherein, The step of calculating the feedforward force of the actuator on the vehicle's suspension based on the attitude angle includes: The required suspension displacement to be executed by the actuator is calculated based on the attitude angle; and The feedforward force of the actuator on the vehicle's suspension is calculated based on the suspension displacement required to be performed by the actuator.

9. The vehicle control method according to claim 8, wherein, The step of calculating the suspension displacement to be executed by the actuator based on the attitude angle includes: Obtain the vehicle's suspension data and track width data; and The suspension displacement of the vehicle is calculated based on the suspension data, the wheel track data, and the attitude angle, and is used as the suspension displacement to be executed by the actuator.

10. The vehicle control method according to any one of claims 8-9, wherein, The suspension displacement includes the target displacement of the left front suspension, the suspension data includes the front suspension lever ratio, and the calculation of the feedforward force of the actuator on the vehicle's suspension based on the suspension displacement to be executed by the actuator includes: Obtain the front suspension stiffness parameters of the vehicle; and The left front target motion feedforward force is calculated based on the left front suspension target displacement, the front suspension stiffness parameters, and the front suspension lever ratio. The feedforward force includes the left front target motion feedforward force.

11. The vehicle control method according to any one of claims 8-9, wherein, The suspension displacement includes the target displacement of the right front suspension, the suspension data includes the front suspension lever ratio, and the calculation of the feedforward force of the actuator on the vehicle's suspension based on the suspension displacement to be executed by the actuator includes: Obtain the front suspension stiffness parameters of the vehicle; and The feedforward force for the right front target action is calculated based on the target displacement of the right front suspension, the stiffness parameters of the front suspension, and the lever ratio of the front suspension. The feedforward force includes the feedforward force for the right front target action.

12. The vehicle control method according to any one of claims 8-9, wherein, The suspension displacement includes the target displacement of the left rear suspension, the suspension data includes the rear suspension lever ratio, and the calculation of the feedforward force of the actuator on the vehicle's suspension based on the suspension displacement to be executed by the actuator includes: Obtain the rear suspension stiffness parameters of the vehicle; and The left rear target motion feedforward force is calculated based on the left rear suspension target displacement, the rear suspension stiffness parameters, and the rear suspension lever ratio. The feedforward force includes the left rear target motion feedforward force.

13. The vehicle control method according to any one of claims 8-9, wherein, The suspension displacement includes the target displacement of the right rear suspension, the suspension data includes the rear suspension lever ratio, and the calculation of the feedforward force of the actuator on the vehicle's suspension based on the suspension displacement to be executed by the actuator includes: Obtain the rear suspension stiffness parameters of the vehicle; and The feedforward force for the right rear target action is calculated based on the target displacement of the right rear suspension, the stiffness parameters of the rear suspension, and the lever ratio of the rear suspension. The feedforward force includes the feedforward force for the right rear target action.

14. The vehicle control method according to any one of claims 7-13, wherein, The suspension feedback force includes a position feedback force, the actuator signal includes the actual suspension displacement, and the calculation of the suspension feedback force based on the actuator signal includes: The position feedback force is calculated based on the suspension displacement, the actual suspension displacement, and the preset position feedback coefficient.

15. The vehicle control method according to any one of claims 7-13, wherein, The feedback force of the suspension includes a speed feedback force, the actuator signal includes the actual suspension speed, and the calculation of the suspension feedback force based on the actuator signal includes: The suspension displacement is integrated to obtain the suspension speed; and The speed feedback force is calculated based on the suspension speed, the actual suspension speed, and the preset speed feedback coefficient.

16. The vehicle control method according to any one of claims 7-15, wherein, The actuator signal includes the actual suspension speed, and the calculation of the suspension damping force based on the actuator signal includes: The damping force of the suspension is calculated by multiplying the actual suspension speed by a set adjustable coefficient.

17. The vehicle control method according to any one of claims 7-16, wherein, The parameters for the actuator to control the suspension based on the feedforward force, the feedback force, and the damping force include: The parameters for the actuator to control the suspension are obtained by combining the feedforward force, the feedback force, and the damping force.

18. The vehicle control method according to any one of claims 2-17, wherein, The target actions include a roll action to control the vehicle to tilt and / or a pitch action to control the vehicle to pitch. The step of controlling the actuator to output a force for controlling the vehicle to perform the target action according to the control parameters includes: The actuator is controlled to output a roll and pitch force to the vehicle according to the control parameters, so as to control the vehicle to perform the roll action and / or the pitch action.

19. The vehicle control method according to claim 2, wherein, The attitude data includes triaxial acceleration data, and the control parameters of the actuator include vertical target force; The control parameters for controlling the actuator (3) of the vehicle, calculated based on the attitude data, include: The vertical target force is obtained based on the triaxial acceleration data.

20. The vehicle control method according to claim 19, wherein, The step of controlling the actuator to output a force for controlling the vehicle to perform the target action according to the control parameters includes: The actuator is controlled to output the vertical target force to the vehicle in order to control the vehicle to perform vertical movement.

21. The vehicle control method according to any one of claims 19-20, wherein, The process of obtaining the vertical target force based on the triaxial acceleration data includes: The vertical displacement is obtained from the z-axis acceleration data in the triaxial acceleration data; and The vertical target force is obtained based on the vertical displacement.

22. The vehicle control method according to claim 1, wherein, The attitude data includes three-axis acceleration data, and controlling the vehicle to perform a target action corresponding to the electronic device based on the attitude data includes: The vehicle is controlled to perform a target action corresponding to the electronic device based on the triaxial acceleration data.

23. The vehicle control method according to any one of claims 1-22, wherein, The vehicle control method further includes: Obtain the first triaxial acceleration value of the electronic device obtained in the current sampling period, and the two second triaxial acceleration values ​​of the electronic device obtained in the two sampling periods prior to the current sampling period; and The average acceleration value of the first triaxial acceleration value and the two second triaxial acceleration values ​​is used as the triaxial acceleration data.

24. The vehicle control method according to any one of claims 1-23, wherein, Before acquiring attitude data from the electronic devices (2) communicating with the vehicle, the process also includes: Respond to the target function activation request sent by the electronic device.

25. A vehicle controller (1), wherein, include: A memory (501) and a processor (502), wherein the memory stores computer instructions; when the computer instructions are executed by the processor, they implement the vehicle control method according to any one of claims 1-24.

26. A vehicle, wherein, include: The vehicle controller according to claim 25.

27. The vehicle according to claim 26, wherein, It also includes actuators that communicate with the vehicle controller.

28. A computer-readable storage medium, wherein, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the vehicle control method according to any one of claims 1 to 24.

29. A computer program product, wherein, The computer program product includes computer instructions, which, when executed by a processor, implement the vehicle control method according to any one of claims 1 to 24.

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