CN113859218A - Steering control method, vehicle, storage medium and vehicle controller - Google Patents
Steering control method, vehicle, storage medium and vehicle controller Download PDFInfo
- Publication number
- CN113859218A CN113859218A CN202010605801.6A CN202010605801A CN113859218A CN 113859218 A CN113859218 A CN 113859218A CN 202010605801 A CN202010605801 A CN 202010605801A CN 113859218 A CN113859218 A CN 113859218A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- driving torque
- torque
- target
- steering angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 61
- 238000004590 computer program Methods 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 4
- 230000008929 regeneration Effects 0.000 claims description 3
- 238000011069 regeneration method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 description 9
- 230000004044 response Effects 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 4
- 239000000446 fuel Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 241000156302 Porcine hemagglutinating encephalomyelitis virus Species 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 1
- 238000003915 air pollution Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229910052739 hydrogen Inorganic materials 0.000 description 1
- 239000001257 hydrogen Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The application relates to a steering control method, a vehicle, a storage medium and a vehicle controller, and discloses obtaining steering angle input, accelerator pedal opening and vehicle speed; determining a target driving torque of the vehicle according to the corresponding relation between the target driving torque and the steering angle input, the opening degree of an accelerator pedal and the vehicle speed; and controlling the vehicle according to the target driving torque and the steering angle input. In controlling the steering of the vehicle, the target drive torque is determined in consideration of the steering angle input, the accelerator pedal opening degree, and the vehicle speed in combination. Compared with the prior art which only depends on the opening degree of the accelerator pedal, the situation that the turning accelerator pedal is too deep or too shallow due to insufficient experience of a user, and the vehicle steering speed is too fast or too slow is avoided to a certain extent.
Description
Technical Field
The invention relates to the technical field of vehicle steering control, in particular to a steering control method, a vehicle, a storage medium and a vehicle controller.
Background
In the prior art, the magnitude response of the vehicle driving torque and the opening size of the accelerator pedal treaded by the driver, when a user controls the vehicle to turn, if the experience is not rich enough, the accelerator pedal treading opening is too deep or too shallow when the vehicle turns, the vehicle turning speed is too fast or too slow, the use experience of the user is influenced, and even rollover is likely to happen.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. To this end, it is an object of the present invention to propose a steering control method which aims to solve the drawbacks of the prior art to some extent.
It is another object of the present invention to provide a computer-readable storage medium.
It is a further object of the present invention to provide a vehicle controller.
The fourth purpose of the invention is to provide a vehicle.
In order to solve the above problem, an embodiment of a first aspect of the present invention provides a steering control method applied to a vehicle, including: acquiring steering angle input, accelerator pedal opening and vehicle speed; determining a target driving torque of the vehicle according to the corresponding relation between the target driving torque and the steering angle input, the opening degree of an accelerator pedal and the vehicle speed; and controlling the vehicle according to the target driving torque and the steering angle input.
According to the steering control method provided by the embodiment of the invention, the steering angle input, the accelerator pedal opening and the vehicle speed are acquired, the target driving torque is determined according to the corresponding relation between the target driving torque and the steering angle input, the accelerator pedal opening and the vehicle speed, and the vehicle is controlled according to the determined target driving torque and the determined steering angle input. Thereby, it is achieved that the vehicle driving torque does not only depend on the accelerator pedal opening degree but comprehensively considers the steering angle input, the accelerator pedal opening degree and the vehicle speed when controlling the vehicle steering. Compared with the prior art, the device only depends on the opening degree of the accelerator pedal, the situation that the opening degree of the accelerator pedal is too deep or too shallow when the accelerator pedal is trodden to turn due to insufficient experience of a user and the vehicle turns too fast or too slow is avoided to a certain extent, the use experience of the user is improved to a certain extent, and meanwhile the situation that the vehicle turns over due to too fast turning speed of the vehicle is avoided to a certain extent.
In some embodiments, when the steering angle input is greater than a first steering angle threshold and the vehicle speed is greater than a first speed threshold, the target drive torque is less than a drive torque directly corresponding to the accelerator pedal opening.
In some embodiments, when the steering angle input is greater than a first steering angle threshold and the vehicle speed is greater than a first speed threshold, the method further comprises controlling the vehicle to brake regeneration.
In some embodiments, determining the target driving torque of the vehicle according to the corresponding relation between the target driving torque and the steering angle input, the accelerator pedal opening and the vehicle speed comprises determining a maximum driving torque corresponding to the steering angle input and the vehicle speed according to a steering stability principle; determining the whole vehicle driving torque corresponding to the opening degree of the accelerator pedal and the vehicle speed according to an accelerator curve; comparing the whole vehicle driving torque with the maximum driving torque; if the whole vehicle driving torque is smaller than the maximum driving torque, taking the whole vehicle driving torque as the target driving torque; and if the driving torque of the whole vehicle is larger than or equal to the maximum driving torque, taking the maximum driving torque as the target driving torque.
In some embodiments, the method further comprises obtaining a driving mode of the vehicle, the driving mode comprising engine drive, motor drive; the method comprises the steps of determining a target driving torque according to a corresponding relation between the driving torque and steering angle input, the opening degree of an accelerator pedal and the speed of a vehicle, comparing the target driving torque with the driving torque of the vehicle in the previous time period, and controlling a motor to start and output the target driving torque together with an engine if the driving mode is engine driving when the target driving torque is larger than the driving torque of the vehicle in the previous time period; and if the driving mode is motor driving and the vehicle speed is greater than or equal to a second preset speed threshold value, controlling the motor to output the target driving torque and controlling the engine to start.
In some embodiments, the driving modes further include engine-side electric-generating-side driving and engine-generator-motor driving; when the target drive torque is greater than the vehicle drive torque for the previous time period, the method further comprises,
if the driving mode is that the engine generates power and drives at the same time, controlling the engine to output the target torque;
and if the driving mode is engine generator motor driving, controlling the engine and the motor to jointly output the target driving torque.
In some embodiments, when the target drive torque is less than the vehicle drive torque of the previous time period, a difference torque between the target drive torque and the vehicle drive torque of the previous time period is obtained;
and if the driving mode is engine driving, controlling the motor to start and generate electricity by using the difference torque so that the vehicle outputs the target driving torque.
In some embodiments, when the target drive torque is less than the vehicle drive torque for the previous time period, the method further comprises,
if the driving mode is that the engine generates power and drives at the same time, controlling the engine to output the target torque;
and if the driving mode is engine generator motor driving, controlling the motor to output the target driving torque.
A computer-readable storage medium of an embodiment of the second aspect of the present invention has stored thereon a computer program that, when executed, implements the steering control method of the above-described embodiment.
A vehicle controller according to an embodiment of a third aspect of the invention includes: the steering control method comprises a processor and the computer readable storage medium, wherein the processor is used for executing the computer program stored in the computer readable storage medium to realize the steering control method.
A vehicle according to a fourth aspect of the invention includes the vehicle controller described above.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a steering control method according to one embodiment of the present application;
FIG. 2 is a flow chart of a steering control method according to another embodiment of the present application;
FIG. 3 is a schematic view of a vehicle according to one embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The invention may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer and generally include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
As used in this application, the terms "module," "device," "system," and the like are intended to refer to a computer-related entity, either hardware, a combination of hardware and software, or software in execution. In particular, for example, an element may be, but is not limited to being, a process running on a processor, an object, an executable, a thread of execution, a program, and/or a computer. Also, an application or script running on a server, or a server, may be an element. One or more elements may be in a process and/or thread of execution and an element may be localized on one computer and/or distributed between two or more computers and may be operated by various computer readable media, and elements may communicate by way of local and/or remote processes based on a signal having one or more data packets, e.g., from a data packet interacting with another element in a local system, distributed system, and/or across a network of the internet with other systems by way of the signal.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be 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. Also, the terms "comprises," "comprising," or any other variation 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 may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The driving torque of the vehicle is generally in response to the opening degree of an accelerator pedal stepped by a user. When the accelerator pedal opening degree is larger, the user is indicated that the vehicle needs to increase the driving torque. For example, the user needs to accelerate the vehicle or the vehicle needs to climb a slope, and at this time, the user increases the opening degree of stepping on the accelerator pedal, and the vehicle increases the output torque in response to the increase in the opening degree of the accelerator pedal, thereby satisfying the user's demand for acceleration or climbing.
However, determining the output torque or the driving torque of the vehicle based on the accelerator pedal opening degree is highly demanded by the user. If the user steps on the accelerator pedal by mistake due to inexperience or an emergency, the driving torque determined based on the pedal opening degree cannot correctly reflect the actual demand of the user at the moment, so that the user experience is poor, and even a dangerous situation may occur.
Based on this, embodiments of the first aspect of the present application provide a steering control method, which aims to solve the above technical problems to some extent.
The steering control method provided by the application can be applied to vehicles, including conventional fuel vehicles, hybrid vehicles, pure electric vehicles, non-conventional energy vehicles such as hydrogen fuel vehicles and the like. Hybrid vehicles include, among others, the weak hybrid HEV and the plug-in hybrid PHEV.
An embodiment of the present application provides a steering control method, as shown in fig. 1, including:
a steering angle input, an accelerator pedal opening, and a vehicle speed are obtained.
The steering angle input may be from a steering angle input from a user through a conventional steering wheel, or may be from a non-conventional steering wheel input, such as in the form of a numeric input.
The accelerator pedal opening may be from the direct stepping of the accelerator pedal by the user, or from an opening signal input by the user through other indirect stepping forms, such as a lever, a digital input, and the like.
The vehicle speed may be the speed of the vehicle at the present moment, or may be a speed within a certain time period range that may characterize the present speed to some extent.
And determining the target driving torque of the vehicle according to the corresponding relation between the target driving torque and the steering angle input, the opening degree of the accelerator pedal and the vehicle speed.
In the embodiment of the present application, the target drive torque does not depend on the accelerator pedal opening degree alone, but is determined according to the correspondence relationship of the target drive torque to the steering angle input, the accelerator pedal opening degree, and the vehicle speed. Therefore, the steering angle input, the accelerator pedal opening and the vehicle speed are comprehensively considered, the steering angle input can represent the steering requirement of a user, the accelerator pedal opening can represent the vehicle driving torque requirement of the user, and the vehicle speed can represent the current running speed information of the vehicle. The requirements of the user for finely adjusting the driving direction of the vehicle, changing the lane or turning around the vehicle and the like can be judged according to the input value of the steering angle. The requirements of acceleration and deceleration, ascending and descending and the like of the user can be judged according to the opening degree of the accelerator pedal. In order to further accurately judge the acceleration, deceleration and uphill and downhill requirements of the user, the opening degree signal of the brake pedal can be further acquired. According to the comprehensive judgment of the steering angle input, the opening degree of an accelerator pedal and the vehicle speed, whether a user has a turning requirement at the moment or not, whether the user needs to turn a big turn or a small turn, change a lane or turn around, turn a sharp turn or turn a slow turn or not, whether the user needs to turn to another vehicle in an emergency or not and the like can be determined. Through comprehensive judgment, specific requirements of the user can be determined to a certain extent, and driving of the user is assisted according to the requirements of the user.
The vehicle is controlled based on the target drive torque and the steering angle input.
For example, the user quickly fills the steering wheel to the left or the right, and the accelerator pedal is pressed down urgently, even the accelerator pedal is pressed to the bottom, which indicates that the user needs to make a sharp turn or avoid urgently. At this time, the target driving torque of the vehicle is determined based on the correspondence relationship between the target driving torque and the steering angle input, the accelerator pedal opening degree, and the vehicle speed. It is understood that the target driving torque may be a torque value or a time-varying set of torque values, and the vehicle may be continuously controlled according to the time-varying set of torque values and the steering angle input, for example, the vehicle is first subjected to deceleration control, when the speed is less than a certain threshold, the vehicle starts to be steered according to the steering angle input, and continues to be controlled to decelerate, thereby avoiding the vehicle from steering and slipping or even being out of control due to too fast vehicle speed; and when the vehicle speed is less than the second threshold value, stopping controlling the vehicle to decelerate, and continuing controlling the vehicle to steer according to the steering angle input. Therefore, the steering speed of the vehicle can be ensured, and the rapid steering is realized.
It is understood that the above steps may be continuously repeated during the steering process. That is, while the vehicle is controlled according to the target driving torque and the steering angle input, the accelerator pedal opening degree, and the vehicle speed are continuously acquired, and the target driving torque of the vehicle is continuously determined according to the correspondence relationship between the target driving torque and the steering angle input, the accelerator pedal opening degree, and the vehicle speed. Therefore, the purpose of continuously controlling the vehicle according to the steering angle input, the opening degree of the accelerator pedal and the vehicle speed which are acquired in real time is achieved.
According to the steering control method provided by the embodiment of the application, the steering angle input, the accelerator pedal opening and the vehicle speed can be comprehensively considered during steering, and determines a target driving torque of the vehicle according to a corresponding relationship between the target driving torque and a steering angle input, an accelerator pedal opening degree and a vehicle speed, and then the vehicle is controlled according to the target driving torque and the steering angle input, thereby avoiding the high requirement on the operation of a user caused by determining the target driving torque of the vehicle based on an accelerator pedal alone, avoiding the situations of the too deep or too shallow stepping on the accelerator pedal during the turning and the too fast or too slow steering speed of the vehicle caused by the insufficient experience of the user, and improving the use experience of the user to a certain extent, meanwhile, the side-turning situation of the vehicle caused by the over-high steering speed of the vehicle is avoided to a certain extent. The technical scheme provided by the embodiment of the application lightens the burden of the user to a certain extent, improves the fault tolerance rate of the user operation, can avoid the occurrence of dangerous conditions to a certain extent, and has better user experience.
In some embodiments, when the steering angle input is greater than a first steering angle threshold and the vehicle speed is greater than a first speed threshold, the target drive torque determined from the drive torque to steering angle input, the accelerator pedal opening, and the vehicle speed is less than the drive torque to which the accelerator pedal opening directly corresponds.
Specifically, if the steering angle is greater than the first steering angle threshold and the vehicle speed is greater than the first speed threshold, it indicates that the user has a need to quickly steer at the current higher vehicle speed. At this time, the target drive torque determined from the correspondence relationship between the drive torque and the steering angle input, the accelerator pedal opening degree, and the vehicle speed is smaller than the drive torque directly corresponding to the accelerator pedal opening degree. It can be appreciated that the danger arises from the fact that the vehicle is more likely to lose grip and slip when turning at higher vehicle speeds.
The first steering angle threshold value here may be a steering angle threshold value of the vehicle corresponding to a user's steering demand. For example, the first steering angle threshold may be three degrees, and when the steering angle is less than three degrees, it may be understood as a system deviation or a user misoperation, and the like, the steering angle is greater than three degrees, indicating that the user has a steering demand. Therefore, misjudgment of the steering intention of the user can be avoided, the response frequency of the system is reduced, and the data processing amount of the system is reduced.
The first steering angle threshold may also be a steering angle threshold reflecting a requirement of a user for a large turn, for example, a steering angle at which the user needs to turn over. Because the vehicle turns more sharply than turns less sharply, it is more likely to lose grip at high speeds, slip, etc.
When the steering angle input is larger than a first steering angle threshold value and the vehicle speed is larger than a first speed threshold value, the target driving torque determined according to the corresponding relation of the driving torque and the steering angle input, the accelerator pedal opening and the vehicle speed is smaller than the driving torque directly corresponding to the accelerator pedal opening, so that the increase range of the speed of the vehicle during steering is limited or the vehicle is controlled to decelerate. Therefore, the situation that the steering speed of the vehicle is too high due to insufficient experience or mistaken stepping and the like when a user steers can be avoided, and danger is avoided.
In some embodiments, when the steering angle input is greater than the first steering angle threshold and the vehicle speed is greater than the first speed threshold, the method further comprises controlling the vehicle to brake regeneration.
Specifically, when the vehicle is controlled to steer, if the steering angle is greater than a first steering angle threshold value and the vehicle speed is greater than a first speed threshold value, the vehicle needs to be decelerated to enable the vehicle to reach a safe steering speed range due to the fact that the vehicle speed is high, at the moment, the vehicle needs to be subjected to brake feedback control, and therefore the purpose of energy recovery while the vehicle is decelerated is achieved. When the vehicle is turned, if the vehicle speed is too fast, the friction plate is adopted for friction braking, so that the friction plate is easily damaged, even high-temperature fire is generated, and the braking effect is influenced. According to the technical scheme provided by the embodiment of the application, in the process of controlling the steering of the vehicle, if the vehicle speed is too fast, the motor can be adopted for braking feedback, so that the speed reduction of the vehicle is highly controllable, and the situations that the vehicle speed is too fast and the user needs to accelerate again due to the braking of a friction plate are avoided.
In some embodiments, determining the target drive torque of the vehicle based on the target drive torque versus steering angle input, accelerator pedal opening, and vehicle speed includes,
determining a maximum driving torque corresponding to the steering angle input and the vehicle speed according to a steering stability principle;
determining the whole vehicle driving torque corresponding to the opening degree of the accelerator pedal and the vehicle speed according to an accelerator curve;
comparing the whole vehicle driving torque with the maximum driving torque;
if the whole vehicle driving torque is smaller than the maximum driving torque, taking the whole vehicle driving torque as the target driving torque; and if the driving torque of the whole vehicle is larger than or equal to the maximum driving torque, taking the maximum driving torque as the target driving torque.
Specifically, based on the steering stability principle, the maximum driving torque for keeping the vehicle steering stable is determined according to parameters such as steering angle input during steering, vehicle speed and the like, that is, the maximum allowable driving torque for meeting the vehicle steering stability is obtained. When the driving torque of the vehicle exceeds the maximum driving torque, the vehicle may run away and cannot meet the requirement of the steering stability of the vehicle. For example, the vehicle may slip, roll over, or encounter obstacles where avoidance is not timely or timely.
And determining the whole vehicle driving torque corresponding to the opening degree of an accelerator pedal and the vehicle speed according to the accelerator curve. It can be understood that the accelerator curve can be a three-dimensional curve or a three-dimensional curved surface formed by three dimensional parameters of the driving torque of the whole vehicle, the opening degree of an accelerator pedal and the speed of the vehicle. According to the three-dimensional curve or the accelerator curve of the three-dimensional curved surface, the driving torque of the whole vehicle corresponding to the opening degree of an accelerator pedal and the speed of the vehicle can be determined. Because the driving torque of the whole vehicle is related to the opening degree of the accelerator pedal and the vehicle speed, compared with the driving torque of the whole vehicle which is independently corresponding to the opening degree of the accelerator pedal, the driving torque of the whole vehicle can be more suitable for actual requirements. When the vehicle is at a low speed, the driving torque corresponding to the same accelerator pedal opening degree when the vehicle is at a high speed can be inconsistent, and can be calibrated according to vehicle parameters, an engine economy curve, a motor control curve, vehicle operation stability and the like, so that when a user actually treads the accelerator pedal, the vehicle is accelerated more stably, the control is more stable, the vehicle economy is better, and the user experience is better.
In some embodiments, determining the target drive torque of the vehicle based on the target drive torque versus steering angle input, accelerator pedal opening, and vehicle speed includes,
determining an accelerator curve adjustment parameter corresponding to the steering angle input and the vehicle speed according to a manipulation stability principle;
adjusting the throttle curve according to the throttle curve adjusting parameter;
and determining the whole vehicle driving torque corresponding to the opening of the accelerator pedal and the vehicle speed according to the adjusted accelerator curve, and taking the whole vehicle driving torque as the target driving torque.
Specifically, an accelerator curve adjustment parameter corresponding to the steering angle and the vehicle speed can be determined based on the operation stability principle, the accelerator curve is adjusted based on the parameter, and a driving torque corresponding to the opening degree of an accelerator pedal and the vehicle speed is obtained according to the adjusted accelerator curve, wherein the driving torque is the target driving torque. Thus, the target driving torque can be ensured to meet the steering stability principle.
It can be understood that the adjustment parameter of the driving torque of the whole vehicle corresponding to the steering angle input and the vehicle speed can be obtained according to the operation stability principle, so as to adjust the driving torque of the whole vehicle obtained according to the accelerator curve, the opening degree of the accelerator pedal and the vehicle speed, so as to obtain the target driving torque. Thus, the target driving torque can be ensured to meet the steering stability principle.
The throttle curve adjustment parameter and the vehicle driving torque adjustment parameter may be a numerical value, or may be one or a group of functions and algorithms, and the throttle curve and the vehicle driving torque may be adjusted to meet the throttle curve and the target driving torque of the steering stability principle according to the functions and the algorithms.
According to the embodiment, the steering control is performed on the vehicle according to the driving torque determined based on the steering stability principle, the steering stability of the vehicle can be improved, the driving experience of a user is improved, and the requirements on the driving skill, the driving experience and the like of the user are reduced.
For example, when the vehicle is traveling at a high speed, the user inputs a certain steering angle through the steering wheel, but the user does not adjust the accelerator pedal depression force due to forgetting to release the accelerator, insufficient experience, erroneous judgment, or the like, and the accelerator pedal opening degree does not change. At this moment, according to the technical scheme provided by the embodiment of the application, based on the operation stability principle, the driving torque is determined according to the parameters such as the steering angle input, the accelerator pedal opening degree and the vehicle speed during steering, for example, the driving torque corresponding to the accelerator pedal opening degree is reduced, the deceleration driving of the vehicle is realized, the vehicle steering is more stable, the situations such as drifting and even rollover are prevented, and the driving experience of a user is better. Meanwhile, the energy fed back during deceleration in the process can be recovered, the energy consumption of the vehicle is reduced, and the endurance is improved.
The steering stability of the embodiment of the present application refers to the ability of a vehicle to follow a direction given by a user through a steering system without the user feeling excessive strain or fatigue, and to stably run against external disturbances such as road slip in rainy days. Rollover refers to a dangerous situation in which the vehicle is turned over 90 degrees or more about its longitudinal axis so that the vehicle body comes into contact with the ground.
The present application further provides an embodiment, as shown in fig. 2, comprising,
the driver controls the vehicle.
And acquiring the vehicle speed, the steering angle and the opening degree of an accelerator pedal.
The steering angle is judged and the steering angle is judged,
if the steering angle is zero, normally controlling the vehicle according to the operation of the driver;
if the steering angle is not zero, calculating a maximum driving torque threshold value according to a steering stability principle;
checking an accelerator curve according to the opening degree of an accelerator pedal and the vehicle speed to obtain the driving torque of the whole vehicle;
comparing the driving torque of the whole vehicle with a maximum driving torque threshold value,
if the driving torque of the whole vehicle is smaller than or equal to the maximum driving torque threshold value, normally controlling the vehicle to steer according to the driving torque and the steering angle of the whole vehicle;
if the driving torque of the whole vehicle is larger than the maximum driving torque threshold value, the driving torque is reduced to be not more than the maximum driving torque threshold value, and the vehicle is controlled to steer according to the adjusted driving torque and the steering angle.
In some embodiments, the method further comprises obtaining a driving mode of the vehicle, the driving mode comprising engine drive, motor drive, and engine and motor co-drive;
determining a target driving torque according to a corresponding relationship between the driving torque and the steering angle input, the accelerator pedal opening and the vehicle speed, comparing the target driving torque with the vehicle driving torque of the previous time period, and when the target driving torque is greater than the vehicle driving torque of the previous time period,
if the driving mode is engine driving, controlling the motor to start and output the target driving torque together with the engine;
and if the driving mode is motor driving and the vehicle speed is greater than or equal to a second preset speed threshold value, controlling the motor to output the target driving torque and controlling the engine to start.
Specifically, the steering control method provided by the embodiment of the application further includes obtaining a driving mode of the vehicle, where the driving mode of the vehicle includes engine-only driving, motor-only driving, and common driving of the engine and the motor. After the target driving torque is determined according to the corresponding relation between the driving torque and the steering angle input, the opening degree of the accelerator pedal and the vehicle speed, the method further comprises the step of comparing the target driving torque with the vehicle driving torque in the previous time period. The last time period may be before steering, i.e. compared to the vehicle drive torque before steering. It is also possible to obtain the first three or five seconds of drive torque during continuous steering. If the target drive torque is greater than the vehicle drive torque for the previous time period, it indicates that the vehicle is accelerating or climbing a hill.
At this time, if the vehicle is driven by the engine alone, the motor is controlled to start and drive in conjunction with the engine to output the target driving torque. The inventor finds that the response speed of the motor is high, the target driving torque can be quickly output by the vehicle by utilizing the characteristic, and the power response speed of the vehicle is improved. Meanwhile, the inventor finds that if the output torque is improved by shifting the engine, the power system needs a certain time to shift gears, which causes untimely response. Meanwhile, the output power of the engine can be increased by increasing the fuel injection amount, and incomplete fuel combustion, air pollution, energy consumption increase and the like can be caused.
If the vehicle is driven by the motor alone and the vehicle speed is greater than or equal to the second preset speed threshold, it indicates that the user has a need for accelerating and steering the vehicle, and it is understood that the user may also want the vehicle to continue to run at a high speed and even continue to accelerate after the vehicle accelerates and steers. At this time, the motor is controlled to output the target drive torque, and the engine start is started. After the engine is started, the engine and the motor can jointly output the target driving torque, or the engine can independently output the target driving torque, so that the driving torque is provided by the motor in advance, and the timeliness of power output is ensured. Meanwhile, the engine is started, so that the pre-starting of the engine is realized, the intervention driving of the engine is guaranteed, meanwhile, the starting time of the engine is avoided when the engine is required to provide power output next, and the user experience is better. And then can guarantee the sufficient dynamic nature of vehicle, promote user's use and experience. It can be understood that, in order to improve the economy of the engine, when the vehicle speed is greater than a certain threshold value, and the engine can be operated in an economy zone at the moment, the engine is controlled to participate in vehicle driving, and the target driving torque is output.
In some embodiments, the driving modes further include engine-side electric-generating-side driving and engine-generator-motor driving; when the target drive torque is greater than the vehicle drive torque for the previous time period, the method further comprises,
if the driving mode is that the engine generates power and drives at the same time, controlling the engine to output a target torque;
and if the driving mode is engine generator motor driving, controlling the engine and the motor to jointly output the target driving torque.
Specifically, the driving mode includes driving while the engine generates power, driving the engine generator motor, and the like. When the target driving torque is larger than the vehicle driving torque in the previous time period, if the driving mode is that the engine drives while generating power, at the moment, the engine can be controlled to output the target driving torque alone, so that the power of the engine can be fully utilized, and the economical efficiency of the engine is improved. If the driving mode is the driving of the generator motor of the engine, the engine and the motor are controlled to jointly output the target driving torque, the power of the engine is fully utilized, and the economical efficiency of the engine is improved.
In some embodiments, when the target drive torque is less than the vehicle drive torque of the previous time period, a difference torque of the target drive torque and the vehicle drive torque of the previous time period is obtained;
if the driving mode is engine driving, the motor is controlled to start and generate electricity using the differential torque so that the vehicle outputs the target driving torque.
Specifically, if the target driving torque is smaller than the vehicle driving torque in the previous time period, it indicates that the acceleration of the vehicle needs to be reduced, or the vehicle is controlled to decelerate, so as to ensure the safety and comfort when the vehicle turns. If the vehicle is driven by the engine alone, the operation of the engine is not adjusted and the electric motor recovers the difference torque between the engine output and the target driving torque to generate the electric power so as to fully utilize the power of the engine without reducing the economical efficiency. Therefore, the cruising performance of the vehicle is improved, and meanwhile the running economy of the engine is not changed. If the excessive torque is not fed back through the motor, the output torque of the engine is reduced, at the moment, the normal operation of the engine is influenced, the economy of the engine is influenced, even the engine is stopped when the torque demand is too low, and the use experience of a user is seriously damaged.
In some embodiments, when the target drive torque is less than the vehicle drive torque for the previous time period, the method further comprises,
if the driving mode is that the engine generates power and drives at the same time, controlling the engine to output a target torque;
if the drive mode is engine generator motor drive, the motor is controlled to output the target drive torque.
Specifically, when the driving torque required by the vehicle is reduced, if the engine is driven while generating electricity at that time, the generating torque of the engine can be increased, and the output driving torque can be reduced, thereby not affecting the normal operation of the engine. If the engine is driven by the generator motor, the output torque of the motor can be adjusted to meet the requirement of the vehicle.
An embodiment of a second aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, which when executed implements the steering control method of the above-described embodiment.
A third aspect embodiment of the present invention provides a vehicle controller 100, including: the steering control method includes a processor and the computer-readable storage medium, where the processor is used to execute a computer program stored in the computer-readable storage medium to implement the steering control method of the above-mentioned embodiment. The vehicle controller 100 may be a VCU in a vehicle.
A vehicle 1000 according to a fourth aspect of the present invention, as shown in fig. 3, includes the vehicle controller described above, which is configured to implement the steering control method of the above-described embodiment.
According to the vehicle 1000 provided by the present application, the vehicle 1000 includes a vehicle controller, and the vehicle controller VCU includes a computer readable storage medium storing a computer program of the steering control method provided by the embodiment of the present application and a processor for executing the program, so as to implement the steering control method of the embodiment described above. According to the vehicle provided by the embodiment of the invention, the steering angle input, the accelerator pedal opening and the vehicle speed are acquired, the target driving torque is determined according to the corresponding relation between the target driving torque and the steering angle input, the accelerator pedal opening and the vehicle speed, and the vehicle is controlled according to the determined target driving torque and the determined steering angle input. Thereby, it is achieved that the vehicle driving torque does not only depend on the accelerator pedal opening degree but comprehensively considers the steering angle input, the accelerator pedal opening degree and the vehicle speed when controlling the vehicle steering. Compared with the prior art, the device only depends on the opening degree of the accelerator pedal, avoids the situation that the turning accelerator pedal is too deep or too shallow due to insufficient experience of a user, the vehicle steering speed is too high or too slow, improves the use experience of the user to a certain extent, and simultaneously avoids the situation that the vehicle turns over due to too high steering speed of the vehicle to a certain extent.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (13)
1. A steering control method applied to a vehicle, characterized by comprising:
acquiring steering angle input, accelerator pedal opening and vehicle speed;
determining a target driving torque of the vehicle according to the corresponding relation between the target driving torque and the steering angle input, the opening degree of an accelerator pedal and the vehicle speed;
and controlling the vehicle according to the target driving torque and the steering angle input.
2. The steering control method of claim 1, wherein the target drive torque is less than a drive torque directly corresponding to the accelerator pedal opening when the steering angle input is greater than a first steering angle threshold and the vehicle speed is greater than a first speed threshold.
3. The steering control method of claim 2, wherein when the steering angle input is greater than a first steering angle threshold and the vehicle speed is greater than a first speed threshold, the method further comprises controlling the vehicle to brake regeneration.
4. The steering control method according to claim 1, wherein the determining a target driving torque of the vehicle based on a correspondence relationship of the target driving torque with a steering angle input, an accelerator pedal opening degree, and a vehicle speed includes,
determining a maximum driving torque corresponding to the steering angle input and the vehicle speed according to a steering stability principle;
determining the whole vehicle driving torque corresponding to the opening degree of the accelerator pedal and the vehicle speed according to an accelerator curve;
comparing the whole vehicle driving torque with the maximum driving torque;
if the whole vehicle driving torque is smaller than the maximum driving torque, taking the whole vehicle driving torque as the target driving torque; and if the driving torque of the whole vehicle is larger than or equal to the maximum driving torque, taking the maximum driving torque as the target driving torque.
5. The steering control method according to claim 1, wherein the determining a target driving torque of the vehicle based on a correspondence relationship of the target driving torque with a steering angle input, an accelerator pedal opening degree, and a vehicle speed includes,
determining an accelerator curve adjustment parameter corresponding to the steering angle input and the vehicle speed according to a manipulation stability principle;
adjusting the throttle curve according to the throttle curve adjusting parameter;
and determining the whole vehicle driving torque corresponding to the opening of the accelerator pedal and the vehicle speed according to the adjusted accelerator curve, and taking the whole vehicle driving torque as the target driving torque.
6. The steering control method according to claim 1, wherein the determining a target driving torque of the vehicle based on a correspondence relationship of the target driving torque with a steering angle input, an accelerator pedal opening degree, and a vehicle speed includes,
determining a whole vehicle driving torque adjusting parameter corresponding to the steering angle input and the vehicle speed according to a control stability principle;
determining the whole vehicle driving torque corresponding to the opening degree of the accelerator pedal and the vehicle speed according to an accelerator curve;
and adjusting the whole vehicle driving torque according to the whole vehicle driving torque adjusting parameter to obtain the target driving torque.
7. The steering control method according to claim 1, characterized in that the method further comprises acquiring a driving mode of the vehicle, the driving mode including engine driving, motor driving;
determining a target driving torque according to a corresponding relationship between the driving torque and a steering angle input, an accelerator pedal opening degree and a vehicle speed, comparing the target driving torque with a vehicle driving torque of a previous time period, and when the target driving torque is greater than the vehicle driving torque of the previous time period,
if the driving mode is engine driving, controlling the motor to start and output the target driving torque together with the engine;
and if the driving mode is motor driving and the vehicle speed is greater than or equal to a second preset speed threshold value, controlling the motor to output the target driving torque and controlling the engine to start.
8. The steering control method according to claim 7, wherein the drive mode further includes an engine-side power generation-side drive and an engine-generator-motor drive; when the target drive torque is greater than the vehicle drive torque for the previous time period, the method further comprises,
if the driving mode is that the engine generates power and drives at the same time, controlling the engine to output the target torque;
and if the driving mode is engine generator motor driving, controlling the engine and the motor to jointly output the target driving torque.
9. The steering control method according to claim 7, characterized in that when the target drive torque is smaller than the vehicle drive torque of the previous time period, a difference torque of the target drive torque and the vehicle drive torque of the previous time period is acquired;
and if the driving mode is engine driving, controlling the motor to start and generate electricity by using the difference torque so that the vehicle outputs the target driving torque.
10. The steering control method according to claim 8, characterized in that when the target driving torque is smaller than the vehicle driving torque of the last period of time, the method further comprises,
if the driving mode is that the engine generates power and drives at the same time, controlling the engine to output the target torque;
and if the driving mode is engine generator motor driving, controlling the motor to output the target driving torque.
11. A computer-readable storage medium on which a computer program is stored, characterized in that the computer program, when executed, implements the steering control method according to any one of claims 1-10.
12. A vehicle controller characterized by comprising a processor and the computer-readable storage medium of claim 11, the processor being configured to execute the computer program stored in the computer-readable storage medium to implement the steering control method of any one of claims 1 to 10.
13. A vehicle characterized by comprising the vehicle controller of claim 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010605801.6A CN113859218B (en) | 2020-06-29 | 2020-06-29 | Steering control method, vehicle, storage medium and vehicle controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010605801.6A CN113859218B (en) | 2020-06-29 | 2020-06-29 | Steering control method, vehicle, storage medium and vehicle controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113859218A true CN113859218A (en) | 2021-12-31 |
| CN113859218B CN113859218B (en) | 2023-11-14 |
Family
ID=78980860
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010605801.6A Active CN113859218B (en) | 2020-06-29 | 2020-06-29 | Steering control method, vehicle, storage medium and vehicle controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113859218B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11654956B2 (en) * | 2019-12-23 | 2023-05-23 | Robert Bosch Gmbh | Method and system for steering intervention by electronic power steering unit to prevent vehicle rollover or loss of control |
| CN117318565A (en) * | 2023-10-08 | 2023-12-29 | 格至控智能动力科技（上海）有限公司 | Motor control method, motor controller, and readable storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103287490A (en) * | 2012-02-28 | 2013-09-11 | 株式会社捷太格特 | Vehicle control system, steering simulating system, and steering torque application method |
| CN106696950A (en) * | 2015-07-22 | 2017-05-24 | 北汽福田汽车股份有限公司 | Torque control structure of hybrid vehicle and control system |
| CN107487224A (en) * | 2016-07-20 | 2017-12-19 | 宝沃汽车（中国）有限公司 | A kind of control method of finished and system |
| CN108068880A (en) * | 2016-11-14 | 2018-05-25 | 比亚迪股份有限公司 | Vehicle steering control method, device and vehicle |
| JP2019098912A (en) * | 2017-12-01 | 2019-06-24 | マツダ株式会社 | Vehicle control device |
| CN111196312A (en) * | 2020-01-21 | 2020-05-26 | 重庆长安汽车股份有限公司 | Electric automobile steering control method and device, automobile and controller |
-
2020
- 2020-06-29 CN CN202010605801.6A patent/CN113859218B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103287490A (en) * | 2012-02-28 | 2013-09-11 | 株式会社捷太格特 | Vehicle control system, steering simulating system, and steering torque application method |
| CN106696950A (en) * | 2015-07-22 | 2017-05-24 | 北汽福田汽车股份有限公司 | Torque control structure of hybrid vehicle and control system |
| CN107487224A (en) * | 2016-07-20 | 2017-12-19 | 宝沃汽车（中国）有限公司 | A kind of control method of finished and system |
| CN108068880A (en) * | 2016-11-14 | 2018-05-25 | 比亚迪股份有限公司 | Vehicle steering control method, device and vehicle |
| JP2019098912A (en) * | 2017-12-01 | 2019-06-24 | マツダ株式会社 | Vehicle control device |
| CN111196312A (en) * | 2020-01-21 | 2020-05-26 | 重庆长安汽车股份有限公司 | Electric automobile steering control method and device, automobile and controller |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11654956B2 (en) * | 2019-12-23 | 2023-05-23 | Robert Bosch Gmbh | Method and system for steering intervention by electronic power steering unit to prevent vehicle rollover or loss of control |
| CN117318565A (en) * | 2023-10-08 | 2023-12-29 | 格至控智能动力科技（上海）有限公司 | Motor control method, motor controller, and readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113859218B (en) | 2023-11-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106218444B (en) | A kind of tractive force control method for coordinating, system and pure electric automobile | |
| JP6250173B2 (en) | Vehicle controller and method | |
| US6709075B1 (en) | System and method for braking an electric drive vehicle on a low Mu surface | |
| US20130162009A1 (en) | Electric vehicle regenerative braking system | |
| US9694794B2 (en) | Vehicle control device | |
| JP6089504B2 (en) | Vehicle control device | |
| US10196056B2 (en) | Control system for hybrid vehicle and method | |
| JP2016531045A5 (en) | ||
| KR20070026184A (en) | Cruise control device and method for vehicles | |
| US9771056B2 (en) | Vehicle control device | |
| CN108515971A (en) | A kind of cruise function control method, system, device and readable storage medium storing program for executing | |
| AU2012370705B2 (en) | Vehicle driving force control apparatus | |
| WO2013190651A1 (en) | Vehicle control device | |
| CN113859218B (en) | Steering control method, vehicle, storage medium and vehicle controller | |
| US10569765B2 (en) | Vehicle behavior control device | |
| CN110753649B (en) | Method for controlling the torque transmitted to the wheels of an electric or hybrid vehicle according to an allowable regenerative torque | |
| CN110816281A (en) | Control unit, device and method for recuperative brake control of a vehicle | |
| CN112937426A (en) | Vehicle including electric motor and method of controlling brake lamp of the vehicle | |
| CN115092111A (en) | Vehicle drive force control device | |
| JP2005304182A (en) | Controller of hybrid vehicle | |
| JP2020100349A (en) | Vehicle control device | |
| JP7450858B2 (en) | vehicle drive system | |
| US20230098578A1 (en) | Vehicle control device | |
| CN115257733B (en) | Cruise control method, device and equipment | |
| JP2015030314A (en) | Vehicle control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |