CN114347963A

CN114347963A - Vehicle control method, vehicle control device, vehicle and storage medium

Info

Publication number: CN114347963A
Application number: CN202111636622.XA
Authority: CN
Inventors: 冯茂林
Original assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Current assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Priority date: 2021-12-28
Filing date: 2021-12-28
Publication date: 2022-04-15
Anticipated expiration: 2041-12-28
Also published as: CN114347963B

Abstract

The embodiment of the application discloses a vehicle control method, a device, a vehicle and a storage medium, wherein the method comprises the following steps: acquiring running parameters of a running vehicle; acquiring the running state of the vehicle under the condition that the resonance of the vehicle is determined based on the running parameters; determining a target braking parameter if it is determined based on the driving state that the lateral stability of the vehicle meets the safety braking requirement; a target braking wheel is determined among wheels of the vehicle, and braking is performed on the target braking wheel based on the target braking parameter. The method brakes the brake wheel of the vehicle by judging whether the lateral stability of the vehicle with the resonance meets the requirement of the braking safety state, thereby weakening or eliminating the resonance of the vehicle and ensuring the running safety of the vehicle.

Description

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

Technical Field

The present disclosure relates to the field of vehicle technologies, and more particularly, to a vehicle control method, a vehicle control device, a vehicle, and a storage medium.

Background

When a tire of a vehicle contacts with a road surface due to uneven or hollow road surface, a sine wave vibration variation is generated on the wheel speed, and when the tire generates periodic vibration, if the vibration frequency of the tire is consistent with the natural frequency of the vehicle, the vehicle can be caused to resonate in the vertical direction, and the vehicle can shake, which may cause danger.

In the related art, the traction control system reduces the target slip ratio to reduce the driving torque or enhances the filtering of the wheel speed based on the purpose of protecting the vehicle hardware, so that the amplitude of the vehicle is reduced, but the resonance of the vehicle is not eliminated.

Disclosure of Invention

The application provides a vehicle control method and device, a vehicle and a storage medium.

In a first aspect, the present application provides a vehicle method comprising: acquiring running parameters of a running vehicle; acquiring the running state of the vehicle under the condition that the resonance of the vehicle is determined based on the running parameters; determining a target braking parameter if it is determined based on the driving state that the lateral stability of the vehicle meets the safety braking requirement; a target braking wheel is determined among wheels of the vehicle, and braking is performed on the target braking wheel based on the target braking parameter.

In a second aspect, the present application provides a vehicle control apparatus comprising: the driving parameter acquiring module is used for acquiring driving parameters of a driving vehicle; the system comprises an acquisition running state module, a control module and a control module, wherein the acquisition running state module is used for acquiring the running state of the vehicle under the condition that the resonance of the vehicle is determined based on running parameters; the braking parameter determining module is used for determining a target braking parameter if the lateral stability of the vehicle is determined to meet the requirement of a braking safety braking state based on the running state; and the braking module is used for determining a target braking wheel in the wheels of the vehicle and braking the target braking wheel based on the target braking parameters.

In a third aspect, the present application provides a vehicle comprising one or more processors and memory; one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the methods described above.

In a fourth aspect, the present application provides a computer readable storage medium storing program code executable by a processor, the computer readable storage medium comprising stored program code, wherein the method described above is performed when the program code runs.

The application provides a vehicle control method, a vehicle control device, a vehicle and a storage medium. In the method, a running parameter of a running vehicle is obtained, the running state of the vehicle is obtained under the condition that the running parameter judges that the vehicle has resonance, a target braking parameter is determined under the condition that the lateral stability of the vehicle meets a safe braking requirement according to the running state, a target braking wheel is determined in a wheel of the vehicle, and the target braking wheel is braked according to the target braking parameter. The method brakes the brake wheel of the vehicle by judging whether the lateral stability of the vehicle with the resonance meets the braking safety braking requirement or not, so that the resonance of the vehicle is weakened or eliminated.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 shows a schematic application environment of a vehicle control method proposed by the present application.

Fig. 2 shows a flowchart of a vehicle control method according to a first embodiment of the present application.

Fig. 3 shows a flowchart of a vehicle control method according to a second embodiment of the present application.

Fig. 4 shows a flowchart of a vehicle control method according to a third embodiment of the present application.

Fig. 5 shows a flowchart of a vehicle control method according to a fourth embodiment of the present application.

Fig. 6 shows a block diagram of a control device of a vehicle control device according to the present application.

Fig. 7 shows a block diagram of a vehicle according to an embodiment of the present application.

Fig. 8 shows a block diagram of a computer-readable storage medium according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the 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 application.

For the convenience of describing the scheme of the present application in detail, the following description will first describe an application environment in the embodiments of the present application with reference to the drawings.

Referring to fig. 1, fig. 1 is a schematic diagram of an application environment of a vehicle control method according to the present application. As shown in fig. 1, the vehicle control method provided by the present application is applied to a vehicle 10, and the vehicle 10 may be an electric vehicle, a fuel-powered vehicle, a hybrid electric vehicle, or the like from the viewpoint of energy, and may be a land vehicle, a flying vehicle, or the like from the viewpoint of power, which is not limited in the present application.

The vehicle 10 may include a vehicle controller 110, a drive powertrain 120, and a brake control system 130. In the method provided by the embodiment of the present application, the vehicle controller 110, the driving power system 120, and the brake control system 130 may be in communication connection or/and electrically connected to each other, and the vehicle controller 110 is configured to control the brake control system 130 to brake the brake wheel of the vehicle 10 when it is determined that the driving state of the vehicle 10 meets the safety brake requirement according to the detection data after it is determined that the vehicle 10 resonates according to the driving data of the vehicle 10, so as to eliminate or reduce the resonance of the vehicle 10.

It should be understood that the power drive system 120 according to the embodiment of the present application refers to a series of component assemblies that generate power on the vehicle 10 and transmit the power to a road surface. For new energy vehicles, the power drive system 120 may include a traction motor, a motor controller, a speed reducer, an attached mechanical transmission, and the like. In the embodiment of the present application, the power driving system 120 may be a centralized power driving system or a distributed power driving system, which is not specifically limited in this embodiment of the present application. Further, the term "resonance" as used herein refers to the tendency of a physical system to absorb more energy from the surrounding environment at its natural frequency of vibration. When resonance occurs, the amplitude of the physical system may reach very large values, causing severe vibrations and noise.

The vehicle controller 110 may generally be a vehicle center console, and an explicit level of control may be embodied by the center console and/or the operator console of the vehicle 10. In other embodiments, for example, for an autonomous vehicle, the vehicle controller 110 may be formed based on a control center such as a server or a microcomputer control chip, but is not limited thereto. The server may be an independent physical server, or may be a server cluster or a distributed system formed by a plurality of physical servers. The microcomputer control chip can be a chip of an analog integrated circuit, a chip of a digital integrated circuit or a chip of a mixed signal integrated circuit. The vehicle controller 110 may be provided with a transceiver or a signal transmission interface through which the vehicle controller 110 may receive detection data transmitted from sensors provided in the vehicle 10 and transmit braking signals to the brake control system 130.

In the embodiment of the present application, the vehicle controller 110 is configured to determine whether the vehicle 10 resonates according to the driving parameters of the vehicle 10, determine whether the vehicle 10 is suitable for braking according to the driving state of the vehicle 10, and then brake the braking wheels of the vehicle 10 through the braking control system 130.

Alternatively, the vehicle 10 may include a main body, an accelerator pedal, a brake pedal, a steering wheel, wheels, and the like. An accelerator pedal, a brake pedal, a steering wheel and wheels are all associated with the power driving system 120 (either directly connected physically or electrically, for example, through a CAN communication line), and the accelerator pedal is used for controlling the traction force of the power driving system on the vehicle 10 according to the operation of a user, so as to control the wheels to rotate; the brake pedal is used for controlling the braking torque of the brake control system 130 to the vehicle according to the operation of a user, so as to control the braking of the wheels; the steering wheel is used to control the traveling direction of the wheels according to a control operation by a user. In some embodiments, the vehicle 10 may also be configured with a plurality of sensors, such as an angular velocity sensor for detecting a yaw magnitude of the vehicle 10, an angle sensor for detecting an angle of steering wheel rotation, and the like. These sensors are also used to send the detection results to the vehicle controller 200 to allow the vehicle controller 200 to acquire the lateral stability or/and the driving direction of the vehicle according to the detection results.

The brake control system 130 may be a distributed brake control system, for example, the brake control system 130 may include a power supply, a brake wheel controller, a master cylinder displacement sensor, a brake pedal, a pedal displacement sensor, and an electric power assisting device, which are not limited in this application. The brake control system 130 may also be provided with a transceiver, and the brake control system 130 is configured to receive a brake signal transmitted by the vehicle controller 110 via the transceiver and to brake the brake wheels of the vehicle 10 in response to the brake signal.

Embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Referring to fig. 2, fig. 2 schematically illustrates a vehicle control method according to a first embodiment of the present application. In the embodiment, the vehicle controller determines that the vehicle resonates according to the running parameters of the vehicle, determines that the lateral stability of the vehicle meets the safety braking requirement according to the running state of the vehicle, and brakes the target brake wheel according to the target braking parameters, so that the resonance of the vehicle is weakened or eliminated, and the running safety of the vehicle can be ensured to be high. The method may include the following steps S210 to S240.

In step S210, the running parameters of the running vehicle are acquired.

The driving parameters of the vehicle include, but are not limited to, wheel speed information, engine speed information, etc. of the vehicle, and the driving parameters of the vehicle may change at different times. The embodiment of the application can judge whether the vehicle resonates or not by means of the running parameters of the vehicle. Resonance refers to the tendency of a vehicle to absorb more energy from the surrounding environment at its natural vibration frequency. When resonance occurs, the amplitude of the vehicle may reach a very large value, causing severe vibration and noise.

In some embodiments, the driving parameter includes wheel speed information of the vehicle, which may include frequency, amplitude, etc. of the wheel speed. As one approach, the vehicle may be provided with a wheel speed sensor for measuring the wheel speed of the vehicle. After acquiring wheel speed information of the vehicle, the vehicle controller may determine whether the vehicle resonates based further on a relationship between a frequency and amplitude of the wheel speed and a resonant frequency of the vehicle. The resonance frequency is a frequency value corresponding to the resonance of the physical system. At the resonant frequency, a very small periodic driving force can produce a very large vibration. The "resonance frequency of the vehicle" referred to herein is a natural frequency of the vehicle, and a specific value thereof is determined at the time of manufacture of the vehicle or before shipment of the vehicle, and may be stored in a memory provided in a vehicle controller. After the vehicle controller acquires the wheel speed information from the wheel speed sensor, the vehicle controller can query the natural frequency of the vehicle to compare the natural frequency of the vehicle according to the frequency and amplitude of the wheel speed to determine whether the vehicle resonates.

In other embodiments, the driving parameters may include engine speed information of the vehicle. As one approach, the vehicle may be provided with a rotational speed sensor, the engine being used to measure the rotational speed of the engine. After obtaining the engine speed information of the vehicle, the vehicle controller is configured to determine whether the vehicle resonates based further on a relationship between the engine speed and a natural frequency of the vehicle.

In step S220, the driving state of the vehicle is acquired when it is determined that the vehicle resonates based on the driving parameters.

As one way, the vehicle controller may be provided with a resonance zone, and the vehicle controller determines that the vehicle resonates if the wheel speed or the engine speed of the vehicle is within the resonance zone, and determines that the vehicle does not resonate if the wheel speed or the engine speed of the vehicle is lower than a lower limit of the resonance zone or higher than an upper limit of the resonance zone. Wherein the resonance section is preset in the vehicle controller based on the natural frequency of the vehicle. The resonance section is a set of numerical values of characteristic physical quantities that can resonate the vehicle. The resonance interval may include a resonance frequency interval, a resonance amplitude interval, and the like, and the resonance frequency interval refers to a set of all frequencies at which the vehicle can resonate; the resonance width section is a set of amplitudes that can resonate the vehicle.

Optionally, the vehicle controller may be provided with a resonance flag for indicating whether the vehicle resonates. If the vehicle controller determines that the vehicle has resonance, the position mark position is 1, if the vehicle controller determines that the vehicle does not have resonance, the position mark position is 0, and when whether the vehicle has resonance needs to be confirmed, the state of the resonance mark position only needs to be inquired.

The driving state of the vehicle may include a lateral stability of the vehicle. The lateral stability of the vehicle refers to the ability of the vehicle to recover the original driving state and direction as soon as possible without losing control, sideslip (swing), rollover and the like after being subjected to external interference during the driving process. Under the condition that the lateral stability of the vehicle meets the requirement, the driving safety of the vehicle is not greatly influenced if the wheels are braked under the normal condition; in the case where the lateral stability of the vehicle does not satisfy the requirement, if the wheels are braked, the driving operation limit of the driver may be broken, and danger may easily occur, so the vehicle controller needs to judge the lateral stability of the vehicle before braking the wheels.

In the embodiment of the present application, the lateral stability of the vehicle can be judged by the angular velocity of the vehicle. Specifically, when the running state of the vehicle is acquired, the angular velocity of the vehicle may be acquired by an angular velocity sensor, so that the lateral stability of the vehicle is determined from the angular velocity.

As one approach, the vehicle controller may be provided with an angular velocity threshold value, which is a specific angular velocity value that is set. The lateral stability may include a first interval and a second interval, the lateral stability of the first interval is higher than that of the second interval, and the angular velocity threshold may be a boundary value of the first interval and the second interval. If the angular velocity of the vehicle is greater than or equal to the angular velocity threshold value, the vehicle controller determines that the lateral stability of the vehicle is in the second zone. If the angular velocity of the vehicle is less than the angular velocity threshold value, the vehicle controller determines that the lateral stability of the vehicle is in a first zone. Further, in the embodiment of the present application, a driving state in which the angular velocity is too large (for example, a state in which the angular velocity of the vehicle is greater than the angular velocity threshold value) is classified as an unsafe state, that is, after the vehicle controller obtains the angular velocity information from the angular velocity sensor, it is further determined whether the lateral stability of the vehicle meets the safety braking requirement according to the angular velocity threshold value, wherein if the vehicle controller determines that the lateral stability of the vehicle is located in the second zone, it is determined that the lateral stability of the vehicle does not meet the safety braking requirement, and if the vehicle controller determines that the lateral stability of the vehicle is located in the first zone, it is determined that the lateral stability of the vehicle meets the safety braking requirement.

The angular speed threshold value can be set by the vehicle controller by default or can be set by the user by self. In general, the angular velocity threshold may be 1rad/s, 3rad/s, 5rad/s, 7rad/s, etc., and illustratively, the angular velocity threshold may be 5 rad/s. If the angular speed of the vehicle is 10rad/s, the angular speed of the vehicle is larger than the angular speed threshold value, and the vehicle controller determines that the lateral stability of the vehicle is located in the second interval. If the angular speed of the vehicle is 3rad/s, the angular speed of the vehicle is smaller than the angular speed threshold value, and the vehicle controller determines that the lateral stability of the vehicle is located in a first interval.

And step S230, if the lateral stability of the vehicle meets the safe braking requirement based on the running state, determining a target braking parameter.

The safety braking requirement refers to the requirement that the vehicle can basically keep the original running state and direction after the vehicle brakes the wheels. In the embodiment of the application, if the lateral stability of the vehicle is in the first interval, the vehicle controller determines that the lateral stability of the vehicle meets the safety braking requirement, and if the lateral stability of the vehicle is in the second interval, the vehicle controller determines that the lateral stability of the vehicle does not meet the safety braking requirement.

In the case where the vehicle controller determines that the lateral stability of the vehicle satisfies the safe braking requirement based on the running state, the vehicle controller may further acquire the running speed and the driving torque of the vehicle to calculate the target braking parameter of the vehicle. In some embodiments, the vehicle speed may be obtained by a vehicle speed sensor, in other embodiments, the vehicle speed may be obtained by an engine speed, and in still other embodiments, the vehicle speed may be obtained directly from an instrument panel. The drive torque is a torque output from the crankshaft side of the engine (motor). Under fixed power conditions, drive torque is inversely related to engine speed.

The target braking parameters may include a target braking torque, a braking duration, and the like. As one mode, the vehicle controller may store a mapping table of correspondence among the traveling speed, the driving torque, and the target braking parameter, and after the vehicle controller acquires the traveling speed and the driving torque, the vehicle controller may calculate the target braking parameter based on the mapping table. Of course, in other examples, the target braking torque and braking duration may be calculated by a predetermined algorithm, for example, the target braking torque and braking duration may be calculated according to the current driving speed, the target driving speed (i.e. the speed after the braking) and the target acceleration, which will be described in detail below.

In step S240, a target braking wheel is determined among the wheels of the vehicle, and the target braking wheel is braked based on the target braking parameter.

The number of wheels may be plural, for example, the vehicle may include four drive wheels, or two drive wheels, or the like. In the embodiment of the application, the vehicle controller sends a control instruction to the brake control system, the control instruction carries a target brake parameter, and the brake control system brakes the target brake wheel after reading the target brake parameter. As an example, in the case that the vehicle is an electric vehicle, the braking control system may control the motor to generate a corresponding negative torque according to a target braking torque in the target braking parameters, so as to achieve the purpose of braking.

Referring to fig. 3, fig. 3 schematically illustrates a vehicle control method according to a second embodiment of the present application. The vehicle controller determines that the vehicle resonates according to the driving parameters of the vehicle, determines that the vehicle runs straight according to the rotation angle of the steering wheel, determines that the lateral stability of the vehicle meets the safety braking requirement according to the angular speed of the vehicle, and brakes the target brake wheel according to the target braking parameters, so that the resonance of the vehicle is weakened or eliminated, and the high driving safety of the vehicle can be ensured. The method may include the following steps S310 to S360.

In step S310, the running parameters of the running vehicle are acquired.

In this embodiment, reference may be made to the description of step S210 provided in the above embodiments for specific implementation of step S310, and details are not repeated here.

In step S320, the rotation angle of the steering wheel of the vehicle is acquired.

In general, the vehicle brakes the wheels in a straight-ahead state, and the influence on the vehicle is small; if the vehicle is in a turning state, braking the wheels may break through the turning operation limit of the driver, so that danger is easily caused, and therefore the vehicle controller needs to judge the driving direction of the vehicle before braking the wheels. The traveling direction of the vehicle can be determined by the rotation angle of the steering wheel.

In the embodiment of the application, the steering wheel is provided with the angle sensor, and the angle sensor is used for detecting the rotation angle of the steering wheel. The angle sensor includes, but is not limited to, a grating angle sensor, a hall angle sensor, and the like. For example, in some embodiments, the angle sensor is a grating angle sensor, the grating angle sensor has a rotating shaft inside, a grating is mounted on the rotating shaft, the grating is cut by the rotation of the shaft, and the sensor detects the rotation angle of the steering wheel by the number of times the grating is cut. For another example, in other embodiments, the angle sensor is a hall angle sensor, and the hall angle sensor can detect the rotation angle of the steering wheel through a magnetic field.

In step S330, the driving direction of the vehicle is determined according to the rotation angle.

In the present embodiment, the driving state of the vehicle includes the driving direction thereof, and the driving direction can be determined by the rotation angle of the steering wheel, and the rotation angle of the steering wheel is acquired in step S320, the vehicle controller can further determine the current driving direction of the vehicle to judge the driving intention of the driver, thereby providing guarantee for subsequent safe braking. The driving direction includes one of straight running and turning running, the straight running represents that the driver intends to control the vehicle to keep straight running, and it is generally considered that it is safer to apply the brake in such a case; turning behavior characterizes the driver's intent to control the vehicle to turn, and it is generally believed that applying braking in such a situation may present certain concerns.

As one approach, the vehicle controller may be provided with an angle threshold value, which is a specific angle value that is set. If the rotation angle of the steering wheel is greater than the angle threshold value, the vehicle controller determines that the driving direction of the vehicle is turning driving. And if the rotating angle of the steering wheel is smaller than the angle threshold value, the vehicle controller determines that the driving direction of the vehicle is the straight driving. The angle threshold value may be set by a default of a vehicle controller or a steering wheel, or may be set by a user. In general, the angle threshold may be 5 °, 10 °, 15 °, 20 °, etc., and exemplarily, the angle threshold may be 10 °. If the rotation angle of the steering wheel is 30 degrees, the rotation angle of the steering wheel is larger than the angle threshold value, and the vehicle controller determines that the running direction of the vehicle is turning running. And if the rotation angle of the steering wheel is 5 degrees, the rotation angle of the steering wheel is smaller than the angle threshold value, and the vehicle controller determines that the driving direction of the vehicle is straight driving.

Further, if the driving direction of the vehicle is turning, the vehicle controller does not execute step S340 and subsequent steps, i.e., avoids the step of subsequent automatic control braking, thereby avoiding influencing the turning control action of the driver and ensuring driving safety. If the traveling direction of the vehicle is the straight traveling, the vehicle controller continues to execute step S340 and subsequent steps.

Step S340, under the condition that the resonance of the vehicle is determined based on the running parameters, acquiring the angular speed of the vehicle, and acquiring the lateral stability of the vehicle based on the angular speed.

The lateral stability of the vehicle refers to the ability of the vehicle to recover the original driving state and direction as soon as possible without losing control, sideslip (swing), rollover and the like after being subjected to external interference during the driving process. In general, if the vehicle has lateral stability, the wheels are braked, so that the driving safety of the vehicle is not greatly influenced; if the vehicle does not have the lateral stability, the driving operation limit of a driver can be broken through when the wheels are braked, and danger is easy to occur, so that the vehicle controller needs to judge the lateral stability of the vehicle before the wheels are braked.

In the embodiment of the present application, the lateral stability of the vehicle can be judged by the angular velocity of the vehicle. When the driving state of the vehicle is acquired, the angular velocity of the vehicle may be acquired by the angular velocity sensor, so that the lateral stability of the vehicle is determined. For example, the vehicle may be provided with a speed sensor for detecting a running speed of the vehicle and a rotation speed of a wheel, a distance sensor, an angle sensor, an acceleration sensor, and the like, and the speed sensor may include at least one of a magnetoelectric speed sensor, a hall speed sensor, a photoelectric speed sensor, and the like. The distance sensor is used to detect a distance between the driving wheels, and may include at least one of an optical distance sensor, an ultrasonic distance sensor, and the like. The angle sensor is used for detecting the rotation angle of the driving wheel, and the angular velocity sensor may include at least one of a grating angle sensor, a hall angle sensor, and the like. The acceleration sensor is used for detecting the lateral acceleration of the vehicle, and the acceleration sensor can comprise a Yaw-G sensor and the like.

In some embodiments, the vehicle controller may calculate an angular velocity (e.g., a yaw rate) from a wheel speed difference of the driving wheels of the vehicle, and specifically, may calculate the angular velocity Yawrate of the vehicle by the following calculation equation (1):

wherein, A is a calculation coefficient, the calculation coefficients of different vehicles can be the same or different, V1 is the outer wheel speed of the driving wheel, V2 is the inner wheel speed of the driving wheel, d is the wheel distance of the two driving wheels, and alpha is the rotation angle of the driving wheel.

In other embodiments, the vehicle controller may calculate the angular velocity (e.g., yaw rate) from the vehicle speed and lateral acceleration of the vehicle, and specifically may calculate the angular velocity Yawrate of the vehicle from the following calculation equation (2):

wherein B is a calculation coefficient, the calculation coefficients of different vehicles can be the same or different, and a_{Side wall}As lateral acceleration of the vehicle, v_{Longitudinal direction}Is the longitudinal speed of the vehicle.

As one approach, the vehicle controller may be provided with an angular velocity threshold value, which is a specific angular velocity value that is set. The lateral stability may include a first interval and a second interval, the lateral stability of the first interval is higher than that of the second interval, and the angular velocity threshold may be a boundary value of the first interval and the second interval. If the angular velocity of the vehicle is greater than the angular velocity threshold value, the vehicle controller determines that the lateral stability of the vehicle is in a second zone. If the angular velocity of the vehicle is less than the angular velocity threshold value, the vehicle controller determines that the lateral stability of the vehicle is in a first zone. Further, in the embodiment of the present application, a driving state in which the angular velocity is too large (for example, a state in which the angular velocity of the vehicle is greater than the angular velocity threshold value) is classified as an unsafe state, that is, after the vehicle controller obtains the angular velocity information from the angular velocity sensor, it is further determined whether the lateral stability of the vehicle meets the safety braking requirement according to the angular velocity threshold value, wherein if the vehicle controller determines that the lateral stability of the vehicle is located in the second zone, it is determined that the lateral stability of the vehicle does not meet the safety braking requirement, and if the vehicle controller determines that the lateral stability of the vehicle is located in the first zone, it is determined that the lateral stability of the vehicle meets the safety braking requirement.

The angular speed threshold value can be set by the vehicle controller by default or can be set by the user by self. In general, the angular velocity threshold may be lrad/s, 3rad/s, 5rad/s, 7rad/s, etc., and illustratively, the angular velocity threshold may be 5 rad/s. If the angular speed of the vehicle is 10rad/s, the angular speed of the vehicle is larger than the angular speed threshold value, and the vehicle controller determines that the lateral stability of the vehicle is located in the second interval. If the angular speed of the vehicle is 3rad/s, the angular speed of the vehicle is smaller than the angular speed threshold value, and the vehicle controller determines that the lateral stability of the vehicle is located in a first interval.

Further, if the lateral stability of the vehicle is in the second zone, the vehicle controller does not execute step S350 and subsequent steps, that is, prohibits execution of the subsequent automatic control braking step under the condition that the vehicle is laterally unstable, thereby avoiding influencing the driving control action of the driver and ensuring the driving safety. If the lateral stability of the vehicle is in the first zone, the vehicle controller continues to execute step S350 and the subsequent steps.

In some embodiments, since the lateral stability of the vehicle depends on a variety of factors, the vehicle controller may also obtain current road conditions, such as whether the road is flat, whether the road is slippery, etc., before determining the lateral stability of the vehicle from the angular velocity of the vehicle. The vehicle controller can judge the lateral stability of the vehicle according to the current road condition. For example, the vehicle controller detects the current road irregularity, and the vehicle controller determines that the lateral stability of the vehicle is in the second zone. The vehicle controller detects that the current road is flat, and determines that the lateral stability of the vehicle is in the first zone, wherein the vehicle controller may detect whether the current road is flat through an acceleration sensor or the like.

Specifically, the vehicle may be configured with an acceleration sensor and a GPS sensor, the vehicle controller obtains linear accelerations of the vehicle in three directions about a driving coordinate system through the acceleration sensor, obtains acceleration data sets of the vehicle in the three directions in the coordinate system by combining the driving speed of the vehicle, and calculates road flatness of the road according to the acceleration in the vertical direction in the driving coordinate system of the vehicle and track data detected by the GPS sensor, wherein the road flatness may be measured by a slope of a track data change curve and a weighted value of the acceleration, and thus a specific flatness value is obtained after calculation. The vehicle controller may be provided with a flatness threshold, which is a set specific flatness value. The flatness threshold value may be a boundary value of the first section and the second section. If the road flatness value is smaller than or equal to the flatness threshold value, determining that the lateral stability of the vehicle is located in a first interval, and indicating that the lateral stability of the vehicle meets the safety braking requirement; and if the road flatness value is larger than the flatness threshold value, determining that the lateral stability of the vehicle is located in a second interval, and indicating that the lateral stability of the vehicle does not meet the safety braking requirement.

And step S350, if the lateral stability of the vehicle meets the safety braking requirement based on the running state, determining a target braking parameter.

And step S360, determining a target brake wheel in the wheels of the vehicle, and braking the target brake wheel based on the target braking parameters.

In this embodiment, the specific implementation of steps S350 to S360 may refer to the descriptions of steps S230 to S240 provided in the above embodiments, and details are not repeated here.

The present application provides a vehicle control method. In the method, a running parameter of a running vehicle is acquired, when the running parameter judges that the vehicle has resonance, the running direction of the vehicle is judged according to the turning angle of a steering wheel, the running state of the vehicle is acquired when the vehicle is determined to be in a straight running state, when the running state determines that the lateral stability of the vehicle meets a safe braking requirement, a target braking parameter is determined, a target braking wheel is determined in the wheels of the vehicle, and the target braking wheel is braked according to the target braking parameter. The method determines the safety of braking the vehicle by judging whether the vehicle moves straight or not, and then brakes the brake wheel of the vehicle by judging whether the lateral stability of the vehicle with resonance meets the requirement of safe braking, so as to weaken or eliminate the resonance of the vehicle.

Referring to fig. 4, fig. 4 schematically illustrates a vehicle control method according to a third embodiment of the present application. In the embodiment, the vehicle controller determines that the vehicle resonates according to the running parameters of the vehicle, determines that the lateral stability of the vehicle meets the safety braking requirement according to the running state of the vehicle, automatically brakes the target brake wheel according to the target braking torque and the braking duration, and acquires the running parameters of the vehicle again after the braking interval duration, so that the resonance of the vehicle is weakened or eliminated, the running safety of the vehicle can be guaranteed to be high, and the driving experience of a user is improved. The method may include the following steps S410 to S460.

In step S410, the running parameters of the running vehicle are acquired.

In step S420, the running state of the vehicle is acquired when it is determined that the vehicle resonates based on the running parameters.

In this embodiment, the specific implementation of steps S410 to S420 may refer to the description of steps S210 to S220 provided in the above embodiments, and details are not repeated here.

And step S430, if the lateral stability of the vehicle meets the safety braking requirement based on the running state, acquiring the running speed and the driving torque of the vehicle.

The safety braking requirement refers to the requirement that the vehicle can keep the original running state and direction after the vehicle brakes the wheels. In the embodiment of the application, if the lateral stability of the vehicle is in the first interval, the vehicle controller determines that the lateral stability of the vehicle meets the safety braking requirement, and if the lateral stability of the vehicle is in the second interval, the vehicle controller determines that the lateral stability of the vehicle does not meet the safety braking requirement.

In some embodiments, the vehicle may be provided with a vehicle speed sensor, and the running speed of the vehicle may be acquired by the vehicle speed sensor. The vehicle speed sensor is mounted in the transaxle case or the transmission case, and may include a permanent magnet, a magnetic pole, a coil, a ring gear, and the like. The output signal of the vehicle speed sensor may be a magnetoelectric alternating current signal, a hall digital signal or a photoelectric digital signal, and the vehicle speed sensor may detect the running speed of the vehicle by swinging the pointer, or may detect the running speed of the vehicle from the current amplitude by generating an alternating current signal. In other embodiments, the vehicle speed may be derived from the engine speed, with a fixed proportional relationship between the vehicle speed and the engine speed. The proportional relationships of different vehicles may be the same or different. The vehicle may be provided with a rotation speed sensor, the rotation speed of the engine may be acquired by the rotation speed sensor, and the running speed of the vehicle may be obtained based on the rotation speed and the fixed proportional relationship. In still other embodiments, the travel speed of the vehicle may be obtained directly from the dashboard of the vehicle.

The drive torque is a torque output from the crankshaft side of the engine (motor). Under fixed power conditions, drive torque is inversely related to engine speed. As one way, a vehicle controller of the vehicle may collect an accelerator pedal signal, a brake pedal signal, a shift position signal, and a steering angle signal, and further determine a driving torque of the vehicle from a driving torque map corresponding to the signals.

In step S440, a target braking parameter is calculated based on the traveling speed and the driving torque.

The target braking parameters of the embodiment include a target braking torque and a braking duration.

As one mode, the vehicle controller may store a mapping table of correspondence between the driving speed, the driving torque, the target braking torque, and the braking duration, and after the vehicle controller obtains the driving speed and the driving torque, based on the mapping table, the vehicle controller may calculate the target braking parameter, that is, the vehicle controller may calculate the target braking torque and the braking duration.

Alternatively, the vehicle controller may calculate a target braking torque and a braking period based on the current running speed, the driving torque, the target running speed (i.e., the speed after the present braking) and the target acceleration of the vehicle. Specifically, after the vehicle controller acquires the wheel speed information from the wheel speed sensor, the vehicle controller may compare the frequency and amplitude of the wheel speed with the natural frequency of the vehicle to determine whether the vehicle resonates, and when the frequency and amplitude of the wheel speed exceed the corresponding resonant interval, suppress the wheel speed to avoid the resonant interval from the frequency and amplitude of the wheel speed, so as to achieve the purpose of suppressing the resonance of the vehicle, which requires the vehicle controller to determine the target frequency and the target amplitude of the avoided resonant interval according to the relationship between the current frequency and amplitude of the wheel speed and the corresponding resonant interval, to determine the target wheel speed (representing the target driving speed) corresponding to the target frequency and the target amplitude, calculate a deviation value between the current wheel speed and the target wheel speed, and finally calculate the target braking power Δ P according to the calculation formulas (3) and (4):

Δ P ═ Δ F · Vt calculation formula (4)

Where Δ F is a target braking force, Vset is a target wheel speed, Vt is a current wheel speed, Vt-1 is a previous wheel speed, Δ t is a braking duration (which may be determined according to a magnitude of a current vehicle speed, and Δ t may be in an inverse relationship with the current vehicle speed), and Δ P is a target braking power. After the target braking power is obtained, the vehicle controller may determine the target braking torque according to a relationship between the target braking power of the threshold value and the target braking torque.

And step S450, determining a target brake wheel in the wheels of the vehicle, and automatically braking the target brake wheel based on the target brake torque and the brake duration.

In this embodiment, in order to avoid a great influence on the driving state of the user and improve the driving experience, the braking of the target braking wheel by the braking control system may be implemented by multiple and spaced automatic braking, and for the specific implementation of each automatic braking, reference may be made to the description of step S240 provided in the above embodiment, which is not described herein again.

And step S460, after the automatic braking is finished and the braking interval duration is separated, executing the step S410 to the step S460 again until the vehicle is determined not to have resonance in the step S420 and then finishing.

In this embodiment, the braking of the target braking wheel is realized through multiple and spaced automatic braking, so the target braking parameter may further include a braking interval duration when multiple times of braking are applied to the target braking wheel. As one way, the vehicle controller may store a mapping table of correspondence relationships between the running speed, the driving torque, and the braking interval duration, and after the vehicle controller obtains the running speed and the driving torque, the vehicle controller may calculate the target braking parameter, that is, the vehicle controller may calculate the braking interval duration, based on the mapping table. The brake interval duration is used for ensuring the frequency and the interval of automatic brake application, and the proper brake interval duration ensures that the automatic brake applied by the vehicle in the process of restraining resonance does not influence the driving feeling of a driver, so that the user experience is better.

If the vehicle controller detects that the vehicle still resonates after the vehicle is automatically braked for the first time, the vehicle controller executes the steps S410 to S460 again until the vehicle is determined not to resonate in the step S420, and then the process of suppressing the resonance is finished. And if the vehicle controller detects that the vehicle does not resonate after the vehicle is automatically braked, the vehicle controller directly ends the detection.

According to the vehicle control method, the running parameters of a running vehicle are obtained, the running state of the vehicle is obtained under the condition that the running parameters judge that the vehicle resonates, the target braking torque and the braking duration are determined under the condition that the lateral stability of the vehicle meets the safety braking requirement according to the running state, the target braking wheel is determined in the wheel of the vehicle, the target braking wheel is braked according to the target braking torque and the braking duration, and the running parameters of the vehicle are obtained again after the braking interval duration. According to the method, the brake wheel of the vehicle is braked by judging whether the lateral stability of the vehicle with the resonance meets the braking safety requirement or not, so that the resonance of the vehicle is weakened or eliminated.

Referring to fig. 5, fig. 5 schematically illustrates a vehicle control method according to a fourth embodiment of the present application. In the embodiment, the vehicle controller determines that the vehicle generates resonance according to the amplitude and the frequency of the wheel speed of the vehicle, determines that the lateral stability of the vehicle meets the safety braking requirement according to the running state of the vehicle, determines the target brake wheel in the wheels, and brakes the target brake wheel according to the target braking parameters, so that the resonance of the vehicle is weakened or eliminated, and the high running safety of the vehicle can be ensured. The method may include the following steps S510 to S570.

In step S510, a running parameter of the running vehicle is acquired, and wheel speed information is extracted based on the running parameter.

The driving parameters of the vehicle include wheel speed information of the vehicle, which may change at different times. The embodiment of the application can judge whether the vehicle resonates or not by means of the wheel speed information of the vehicle. After acquiring wheel speed information of the vehicle, the vehicle controller may determine whether the vehicle resonates based further on a relationship between a frequency and amplitude of the wheel speed and a resonant frequency of the vehicle. The resonance frequency is a frequency value corresponding to the resonance of the physical system. At the resonant frequency, a very small periodic driving force can produce a very large vibration. The "resonance frequency of the vehicle" referred to herein is a natural frequency of the vehicle, and a specific value thereof is determined at the time of manufacture of the vehicle or before shipment of the vehicle, and may be stored in a memory provided in a vehicle controller.

The wheel speed information includes frequency and amplitude of the wheel speed of the vehicle. After the vehicle controller acquires the wheel speed information from the wheel speed sensor, the vehicle controller can query the natural frequency of the vehicle to determine whether the vehicle resonates according to the frequency and amplitude of the wheel speed.

As one approach, the vehicle may be provided with a wheel speed sensor for measuring the wheel speed of the vehicle. The wheel speed sensor may include a permanent magnet core and a coil, with magnetic lines of force coming from one pole of the core, through the ring gear and air, and returning to the other pole of the core. Since the coil of the wheel speed sensor is wound around the magnetic core, these magnetic lines of force also pass through the coil. When the wheel rotates, the gear ring (rotor) synchronous with the wheel rotates along with the wheel, teeth and gaps on the gear ring rapidly pass through the magnetic field of the sensor in sequence, and as a result, the magnetic resistance of the magnetic circuit is changed, so that induced potential changes in the coil are caused, potential pulses with certain amplitude and frequency are generated, and the frequency and amplitude of the wheel speed of the vehicle can be detected. Specifically, the frequency and amplitude of the wheel speed satisfy a sine wave relationship.

Specifically, the vehicle controller may acquire an atomic number signal of all wheels of the vehicle through a wheel speed sensor in the anti-lock brake system, determine a wheel speed signal of each front wheel from the atomic number signal corresponding to each front wheel, and perform frequency analysis on the wheel speed signal of each front wheel to acquire a resonance frequency corresponding to each front wheel. All wheels of the vehicle comprise a plurality of front wheels and a plurality of rear wheels, and wheels except the front wheels in all the wheels are rear wheels. The atomic number signal is a time series signal, a wheel speed sensor in the anti-lock braking system can collect atomic number signals of all wheels of the vehicle, the vehicle controller can read the atomic number signals from the anti-lock braking system, or the anti-lock braking system can periodically send the atomic number signals to the vehicle controller, or the anti-lock braking system can respond to a reading request of the vehicle controller and send the atomic number signals to the vehicle controller.

Further, in determining the wheel speed signal of each front wheel from the corresponding atomic number signal of each front wheel, the following steps may be taken: firstly, calculating pulse intervals according to atomic number signals generated by the concave-convex part of a gear ring of each front wheel, wherein the wheel speed sensor is arranged on each front wheel, and the concave-convex part of the gear ring alternately passes through a coil of the wheel speed sensor; and then acquiring the tooth number of the gear ring of each front wheel on which the wheel speed sensor is arranged, and calculating a wheel speed signal of each front wheel according to the pulse interval and the tooth number of the gear ring of each front wheel on which the wheel speed sensor is arranged. Wherein, for each wheel speed sensor, the number of teeth of the gear ring is a fixed value, and can be directly obtained from the parameters thereof.

Wherein, the wheel speed of the front wheel can be calculated by adopting a frequency method, and the wheel speed can be calculated by the following calculation formula (5):

formula (5) is calculated by using the formula (v) ═ 2 pi R/n ═ f ═ λ ═ f

Where R is the radius of the wheel, n is the number of teeth on the ring gear, and f is the frequency of the wheel speed signal, where 2 π R/n, i.e., λ, is constant for a given system, so that the wheel speed can also be calculated by the following equation (6):

wherein the content of the first and second substances,

representing the ring gear angle, t_iIndicating the pulse interval, kalman filtering may be used to eliminate the error when obtaining the ring gear angle. In the implementation process, the atomic number signal generated by the wheel speed sensor when the concave-convex part of the gear ring installed on the front wheel alternately passes through the coil of the wheel speed sensor belongs to a time sequence signal, so that the vehicle controller analyzes the atomic number signal to calculate the pulse interval, and calculates the wheel speed signal of each front wheel according to the pulse interval and the tooth number of the gear ring installed on each front wheel.

The following steps may be taken by the vehicle controller to perform frequency analysis on the wheel speed signal of each front wheel to obtain the resonant frequency corresponding to each front wheel: firstly, resampling wheel speed signals of each front wheel by adopting an interpolation method to obtain resampled wheel speed signals, then filtering the resampled wheel speed signals, obtaining wheel speed signals in a frequency domain by utilizing Fourier transform, and finally performing fitting calculation on the wheel speed signals in the frequency domain by adopting a Gaussian distribution algorithm to obtain the Gaussian distribution maximum value as resonance frequency corresponding to each front wheel. For example, when the interpolation method is used for resampling the wheel speed signals of the front wheel, the wheel speed signals can be homogenized at a time interval of 0.5ms to ensure the accuracy of calculation, then the resampled wheel speed signals are filtered and subjected to fourier transform to convert the wheel speed signals from a time domain to a frequency domain, so that the wheel speed signals in the frequency domain can be subjected to fitting calculation by adopting a gaussian distribution algorithm, a frequency domain image within 30-55 Hz can be fitted, and the maximum value in the gaussian distribution result is taken as the resonance frequency corresponding to the wheel.

Step S520, based on the resonance frequency of the vehicle, judging whether the frequency and the amplitude of the wheel speed cause the vehicle to resonate, and acquiring a resonance judgment result.

As one mode, the vehicle controller may be provided with a resonance zone, and the vehicle controller determines that the vehicle resonates if the amplitude and frequency of the wheel speed of the vehicle are within the resonance zone, and determines that the vehicle does not resonate if the amplitude and frequency of the wheel speed of the vehicle are lower than a lower limit or higher than an upper limit of the resonance zone. Therefore, the resonance determination result indicates that the vehicle resonates or that the vehicle does not resonate.

The resonance zones of different vehicles may be the same or different. Further, the resonance zone of the vehicle may be related to the vehicle speed, and when the vehicle speed is high, the value in the resonance zone is high, and when the vehicle speed is low, the value in the resonance zone is low. The vehicle controller may store a map of correspondence between different vehicle speeds and resonance frequencies, the vehicle controller determining that the vehicle resonates in a case where the amplitude and frequency of the wheel speed of the vehicle are within a resonance zone, and the vehicle controller determining that the vehicle does not resonate in a case where the amplitude and frequency of the wheel speed of the vehicle are lower than a lower limit or higher than an upper limit of the resonance zone.

Optionally, the vehicle controller may be provided with a resonance flag for indicating whether the vehicle resonates. The position mark position 1 is set if the vehicle controller determines that the vehicle resonates, and the position mark position 0 is set if the vehicle controller determines that the vehicle does not resonate.

In step S530, the driving state of the vehicle is acquired when it is determined that the vehicle resonates based on the driving parameters.

In this embodiment, the specific implementation of step S530 may refer to the description of step S220 provided in the above embodiments, and details are not repeated here.

In step S540, if it is determined based on the traveling state that the lateral stability of the vehicle does not satisfy the safety braking request, steps S550 to S570 are not performed.

The safety braking requirement refers to the requirement that the vehicle can keep the original running state and direction after the vehicle brakes the wheels. In the embodiment of the application, if the lateral stability of the vehicle is in the first zone, the vehicle controller determines that the lateral stability of the vehicle meets the safety braking requirement, and the vehicle controller continues to execute the steps S550 to S570, and if the lateral stability of the vehicle is in the second zone, the vehicle controller determines that the lateral stability of the vehicle does not meet the safety braking requirement, and the vehicle controller does not execute the steps S550 to S570.

And step S550, if the lateral stability of the vehicle meets the safety braking requirement based on the running state, determining a target braking parameter.

In this embodiment, reference may be made to the description of step S230 provided in the above embodiments for specific implementation of step S550, and details are not repeated here.

In step S560, at least two target brake wheels are determined among the plurality of wheels.

In the embodiment of the present application, the number of wheels may be plural, and the vehicle may include four driving wheels, two driving wheels, and the like.

In general, the vibration frequencies of all driving wheels of a vehicle are consistent, the frequencies of the driving wheels and the driving wheels are deviated after braking, and the phase difference is controlled to achieve the aim of avoiding resonance. When no external force is applied, the driving wheels on the same shaft resonate, namely, the driving wheels on the same shaft vibrate at the same frequency, the same phase and the same amplitude. Therefore, if the coaxial drive wheels of the vehicle are braked, although the vibration amplitude of the vehicle is reduced, the vibration frequency of the vehicle cannot be eliminated. Thus, the vehicle controller determines that the target braked wheels are not coaxial or that the target braked wheels are in a diagonal relationship. The vehicle controller brakes the driving wheels with different shafts, so that the rotating moment of the center of the vehicle can be offset, and the stability of driving is ensured.

In some embodiments, the vehicle may include four drive wheels, for example the vehicle may be provided with a position sensor which may acquire the coordinates of the four drive wheels to send to the vehicle sensor. Alternatively, the vehicle sensor may select two diagonal drive wheels as the target braked wheels based on the coordinates. Alternatively, the vehicle controller may select any one of the four drive wheels as the target braked wheel.

In other embodiments, the vehicle may include two drive wheels, and the vehicle controller may select either one of the two drive wheels as the target braked wheel.

In still other embodiments, the vehicle may include six drive wheels, eight drive wheels, and so on. As one approach, the vehicle may be provided with a position sensor that can acquire the coordinates of all the drive wheels to send to the vehicle sensor. Alternatively, the vehicle sensor may select a plurality of different axle drive wheels as the target braked wheel based on the coordinates. Alternatively, the vehicle controller may select any one of all the drive wheels as the target braked wheel.

And step S570, braking at least two target brake wheels based on the target braking parameters.

In the embodiment of the application, the vehicle controller sends a control instruction to the brake control system, the control instruction carries a target brake parameter, and the brake control system brakes the target brake wheel after reading the target brake parameter.

The present application provides a vehicle control method. In the method, the amplitude and the frequency of the wheel speed of a running vehicle are obtained, the running state of the vehicle is obtained under the condition that the resonance of the vehicle is judged through the running parameters, the target braking parameters are determined under the condition that the lateral stability of the vehicle meets the safety braking requirement through the running state, the target braking wheel is determined in the wheels of the vehicle, and the target braking wheel is braked according to the target braking parameters. The method brakes the brake wheel of the vehicle by judging whether the lateral stability of the vehicle with the resonance meets the braking safety requirement or not, so that the resonance of the vehicle is weakened or eliminated.

Referring to fig. 6, a block diagram of a vehicle control device 600 provided in the present application includes: a get driving parameters module 610, a get driving status module 620, a determine braking parameters module 630, and a braking module 640.

The obtain driving parameter module 610 is used for obtaining driving parameters of a driving vehicle; the acquiring driving state module 620 is used for acquiring the driving state of the vehicle under the condition that the resonance of the vehicle is determined based on the driving parameters; the determine braking parameter module 630 is configured to determine a target braking parameter if it is determined based on the driving status that the lateral stability of the vehicle meets the safe braking requirement; the braking module 640 is used to determine a target braking wheel among wheels of the vehicle and brake the target braking wheel based on the target braking parameter.

The application provides a vehicle control device. The device acquires a running parameter of a running vehicle, acquires a running state of the vehicle when the running parameter judges that the vehicle has resonance, determines a target braking parameter when the running state determines that the lateral stability of the vehicle meets a safe braking requirement, determines a target braking wheel in wheels of the vehicle, and brakes the target braking wheel according to the target braking parameter. The method brakes the brake wheel of the vehicle by judging whether the lateral stability of the vehicle with the resonance meets the braking safety requirement or not, and eliminates the resonance of the vehicle.

In some embodiments, the driving condition includes a lateral stability of the vehicle. The obtain driving state module 620 is further configured to obtain an angular velocity of the vehicle and obtain a lateral stability of the vehicle based on the angular velocity, in a case where it is determined that the vehicle resonates based on the driving parameters; and if the angular speed is smaller than the preset angular speed threshold value, determining that the lateral stability of the vehicle meets the safety braking requirement.

In some embodiments, the driving state further includes a driving direction of the vehicle. The obtain driving status module 620 is further configured to obtain a rotation angle of a steering wheel of the vehicle; determining the driving direction of the vehicle according to the rotation angle; wherein, the driving direction comprises straight driving and turning driving; if the driving direction is straight driving, executing the steps of obtaining the angular speed of the vehicle and obtaining the lateral stability of the vehicle based on the angular speed; if the driving direction is turning driving, the steps of acquiring the angular speed of the vehicle and acquiring the lateral stability of the vehicle based on the angular speed are not performed, and the steps of determining a target braking parameter and determining a target braking wheel among wheels of the vehicle and braking the target braking wheel based on the target braking parameter are not performed if it is determined that the lateral stability of the vehicle satisfies a safety braking requirement based on the driving state.

In some embodiments, the determine braking parameters module 630 is further configured to obtain the driving speed and the driving torque of the vehicle if it is determined that the lateral stability of the vehicle meets the safe braking requirement based on the driving state; calculating a target braking parameter based on the driving speed and the driving torque; the target braking parameters comprise a target braking torque and a braking duration.

In some embodiments, the target braking parameters further include a duration of a braking interval when multiple brakes are applied to the target braked wheel. The braking module 640 is further configured to determine a target braking wheel among wheels of the vehicle, and automatically brake the target braking wheel based on the target braking torque and the braking duration.

The apparatus 600 further comprises an interval brake module for re-acquiring the driving parameter of the driving vehicle after the automatic braking is finished and for determining that the vehicle resonates based on the driving parameter, the method comprises the steps of acquiring the driving state of the vehicle, determining that the lateral stability of the vehicle meets the safety braking requirement based on the driving state, determining a target braking parameter, determining a target braking wheel in wheels of the vehicle, automatically braking the target braking wheel based on the target braking torque and the braking time length, and separating the braking interval time length after the automatic braking is finished, and executing the steps again until the vehicle is determined not to have resonance in the step of acquiring the running state of the vehicle under the condition that the vehicle is determined to have resonance based on the running parameter.

In some embodiments, the number of wheels is multiple. The braking module 640 is further configured to determine at least two target braking wheels among the plurality of wheels; wherein at least two target brake wheels are not coaxial; braking the at least two target brake wheels based on the target braking parameters.

As one way, the apparatus 600 further comprises: and an ending module, configured to not execute step S150 and step S170 if it is determined that the lateral stability of the vehicle does not meet the safety braking requirement based on the driving state.

In some embodiments, the determine driving parameter module 610 is further configured to obtain driving parameters of a driving vehicle and extract wheel speed information based on the driving parameters; wherein the wheel speed information includes a frequency and an amplitude of a wheel speed of the vehicle; judging whether the wheel speed frequency and the amplitude cause the vehicle to resonate or not based on the resonant frequency of the vehicle, and acquiring a resonance judgment result; and the resonance judgment result is that the vehicle resonates or the vehicle does not resonate.

It should be noted that, in the present application, an embodiment of the apparatus corresponds to an embodiment of the foregoing method, a specific implementation principle of each unit in the embodiment of the apparatus is similar to that in the embodiment of the foregoing method, and specific contents in the embodiment of the apparatus may refer to the embodiment of the method, which is not described again in the embodiment of the apparatus.

Referring to fig. 7, a structural block diagram of a vehicle according to the present application is provided.

Based on the vehicle control method and device, the embodiment of the application also provides another vehicle 700 which can execute the vehicle control method. The vehicle 700 may be an electric vehicle, a flying vehicle, or the like capable of running an application. The vehicle 700 includes one or more processors 710 (only one shown), a memory 720, coupled to each other. The memory 720 stores programs that can execute the content of the foregoing embodiments, and the processor 710 can execute the programs stored in the memory 720.

Processor 710 may include one or more cores for processing data, among other things. The processor 710 interfaces with various components throughout the vehicle 700 using various interfaces and lines to perform various functions of the vehicle 700 and process data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 720 and invoking data stored in the memory 720. Alternatively, the processor 710 may be implemented in hardware using at least one of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 710 may integrate one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing display content; the modem is used to handle wireless communications. It is understood that the modem may not be integrated into the processor 710, but may be implemented by a communication chip.

The Memory 720 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). The memory 720 may be used to store instructions, programs, code sets, or instruction sets. The memory 720 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, and the like.

Referring to fig. 8, a computer-readable storage medium is provided. The computer readable medium 800 has stored therein a program code that can be called by a processor to execute the method described in the above method embodiments.

The computer-readable storage medium 800 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium 800 includes a non-volatile computer-readable storage medium. The computer readable storage medium 800 has storage space for program code 810 to perform any of the method steps of the method described above. The program code can be read from or written to one or more computer program products. The program code 810 may be compressed, for example, in a suitable form.

In summary, the present application provides a vehicle control method, device, vehicle and storage medium. In the method, a running parameter of a running vehicle is obtained, the running state of the vehicle is obtained under the condition that the running parameter judges that the vehicle has resonance, a target braking parameter is determined under the condition that the lateral stability of the vehicle meets a safe braking requirement according to the running state, a target braking wheel is determined in a wheel of the vehicle, and the target braking wheel is braked according to the target braking parameter. The method brakes the brake wheel of the vehicle by judging whether the lateral stability of the vehicle with the resonance meets the braking safety requirement or not, and eliminates the resonance of the vehicle.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means 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 application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical feature diagrams may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A vehicle control method characterized by comprising:

step A110, acquiring the driving parameters of a driving vehicle;

step A130, acquiring the running state of the vehicle under the condition that the vehicle is determined to generate resonance based on the running parameters;

step A150, if it is determined based on the driving state that the lateral stability of the vehicle meets the safety braking requirement, determining a target braking parameter;

step A170, determining a target brake wheel in wheels of the vehicle, and braking the target brake wheel based on the target braking parameter.

2. The method of claim 1, wherein the driving condition comprises a lateral stability of the vehicle; acquiring the running state of the vehicle under the condition that the resonance of the vehicle is determined based on the running parameters, wherein the acquiring comprises the following steps:

acquiring the angular speed of the vehicle under the condition that the resonance of the vehicle is determined based on the running parameters, and acquiring the lateral stability of the vehicle based on the angular speed; and if the angular speed is smaller than a preset angular speed threshold value, determining that the lateral stability of the vehicle meets the safety braking requirement.

3. The method of claim 2, wherein the driving status further includes a driving direction of the vehicle; in a case where it is determined that the vehicle resonates based on the travel parameter, the acquiring the travel state of the vehicle further includes, before acquiring the angular velocity of the vehicle:

acquiring a rotation angle of a steering wheel of the vehicle;

determining the driving direction of the vehicle according to the rotation angle; wherein the driving directions comprise straight driving and turning driving;

if the driving direction is straight driving, executing the step of acquiring the angular speed of the vehicle and acquiring the lateral stability of the vehicle based on the angular speed;

if the driving direction is turning, the step of obtaining the angular velocity of the vehicle and obtaining the lateral stability of the vehicle based on the angular velocity is not performed, and the steps S150 and S170 are not performed.

4. The method of claim 1, wherein determining a target braking parameter if it is determined that lateral stability of the vehicle meets a safe braking requirement based on the driving condition comprises:

if it is determined that the lateral stability of the vehicle meets the safety braking requirement based on the driving state, acquiring the driving speed and the driving torque of the vehicle;

calculating the target braking parameter based on the driving speed and the driving torque; the target braking parameters comprise a target braking torque and a braking duration.

5. The method of claim 4, wherein the target braking parameters further include a duration of a braking interval when multiple brakes are applied to the target braking wheel; the determining a target brake wheel among wheels of the vehicle and braking the target brake wheel based on the target braking parameter includes

Step A180, determining a target brake wheel in wheels of the vehicle, and automatically braking the target brake wheel based on the target brake torque and the brake duration;

after the automatically braking the target brake wheel based on the target brake torque and the brake duration, the method further includes:

and step A190, after the automatic braking is finished, the braking interval duration is set, and the steps A110, A130, A150, A180 and A190 are executed again until the vehicle is determined not to resonate in the step A130, and then the operation is finished.

6. The method according to any one of claims 1 to 5, wherein the number of wheels is plural; the determining a target brake wheel among wheels of the vehicle and braking the target brake wheel based on the target braking parameter comprises:

determining at least two target brake wheels in a plurality of said wheels; wherein at least two of the target braking wheels are not coaxial, or at least two of the target braking wheels are in a diagonal relationship;

braking at least two of the target brake wheels based on the target braking parameters.

7. The method of any one of claims 1 to 5, further comprising:

and if the lateral stability of the vehicle is determined not to meet the safe braking requirement based on the running state, not executing the step A150 and the step A170.

8. The method according to any one of claims 1 to 5, wherein the acquiring of the driving parameters of the driving vehicle comprises:

acquiring running parameters of a running vehicle, and extracting wheel speed information based on the running parameters; wherein the wheel speed information comprises a frequency and an amplitude of a wheel speed of the vehicle;

judging whether the frequency and the amplitude of the wheel speed cause the vehicle to resonate or not based on the resonant frequency of the vehicle, and acquiring a resonance judgment result; and the resonance judgment result is that the vehicle resonates or the vehicle does not resonate.

9. A vehicle control apparatus characterized by comprising:

the driving parameter acquiring module is used for acquiring driving parameters of a driving vehicle;

the driving state obtaining module is used for obtaining the driving state of the vehicle under the condition that the resonance of the vehicle is determined based on the driving parameters;

a brake parameter determining module for determining a target brake parameter if it is determined based on the driving state that the lateral stability of the vehicle meets a safety brake requirement;

the braking module is used for determining a target braking wheel in wheels of the vehicle and braking the target braking wheel based on the target braking parameters.

10. A vehicle comprising one or more processors and memory;

one or more programs stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the method of any of claims 1-8.

11. A computer-readable storage medium storing program code executable by a processor, the computer-readable storage medium comprising stored program code, wherein the method of any one of claims 1-8 is performed when the program code is run.