CN116330991A - Vehicle, control method thereof, and storage medium - Google Patents

Vehicle, control method thereof, and storage medium Download PDF

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Publication number
CN116330991A
CN116330991A CN202111589481.0A CN202111589481A CN116330991A CN 116330991 A CN116330991 A CN 116330991A CN 202111589481 A CN202111589481 A CN 202111589481A CN 116330991 A CN116330991 A CN 116330991A
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Prior art keywords
vehicle
wheel
wheels
driving
torque
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CN202111589481.0A
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Chinese (zh)
Inventor
陈功达
廖银生
童云春
王鑫
刘鹏
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BYD Co Ltd
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BYD Co Ltd
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Priority to CN202111589481.0A priority Critical patent/CN116330991A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)

Abstract

The invention discloses a vehicle, a control method thereof and a storage medium, wherein the method comprises the following steps: acquiring longitudinal force, vertical force and wheel speed of four wheels; obtaining the off-road condition information of the vehicle according to the longitudinal force, the vertical force and the wheel speed; and distributing torque to the four driving motors according to the off-road condition information, and controlling the four driving motors to drive the four wheels according to the distributed torque. Therefore, the method can improve the off-road capability of the off-road vehicle and the safety of the off-road vehicle.

Description

Vehicle, control method thereof, and storage medium
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a vehicle control method, a computer readable storage medium, and a vehicle.
Background
In the related art, when the door type axle increases the ground clearance, the mass center of the whole automobile is greatly improved, and further the control performance is greatly deteriorated when the pavement is driven.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, a first object of the present invention is to provide a vehicle control method that can improve the off-road capability of the off-road vehicle and the safety of the off-road vehicle.
A second object of the present invention is to propose a computer readable storage medium.
A second object of the invention is to propose a vehicle.
To achieve the above object, an embodiment of a first aspect of the present invention proposes a control method of a vehicle including four wheels and four drive motors each driving one wheel, the method comprising: acquiring longitudinal force, vertical force and wheel speed of the four wheels; obtaining the off-road condition information of the vehicle according to the longitudinal force, the vertical force and the wheel speed; and distributing torque to the four driving motors according to the off-road condition information, and controlling the four driving motors to drive the four wheels according to the distributed torque.
Further, the torque distribution of the four driving motors according to the off-road condition information includes: when a convex obstacle exists in front of a right wheel of the vehicle, distributing driving force of the vehicle to a driving motor of a right two-wheel, wherein the distribution torque of the driving motor of a left two-wheel is 0; when there is a convex obstacle in front of the left wheel of the vehicle, the driving force of the vehicle is distributed to the driving motors of the left two wheels, wherein the distribution torque of the driving motors of the right two wheels is 0.
According to one embodiment of the present invention, the torque distribution of the four driving motors according to the off-road condition information includes: when one of the four wheels is in a pit, the driving force of the vehicle is distributed to two wheels that are not on the same diagonal line as the wheel, wherein the distribution torque of the driving motor of the wheel on the same diagonal line as the wheel is 0.
Further, the distributing the driving force of the vehicle to two wheels that are not on the same diagonal line as the wheel when one of the four wheels is in the pit, includes: distributing driving force of the vehicle to driving motors of left and right front wheels of the vehicle when the left and right front wheels of the vehicle are in a pit, wherein the distribution torque of the left and right front wheels of the vehicle is 0; distributing driving force of the vehicle to driving motors of a right front wheel and a left rear wheel of the vehicle when the left front wheel of the vehicle is in a pit, wherein the distribution torque of the right rear wheel and the left front wheel of the vehicle is 0; distributing driving force of the vehicle to driving motors of left and right front wheels of the vehicle when the left and right rear wheels of the vehicle are in a pit, wherein the distribution torque of the left and right front wheels of the vehicle is 0; when the left rear wheel of the vehicle is in the pit, the driving force of the vehicle is distributed to the driving motors of the right rear wheel and the left front wheel of the vehicle, wherein the distribution torque of the right front wheel and the left rear wheel of the vehicle is 0.
According to one embodiment of the present invention, the obtaining the off-road condition information of the vehicle according to the longitudinal force, the vertical force and the wheel speed includes: when the longitudinal force of one wheel of the vehicle is larger than the first force value, judging that the wheel is an obstacle surmounting wheel; when the vertical force of the obstacle surmounting wheel is smaller than a second force value, judging that the wheel is in a pit, otherwise, a convex obstacle exists in front of the wheel; and calculating the slip rate of the four wheels according to the wheel speeds, and judging that the vehicle runs on a low-traction road surface when the slip rate of any one of the wheels is larger than a preset slip rate threshold value.
According to one embodiment of the present invention, the torque distribution of the four driving motors according to the off-road condition information includes: when the vehicle runs on a low-attachment road surface, calculating a first sum value of vertical forces of two front wheels and a second sum value of vertical forces of two rear wheels of the vehicle; if the first sum is greater than the second sum, increasing the output torque of the driving motors of the two front wheels by a preset value, and decreasing the output torque of the driving motors of the two rear wheels by the preset value; and if the first sum is smaller than the second sum, reducing the output torque of the driving motors of the two front wheels by the preset value, and increasing the output torque of the driving motors of the two rear wheels by the preset value.
According to an embodiment of the present invention, the torque distribution of the four driving motors according to the off-road condition information further includes: when the vehicle passes over the convex obstacle or exits the pit, the driving force of the vehicle is averaged to the four driving motors.
According to one embodiment of the present invention, when the off-road condition information is one of a road barrier existing in front of one wheel of the vehicle, one wheel of the vehicle being in a pit, and the vehicle traveling on a low-road surface, the method includes, before the torque distribution of the four driving motors according to the off-road condition information: sending prompt information to prompt the off-road condition; determining that a mode selection instruction aiming at the off-road condition information is received; and controlling the vehicle to enter a corresponding off-road mode according to the mode selection instruction.
According to one embodiment of the invention, when the vehicle passes over the protruding obstacle or exits the pit, the method further comprises: controlling the vehicle to exit the corresponding off-road mode.
According to the vehicle control method provided by the embodiment of the invention, the off-road capability of the off-road vehicle can be improved, and the safety of the off-road vehicle is improved.
To achieve the above object, an embodiment of a second aspect of the present invention proposes a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the control method of a vehicle.
To achieve the above object, an embodiment of a third aspect of the present invention provides a vehicle, including: four wheels and four drive motors, each of the drive motors driving one wheel; the vehicle-mounted controller comprises a memory, a processor and a computer program stored on the memory, wherein the computer program realizes the control method of the vehicle when being executed by the processor.
According to the vehicle provided by the embodiment of the invention, the off-road capability of the off-road vehicle can be improved, and the safety of the off-road vehicle is improved.
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
FIG. 1 is a three-dimensional schematic view of a four-motor vehicle front suspension according to one embodiment of the invention;
FIG. 2 is a three-dimensional schematic view of a four-motor vehicle rear suspension according to one embodiment of the invention;
FIG. 3 is a flow chart of a method of controlling a vehicle according to an embodiment of the invention;
FIG. 4 is a schematic illustration of a wheel over bump force in accordance with one embodiment of the present invention;
FIG. 5 is a schematic illustration of wheel dimple forces in accordance with one embodiment of the present invention;
FIG. 6 is a schematic illustration of the distribution of driving force of a vehicle when there is a positive barrier ahead of the right-hand wheel of the vehicle in accordance with one embodiment of the invention;
FIG. 7 is a schematic illustration of the wheel load applied when a convex barrier is present in front of the right hand wheel of the vehicle in accordance with one embodiment of the present invention;
FIG. 8 is a schematic illustration of the driving force distribution of a vehicle when the front right wheel of the vehicle is in a pit, in accordance with one embodiment of the present invention;
FIG. 9 is a schematic illustration of the wheel forces when the front right hand wheel of the vehicle is in a pit in accordance with one embodiment of the present invention;
fig. 10 is a schematic view of the driving force distribution of the vehicle when the vehicle is running on a ground surface according to an embodiment of the present invention;
fig. 11 is a schematic structural view of a vehicle according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
A vehicle, a control method thereof, and a storage medium according to an embodiment of the present invention are described below with reference to fig. 1 to 11.
As shown in fig. 1-2, the vehicle includes four wheels (e.g., a left front wheel 11, a right front wheel 12, a left rear wheel 13, a right rear wheel 14) and four drive motors (e.g., a left front drive motor 21, a right front drive motor 22, a left rear drive motor 23, and a right rear drive motor 24), each driving one wheel. That is, the four wheels are independently driven by four motors, for example, a left front drive motor 21 drives the left front wheel 11, a right front drive motor 22 drives the right front wheel 12, a left rear drive motor 23 drives the left rear wheel 13, and a right rear drive motor 24 drives the right rear wheel 14.
Fig. 3 is a flowchart of a control method of a vehicle according to an embodiment of the present invention. As shown in fig. 3, the control method of the vehicle includes:
s101, longitudinal force, vertical force and wheel speed of four wheels are obtained.
Specifically, the longitudinal force, the vertical force and the wheel speed of four wheels can be obtained in real time through detection of wheel end sensors (such as a force sensor, a wheel speed sensor and the like). Therefore, the wheel states are collected in real time, and information can be provided for judging the off-road conditions.
S102, obtaining the off-road condition information of the vehicle according to the longitudinal force, the vertical force and the wheel speed.
Specifically, as shown in fig. 4, when the longitudinal force of one wheel of the vehicle is greater than the first force value, it is determined that the wheel is an obstacle surmounting wheel; and when the vertical force of the obstacle surmounting wheel is smaller than the second force value, judging that the wheel is in a pit, otherwise, a convex obstacle exists in front of the wheel. And calculating the slip rate of the four wheels according to the wheel speed, and judging that the vehicle runs on a low-traction road surface when the slip rate of any wheel is larger than a preset slip rate threshold value. The method comprises the following steps: the slip ratio of the tire can be calculated by the wheel speed, the vehicle speed, and the following formula.
Figure BDA0003429310550000041
Wherein s is slip ratio, u is vehicle speed, r is wheel radius, omega w Is the wheel speed. And when the wheel slips, the slip ratio of the tire increases. That is, when the slip ratio of any one of the wheels is greater than the preset slip ratio threshold value, it is determined that the vehicle is traveling on a low road surface.
The vehicle speed for calculating the slip ratio may be calculated from the wheel speed or acquired by a vehicle speed sensor.
Therefore, the cross-country road condition information currently encountered by the vehicle is obtained through the longitudinal force, the vertical force and the wheel speed.
S103, torque distribution is carried out on the four driving motors according to the off-road condition information, and the four driving motors are controlled to drive four wheels according to the distributed torque.
Optionally, when the off-road condition information is that a road barrier exists in front of one wheel of the vehicle, one wheel of the vehicle is in a pit, and the vehicle is running on one of the low-grade roads, the control method of the vehicle may include, before the four driving motors are torque-distributed according to the off-road condition information: sending prompt information to prompt the off-road condition; determining that a mode selection instruction aiming at the cross-country road condition information is received; and controlling the vehicle to enter a corresponding off-road mode according to the mode selection instruction.
Specifically, when the off-road condition information is that a roadblock exists in front of one wheel of the vehicle, one wheel of the vehicle is in a pit, and the vehicle runs on one of the low-accessory road surfaces, the off-road condition information is required to be transmitted to the center console, and prompt information is sent to a driver so that the driver can acquire the current off-road condition. When the driver selects a specific off-road mode, the vehicle-mounted controller receives a mode selection instruction (such as a right front wheel obstacle crossing instruction, a right front wheel getting-out instruction, a low-accessory road off-road instruction and the like) aiming at off-road condition information, and controls the vehicle to enter a corresponding off-road mode according to the mode selection instruction, for example: when the off-road condition information is that a roadblock exists in front of one side wheel of the vehicle, the corresponding off-road mode is a obstacle crossing mode; when the off-road condition information is that one wheel of the vehicle is in a pit, the corresponding off-road mode is a getting rid of poverty mode; when the off-road condition information is that the vehicle runs on the low-road-surface, the corresponding off-road mode is the low-road-surface off-road mode. And then distributing torque to the four driving motors according to the off-road condition information. Therefore, the vehicle can automatically identify the type of the obstacle, provide off-road condition information for a driver, and select an off-road mode according to the off-road condition information.
As a first example, torque distribution for four driving motors according to off-road condition information may include: when a convex obstacle exists in front of a right wheel of the vehicle, distributing driving force of the vehicle to a driving motor of a right two-wheel, wherein the distributed torque of the driving motor of the left two-wheel is 0; when there is a convex obstacle in front of the left wheel of the vehicle, the driving force of the vehicle is distributed to the driving motors of the left two wheels, wherein the distribution torque of the driving motors of the right two wheels is 0.
Specifically, as shown in fig. 6, when there is a convex obstacle in front of the right wheel of the vehicle, the vehicle-mounted controller distributes the driving force of the vehicle to the driving motors of the right two wheels, which output torque and concentrate the output power on the right wheel, and at this time, the driving motors of the left two wheels do not output torque, and the left two wheels distribute torque to 0 and become driven wheels. When there is a convex obstacle in front of the left wheel of the vehicle, the vehicle-mounted controller distributes the driving force of the vehicle to the driving motors of the left two wheels, at this time, the driving motors of the right two wheels do not output torque, and the distribution torque of the right two wheels is 0 and becomes a driven wheel. When the vehicle-mounted controller receives the wheel longitudinal speed signal, after the wheel longitudinal speed at the obstacle side is increased, namely, the vehicle passes over the convex obstacle, the obstacle crossing is judged to be completed, the obstacle crossing mode is exited, and the driving force of the vehicle is distributed to four driving motors.
Therefore, the distribution mode concentrates the driving force on one obstacle crossing side, and under the condition that the total output power is limited by the power assembly, the obstacle crossing wheel can be ensured to have enough longitudinal force, so that the obstacle crossing wheel can obtain larger vertical friction force, the vehicle can cross steeper convex obstacle, and the obstacle crossing capability of the off-road vehicle is improved.
It should be noted that, as shown in fig. 7, when there is a convex obstacle in front of the wheels of the vehicle, the moment about the center of mass of the whole vehicle is 0, so that the whole vehicle can be ensured not to generate yaw about the center of mass, unexpected steering running can not be generated in the obstacle crossing process, straight running is maintained, the safety performance of the whole vehicle is improved, and the safety of a driver is ensured.
As a second example, torque distribution of the four driving motors according to the off-road condition information may include: when one of the four wheels is in the pit, the driving force of the vehicle is distributed to two wheels that are not on the same diagonal line as the wheel, wherein the distribution torque of the driving motor of the wheel on the same diagonal line as the wheel is 0.
Specifically, when a right front wheel of the vehicle is in a pit, driving force of the vehicle is distributed to driving motors of left and right rear wheels of the vehicle, wherein distribution torque of the left and right front wheels of the vehicle is 0; when the left front wheel of the vehicle is in the pit, distributing the driving force of the vehicle to the driving motors of the right front wheel and the left rear wheel of the vehicle, wherein the distributing torque of the right rear wheel and the left front wheel of the vehicle is 0; when the right rear wheel of the vehicle is in the pit, distributing the driving force of the vehicle to the driving motors of the left rear wheel and the right front wheel of the vehicle, wherein the distribution torque of the left front wheel and the right rear wheel of the vehicle is 0; when the left rear wheel of the vehicle is in the pit, the driving force of the vehicle is distributed to the driving motors of the right rear wheel and the left front wheel of the vehicle, wherein the distribution torque of the right front wheel and the left rear wheel of the vehicle is 0.
Specifically, as shown in fig. 8, when the right front wheel of the vehicle is in a pit, the vehicle-mounted controller distributes the driving force of the vehicle to the driving motors of the left front wheel and the right rear wheel, the driving motors of the left front wheel and the right rear wheel output torque, and the output power is concentrated on the corresponding two wheels, at this time, the driving motors of the left rear wheel and the right front wheel do not output torque, and the distribution torque of the left rear wheel and the right front wheel becomes 0, and becomes the driven wheel. When the left front wheel of the vehicle is in the pit, the vehicle-mounted controller distributes the driving force of the vehicle to the driving motors of the right front wheel and the left rear wheel of the vehicle, the driving motors of the right front wheel and the left rear wheel output torque, and output power is concentrated on the corresponding two wheels, at the moment, the driving motors of the right rear wheel and the driving motors of the left front wheel do not output torque, and then the distribution torque of the right rear wheel and the left front wheel is 0 and becomes a driven wheel. When the right rear wheel of the vehicle is in the pit, the vehicle-mounted controller distributes the driving force of the vehicle to the driving motors of the left rear wheel and the right front wheel of the vehicle, the driving motors of the left rear wheel and the right front wheel output torque, and output power is concentrated on the corresponding two wheels, at this time, the driving motors of the left front wheel and the right rear wheel do not output torque, and then the distribution torque of the left front wheel and the right rear wheel is 0, and becomes a driven wheel. When the left rear wheel of the vehicle is in a pit, the vehicle-mounted controller distributes the driving force of the vehicle to the driving motors of the right rear wheel and the left front wheel of the vehicle, the driving motors of the right rear wheel and the left front wheel output torque, and output power is concentrated on the corresponding two wheels, at this time, the driving motors of the right front wheel and the left rear wheel do not output torque, and then the distribution torque of the right front wheel and the left rear wheel is 0, and becomes a driven wheel. When the vehicle-mounted controller receives the wheel longitudinal speed signal, and the vehicle drives out of the pit after the wheel longitudinal speed at the obstacle side is increased, judging that the vehicle is out of the pit, exiting the escape mode, and distributing the driving force of the vehicle to the four driving motors.
Therefore, the distribution mode concentrates the driving force on the obstacle surmounting side and the obstacle surmounting shaft, and under the condition that the total output power is limited by the power assembly, the whole vehicle can be ensured to have enough longitudinal force when the vehicle is out of order, so that the vehicle tire falls into a pit or falls into a puddle to effectively get out of order.
It should be noted that, as shown in fig. 9, the moment about the center of mass of the whole vehicle is 0, so that the whole vehicle can be ensured not to generate yaw about the center of mass, unexpected steering running can not be generated in the escaping process, straight running is maintained, the safety performance of the whole vehicle is improved, and the safety of a driver is ensured.
As a third example, as shown in fig. 10, torque distribution of four driving motors according to off-road condition information may include: when the vehicle runs on a low-accessory road surface, calculating a first sum of vertical forces of two front wheels and a second sum of vertical forces of two rear wheels of the vehicle; if the first sum is larger than the second sum, increasing the output torque of the driving motors of the two front wheels by a preset value, and reducing the output torque of the driving motors of the two rear wheels by the preset value; if the first sum is smaller than the second sum, the output torque of the driving motors of the two front wheels is reduced by a preset value, and the output torque of the driving motors of the two rear wheels is increased by a preset value.
In the low-road-surface off-road mode control strategy, the driving torque can be distributed, so that the driving force can be fully exerted, and the vehicle can better run under the low-road-surface.
Therefore, the control strategy can always ensure that the wheels with larger vertical force output larger torque, so that the total driving force is improved, the slip on the low-traction road surface is reduced, and the vehicle can climb on the low-traction road surface to get rid of the problem.
In summary, according to the vehicle control method, torque distribution is performed on the four driving motors according to the longitudinal force, the vertical force and the wheel speed to obtain the off-road condition information, so that a torque distribution effect which is more optimal than that of the conventional differential lock is achieved, and on the basis of obstacle crossing and escaping by utilizing the optimized driving torque, the straight-line driving direction is maintained, the off-road capability of the off-road vehicle is improved, and the safety of the off-road vehicle is improved.
The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the control method of the vehicle of the above-described embodiment.
The computer readable storage medium of the embodiment of the invention can improve the off-road capability of the off-road vehicle and the safety of the off-road vehicle when the computer program stored on the computer readable storage medium and corresponding to the control method of the vehicle is executed by the processor.
Fig. 11 is a schematic structural view of a vehicle according to an embodiment of the present invention. As shown in fig. 11, a vehicle 100 includes: four wheels 10 and four driving motors 20, each driving one wheel 10; in-vehicle controller 30, in-vehicle controller 30 includes memory 31, processor 32, and a computer program stored in memory 31, which when executed by processor 32, implements the vehicle control method described above.
It should be noted that, for other specific embodiments of the vehicle according to the embodiment of the present invention, reference may be made to specific embodiments of the control method of the vehicle according to the embodiment of the present invention.
Therefore, the vehicle can improve the off-road capability of the off-road vehicle and the safety of the off-road vehicle.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may 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. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," 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 present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims (11)

1. A control method of a vehicle, characterized in that the vehicle includes four wheels and four drive motors each driving one wheel, the method comprising:
acquiring longitudinal force, vertical force and wheel speed of the four wheels;
obtaining the off-road condition information of the vehicle according to the longitudinal force, the vertical force and the wheel speed;
and distributing torque to the four driving motors according to the off-road condition information, and controlling the four driving motors to drive the four wheels according to the distributed torque.
2. The control method of the vehicle according to claim 1, wherein the torque distribution of the four driving motors according to the off-road condition information includes:
when a convex obstacle exists in front of a right wheel of the vehicle, distributing driving force of the vehicle to a driving motor of a right two-wheel, wherein the distribution torque of the driving motor of a left two-wheel is 0;
when there is a convex obstacle in front of the left wheel of the vehicle, the driving force of the vehicle is distributed to the driving motors of the left two wheels, wherein the distribution torque of the driving motors of the right two wheels is 0.
3. The control method of the vehicle according to claim 1, wherein the torque distribution of the four driving motors according to the off-road condition information includes:
when one of the four wheels is in a pit, the driving force of the vehicle is distributed to two wheels that are not on the same diagonal line as the wheel, wherein the distribution torque of the driving motor of the wheel on the same diagonal line as the wheel is 0.
4. A control method of a vehicle according to claim 3, wherein when one of the four wheels is in a pit, distributing the driving force of the vehicle to two wheels that are not on the same diagonal line as the wheel, includes:
distributing driving force of the vehicle to driving motors of left and right front wheels of the vehicle when the left and right front wheels of the vehicle are in a pit, wherein the distribution torque of the left and right front wheels of the vehicle is 0;
distributing driving force of the vehicle to driving motors of a right front wheel and a left rear wheel of the vehicle when the left front wheel of the vehicle is in a pit, wherein the distribution torque of the right rear wheel and the left front wheel of the vehicle is 0;
distributing driving force of the vehicle to driving motors of left and right front wheels of the vehicle when the left and right rear wheels of the vehicle are in a pit, wherein the distribution torque of the left and right front wheels of the vehicle is 0;
when the left rear wheel of the vehicle is in the pit, the driving force of the vehicle is distributed to the driving motors of the right rear wheel and the left front wheel of the vehicle, wherein the distribution torque of the right front wheel and the left rear wheel of the vehicle is 0.
5. The control method of a vehicle according to any one of claims 1 to 4, wherein the obtaining off-road condition information on which the vehicle is located based on the longitudinal force, the vertical force, and the wheel speed includes:
when the longitudinal force of one wheel of the vehicle is larger than the first force value, judging that the wheel is an obstacle surmounting wheel;
when the vertical force of the obstacle surmounting wheel is smaller than a second force value, judging that the wheel is in a pit, otherwise, a convex obstacle exists in front of the wheel;
and calculating the slip rate of the four wheels according to the wheel speeds, and judging that the vehicle runs on a low-traction road surface when the slip rate of any one of the wheels is larger than a preset slip rate threshold value.
6. The method of controlling a vehicle according to claim 5, wherein the torque distribution of the four driving motors according to the off-road condition information includes:
when the vehicle runs on a low-attachment road surface, calculating a first sum value of vertical forces of two front wheels and a second sum value of vertical forces of two rear wheels of the vehicle;
if the first sum is greater than the second sum, increasing the output torque of the driving motors of the two front wheels by a preset value, and decreasing the output torque of the driving motors of the two rear wheels by the preset value;
and if the first sum is smaller than the second sum, reducing the output torque of the driving motors of the two front wheels by the preset value, and increasing the output torque of the driving motors of the two rear wheels by the preset value.
7. The control method of the vehicle according to any one of claims 2 to 4, characterized in that the torque distribution of the four drive motors according to the off-road condition information further includes:
when the vehicle passes over the convex obstacle or exits the pit, the driving force of the vehicle is distributed to the four driving motors.
8. The control method of a vehicle according to claim 7, wherein when the off-road condition information is one of a road block existing in front of one wheel of the vehicle, one wheel of the vehicle being in a pit, the vehicle traveling on a low-road surface, the method includes, before the torque distribution of the four drive motors according to the off-road condition information:
sending prompt information to prompt the off-road condition;
determining that a mode selection instruction aiming at the off-road condition information is received;
and controlling the vehicle to enter a corresponding off-road mode according to the mode selection instruction.
9. The control method of a vehicle according to claim 8, characterized in that when the vehicle passes over the convex obstacle or exits the pit, the method further comprises:
controlling the vehicle to exit the corresponding off-road mode.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the control method of a vehicle according to any one of claims 1-9.
11. A vehicle, characterized by comprising:
four wheels and four drive motors, each of the drive motors driving one wheel;
an in-vehicle controller comprising a memory, a processor and a computer program stored on the memory, which when executed by the processor, implements the method of controlling a vehicle according to any one of claims 1-9.
CN202111589481.0A 2021-12-23 2021-12-23 Vehicle, control method thereof, and storage medium Pending CN116330991A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111589481.0A CN116330991A (en) 2021-12-23 2021-12-23 Vehicle, control method thereof, and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111589481.0A CN116330991A (en) 2021-12-23 2021-12-23 Vehicle, control method thereof, and storage medium

Publications (1)

Publication Number Publication Date
CN116330991A true CN116330991A (en) 2023-06-27

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111589481.0A Pending CN116330991A (en) 2021-12-23 2021-12-23 Vehicle, control method thereof, and storage medium

Country Status (1)

Country Link
CN (1) CN116330991A (en)

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