CN116985813A - Vehicle control method and device, storage medium and vehicle - Google Patents
Vehicle control method and device, storage medium and vehicle Download PDFInfo
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- CN116985813A CN116985813A CN202311118507.2A CN202311118507A CN116985813A CN 116985813 A CN116985813 A CN 116985813A CN 202311118507 A CN202311118507 A CN 202311118507A CN 116985813 A CN116985813 A CN 116985813A
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- 230000004044 response Effects 0.000 claims abstract description 20
- 230000008685 targeting Effects 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000006978 adaptation Effects 0.000 description 2
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- 230000007423 decrease Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
Abstract
The disclosure relates to a vehicle control method, a device, a storage medium and a vehicle, and belongs to the technical field of vehicles, wherein the method comprises the following steps: determining a target gear from a plurality of gears with drifting difficulty of the vehicle in response to vehicle drifting operation of a user, wherein one gear corresponds to a section with one braking slip rate, and the target gear corresponds to a target section with the braking slip rate; determining a braking force to be distributed to the vehicle based on a braking operation of a user; and taking the braking slip rate of the vehicle as a target, and distributing the braking force through a brake-by-wire system of the vehicle. Thus, drifting with different difficulties can be realized, so that a user can conveniently perform drifting operation.
Description
Technical Field
The disclosure relates to the technical field of vehicles, and in particular relates to a vehicle control method, a vehicle control device, a storage medium and a vehicle.
Background
Drift is a continuous vehicle condition and one way to achieve drift over-bending is to pull the brake. After the driver pulls the brake, the rear wheel of the vehicle is easy to sideslip, thereby achieving the drifting effect. However, it may be difficult for a general driver to achieve the effect of vehicle drift.
Disclosure of Invention
To overcome the problems in the related art, the present disclosure provides a vehicle control method, apparatus, storage medium, and vehicle.
According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle control method including:
determining a target gear from a plurality of gears with drifting difficulty of the vehicle in response to vehicle drifting operation of a user, wherein one gear corresponds to a section with one braking slip rate, and the target gear corresponds to a target section with the braking slip rate;
determining a braking force to be distributed to the vehicle based on a braking operation of a user;
and taking the braking slip rate of the vehicle as a target, and distributing the braking force through a brake-by-wire system of the vehicle.
Optionally, the braking force is distributed by a brake-by-wire system of the vehicle with the braking slip rate of the vehicle being in the target zone as a target, including:
and distributing the braking force to the rear wheels of the vehicle through a brake-by-wire system of the vehicle with the braking slip rate of the vehicle being in the target zone as a target.
Optionally, the braking force is distributed to the rear wheels of the vehicle by a brake-by-wire system of the vehicle with the braking slip rate of the vehicle being in the target zone as a target, including:
distributing the braking force to rear wheels of the vehicle by the brake-by-wire system;
acquiring the current braking slip rate of the vehicle;
and under the condition that the current braking slip rate of the vehicle is larger than the upper limit value of the braking slip rate of the target interval, reducing the braking force of the rear wheel through the linear control braking system until the current braking slip rate of the vehicle is in the target interval.
Optionally, the method comprises:
and maintaining the current braking force distribution result under the condition that the current braking slip rate of the vehicle is smaller than the lower limit value of the braking slip rate of the target section.
Optionally, the braking force is distributed by a brake-by-wire system of the vehicle with the braking slip rate of the vehicle being in the target zone as a target, including:
distributing the braking force to wheels of the vehicle by the brake-by-wire system;
acquiring the current braking slip rate of the vehicle;
and when the current brake slip rate of the vehicle is larger than the upper limit value of the brake slip rate of the target interval, distributing the braking force again until the current brake slip rate of the vehicle is in the target interval.
Optionally, the braking slip rate of the section corresponding to the gear with higher drifting difficulty is larger than the braking slip rate of the section corresponding to the gear with lower drifting difficulty.
Optionally, the method comprises:
determining a target gear from among a plurality of gears of the drift difficulty of the vehicle based on the selection of the user;
the determining, in response to a user's vehicle drift operation, a target gear from among a plurality of gears of a drift difficulty of a vehicle includes:
and determining the target gear selected by the user from a plurality of gears of the vehicle with drifting difficulty in response to the vehicle drifting operation of the user.
According to a second aspect of the embodiments of the present disclosure, there is provided a vehicle control apparatus including:
a first determination module configured to determine a target gear, which corresponds to a section having one brake slip rate, from among a plurality of gears of a vehicle having difficulty in drifting, in response to a vehicle drifting operation by a user, the target gear corresponding to a target section of the brake slip rate;
a second determination module configured to determine a braking force to be distributed to the vehicle based on a braking operation of the user;
and a first execution module configured to distribute the braking force by a brake-by-wire system of the vehicle with a brake slip rate of the vehicle being in the target zone as a target.
Optionally, the first execution module includes:
a first execution sub-module configured to distribute the braking force to rear wheels of the vehicle by a brake-by-wire system of the vehicle, targeting that a brake slip rate of the vehicle is in the target zone.
Optionally, the first execution sub-module includes:
a first execution subunit configured to distribute the braking force to rear wheels of the vehicle through the brake-by-wire system;
the second execution subunit is configured to acquire the current brake slip rate of the vehicle;
and a third execution subunit configured to reduce, by the brake-by-wire system, the braking force of the rear wheel until the current brake slip rate of the vehicle is in the target zone, in a case where the current brake slip rate of the vehicle is greater than the brake slip rate upper limit value of the target zone.
Optionally, the vehicle control device includes:
and the second execution module is configured to maintain the current braking force distribution result when the current braking slip rate of the vehicle is smaller than the lower limit value of the braking slip rate of the target interval.
Optionally, the first execution module includes:
a second execution sub-module configured to distribute the braking force to wheels of the vehicle through the brake-by-wire system;
the third execution sub-module is configured to acquire the current braking slip rate of the vehicle;
and the fourth execution sub-module is configured to distribute the braking force again until the current braking slip rate of the vehicle is in the target interval under the condition that the current braking slip rate of the vehicle is greater than the upper limit value of the braking slip rate of the target interval.
Optionally, the braking slip rate of the section corresponding to the gear with higher drifting difficulty is larger than the braking slip rate of the section corresponding to the gear with lower drifting difficulty.
Optionally, the vehicle control device includes:
a gear determination module configured to determine a target gear from among a plurality of gears of a drift difficulty of the vehicle based on a selection of a user;
the first determining module includes:
a first determination sub-module configured to determine the target gear selected by the user from among a plurality of gears of a drift difficulty of the vehicle in response to a vehicle drift operation by the user.
According to a third aspect of embodiments of the present disclosure, there is provided a vehicle comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to perform the steps of the method of any of the first aspects.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method of any of the first aspects.
In the above-described aspect, the target gear may be determined from among a plurality of gears of the vehicle that are difficult to drift, one corresponding to a section having one brake slip rate, in response to a vehicle drifting operation by the user, the target gear corresponding to a target section of the brake slip rate. Further, the braking force to be distributed to the vehicle may also be determined based on the braking operation by the user. In this way, the braking force can be distributed by the brake-by-wire system of the vehicle with the braking slip ratio of the vehicle being in the target zone as a target.
That is, a plurality of shift positions with different brake slip ratio intervals can be set. In this way, when a user performs a braking operation, the braking force can be distributed by the brake-by-wire system so that the vehicle is in a corresponding brake slip ratio section. The drift difficulty of the vehicle is different when the brake slip rate of the vehicle is in different brake slip rate intervals. Therefore, the scheme can realize drifting with different difficulties, so that a user can conveniently perform drifting operation.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic diagram showing a relationship between a vehicle brake slip ratio and a tire force at a tire slip angle of 6 ° according to an exemplary embodiment.
Fig. 2 is a flowchart illustrating a vehicle control method according to an exemplary embodiment.
Fig. 3 is a flowchart illustrating an implementation of step S23 in fig. 2 according to an exemplary embodiment.
Fig. 4 is a flow chart illustrating an implementation of a braking force distribution according to an exemplary embodiment.
Fig. 5 is a block diagram of a vehicle control apparatus according to an exemplary embodiment.
Fig. 6 is a block diagram of a vehicle 600, according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
Before describing the vehicle control method, device, storage medium and vehicle of the present disclosure, application scenarios of embodiments of the present disclosure will be first described.
Drift is a continuous vehicle condition and one way to achieve drift over-bending is to pull the brake. After the driver pulls the brake, the two rear wheels of the vehicle can lock. The sliding rate of the locked rear wheel is close to or equal to 100%, and at the moment, the lateral ground grabbing capability of the rear wheel is low, and side sliding is easy to occur, so that the drifting effect is achieved.
Wherein, the manual brake is a parking controller. Unlike service brakes, it is commonly used to apply pressure to the rear wheels of a vehicle after the vehicle has stopped, preventing the vehicle from rolling. As the automotive industry evolves, handbrake has gradually been replaced, but it remains on racing or sport vehicles.
Fig. 1 is a schematic diagram showing a relationship between a vehicle brake slip ratio and a tire force at a tire slip angle of 6 ° according to an exemplary embodiment of the present disclosure. The Slip ratio is also denoted Slip, the tire force includes the tire longitudinal force, denoted Fb, and the tire force also includes the tire lateral force, denoted Fs.
Referring to fig. 1, the longitudinal force and the lateral force of the tire and the ground conform to the relationship shown in fig. 1 on the premise that the vertical force and the attachment coefficient of the tire and the ground are fixed. As the brake slip rate increases, the longitudinal force increases to a maximum value and then decreases continuously. The slip ratio corresponding to the maximum longitudinal force is typically in the range of 10% -20%. The lateral force tends to decrease as the slip rate increases.
When the hand brake is used for drifting, the slip rate of the rear wheel is close to 100%, namely the rear wheel corresponding to the E point is in a completely locked state. At this time, the lateral force limit between the tire and the road surface is the lowest, and therefore, the tire is liable to slip and drift.
In general, the smaller the lateral force Fs, the easier the vehicle achieves the effect of drift. However, when the lateral force is smaller, the lateral grip force of the rear wheels is smaller, and the yaw rate of the vehicle changes faster. At this time, it is difficult for the driver to control the vehicle and to achieve the drift effect.
To this end, the present disclosure provides a vehicle control method. The method may be performed by a control device, which may be integrated in the vehicle as part of the vehicle. The control device may be provided independently of the vehicle.
Fig. 2 is a flowchart of a vehicle control method according to an exemplary embodiment of the present disclosure, as shown in fig. 2, the method including:
in step S21, in response to a vehicle drifting operation by a user, a target gear is determined from among a plurality of gears of drifting difficulty of the vehicle, one gear corresponding to a section having one brake slip ratio, and the target gear corresponding to a target section of the brake slip ratio.
In some embodiments, a variety of shift speeds may be provided for drift difficulty. When the user needs to control the vehicle drift, one gear can be selected from the plurality of gears. Thus, step S21 may refer to determining the target gear from among a plurality of shift difficulty gears of the vehicle in response to the user' S operation to select the shift difficulty gear.
In some embodiments, the vehicle may be provided with a "drift mode". Step S21 may refer to determining a target gear from among a plurality of gears of the vehicle that are difficult to drift in response to an operation of the user to instruct the vehicle to enter the drift mode.
For a plurality of shift speeds of drift difficulty, the target shift speed may be determined based on a selection by a user or a configured selection strategy.
For example, in one embodiment, the method comprises:
determining a target gear from among a plurality of gears of the drift difficulty of the vehicle based on the selection of the user;
the determining, in response to a user's vehicle drift operation, a target gear from among a plurality of gears of a drift difficulty of a vehicle includes:
and determining the target gear selected by the user from a plurality of gears of the vehicle with drifting difficulty in response to the vehicle drifting operation of the user.
That is, the gear that the user has previously selected may be taken as the target gear.
In some embodiments, it may also be configured to select a gear of a certain difficulty by default, such as gear 3 of a medium difficulty as the target gear in the case where gears include 1 to 5.
The manner of dividing the gear is illustrated below in connection with fig. 1. Based on fig. 1, 5 gears can be divided. The brake slip ratio interval of gear 1 is (0, 20% ], the brake slip ratio interval of gear 2 is (20%, 40% ], the brake slip ratio interval of gear 3 is (40%, 60% ], the brake slip ratio interval of gear 4 is (60%, 80% ], and the brake slip ratio interval of gear 5 is (80%, 100% ].
Wherein, from gear 1 to gear 5, the drift degree of difficulty increases gradually, and the user controls the vehicle and becomes difficult gradually. That is, the braking slip ratio of the section corresponding to the shift position with higher difficulty of drifting is larger than the braking slip ratio of the section corresponding to the shift position with lower difficulty of drifting.
Referring to fig. 2, in step S22, a braking force to be distributed to the vehicle is determined based on a braking operation by the user.
For example, the braking force matching the driving intention of the user may be determined according to the degree to which the user steps on the brake pedal. The braking force serves as a braking force to be distributed by the vehicle.
In step S23, the braking force is distributed by the brake-by-wire system of the vehicle with the target of the vehicle brake slip ratio being in the target zone.
Fig. 3 is a flowchart showing an implementation of step S23 in fig. 2 according to an exemplary embodiment of the present disclosure, and referring to fig. 3, with a target zone where a brake slip rate of a vehicle is located, braking force is distributed by a brake-by-wire system of the vehicle, including:
in step S31, braking force is distributed to wheels of the vehicle by the brake-by-wire system.
The brake-by-wire system (Electronic Mechanical Brake system, EMB) is an electronically controlled based brake system. It has no hydraulic line and the braking pressure of the wheels is achieved by means of an electrical signal. Therefore, the brake-by-wire system can decouple the braking pressure of the wheels, and further can independently control the braking force of each wheel on the basis.
As an example, the braking force may be distributed based on a braking force common to the vehicle, such as distributing the braking force to four wheels of the vehicle.
In step S32, the current brake slip ratio of the vehicle is acquired.
For example, the brake slip rate of the vehicle at the current time may be obtained in real time.
In step S33, when the current brake slip ratio of the vehicle is greater than the brake slip ratio upper limit value of the target section, the braking force is again distributed until the current brake slip ratio of the vehicle is in the target section.
And under the condition that the current brake slip rate of the vehicle is larger than the upper limit value of the brake slip rate of the target section, the actual brake slip rate of the vehicle is not matched with the brake slip rate corresponding to the drift difficulty expected by the user. Therefore, the braking force can be redistributed. As one example, it is possible to reduce the braking force of the front wheels of the vehicle and increase the braking force of the rear wheels of the vehicle.
Further, steps S32 and S33 may be repeatedly performed until the current brake slip rate of the vehicle is in the target zone.
In the above example, if the gear is 3, the brake slip ratio interval corresponding to the gear is (40%, 60% ], so that when the current brake slip ratio is greater than the brake slip ratio upper limit value of the interval, that is, greater than 60%, the brake force can be distributed again until the current brake slip ratio of the vehicle is in the target interval.
Of course, in some scenarios, it may occur that the current brake slip rate of the vehicle is less than the target interval's brake slip rate lower limit value, or is in the target interval. At this time, the current braking force distribution result may be maintained until the next braking operation by the user.
Considering the influence of the front wheel slip on the vehicle drift, in some embodiments, it is also possible to distribute only the braking force to the vehicle rear wheels. In this case, the braking force distribution by the brake-by-wire system of the vehicle targeting the vehicle's brake slip rate at the target zone includes:
and distributing the braking force to the rear wheels of the vehicle through a brake-by-wire system of the vehicle with the braking slip rate of the vehicle being in the target zone as a target.
Fig. 4 is a flowchart illustrating an implementation of a braking force distribution according to an exemplary embodiment of the present disclosure, and referring to fig. 4, the braking force is distributed to a rear wheel of the vehicle by a brake-by-wire system of the vehicle targeting that a brake slip rate of the vehicle is in the target zone, including:
in step S41, braking force is distributed to the rear wheels of the vehicle by the brake-by-wire system.
The brake-by-wire system can decouple the braking pressure of the wheels, and further can independently control the braking force of each wheel on the basis. Therefore, based on the brake-by-wire system, the braking force can be all distributed to the rear wheels of the vehicle.
In step S42, the current brake slip ratio of the vehicle is acquired.
For example, the brake slip rate of the vehicle at the current time may be obtained in real time.
In step S43, when the current brake slip rate of the vehicle is greater than the upper limit value of the brake slip rate in the target zone, the brake force of the rear wheels is reduced by the brake-by-wire system until the current brake slip rate of the vehicle is in the target zone.
And under the condition that the current brake slip rate of the vehicle is larger than the upper limit value of the brake slip rate of the target section, the actual brake slip rate of the vehicle is not matched with the brake slip rate corresponding to the drift difficulty expected by the user. Therefore, the braking force can be redistributed. As one example, the braking force of the rear wheels of the vehicle may be reduced.
Further, steps S42 and S43 may be repeatedly performed until the current brake slip rate of the vehicle is in the target zone.
In the above example, when the gear is 4 th gear, the brake slip ratio range corresponding to the gear is (60%, 80% ], and thus, when the current brake slip ratio is greater than the brake slip ratio upper limit value of the range, that is, greater than 80%, the braking force of the rear wheel can be reduced.
In this way, the following steps may be re-performed: acquiring the current braking slip rate of the vehicle; and when the current braking slip rate of the vehicle is larger than the upper limit value of the braking slip rate of the target interval, reducing the braking force of the rear wheels through the linear control braking system until the current braking slip rate of the vehicle is in the target interval.
In this way, by cyclically executing steps S42 and S43, the brake slip ratio of the vehicle can be controlled to be in the target zone. When the braking slip rate of the vehicle is in the target interval, the difficulty of vehicle drifting also accords with the difficulty expected by a user.
Of course, in some scenarios, it may occur that the current brake slip rate of the vehicle is less than the target interval's brake slip rate lower limit value, or is in the target interval. At this time, the current braking force distribution result may be maintained until the next braking operation by the user.
In the above-described aspect, the target gear may be determined from among a plurality of gears of the vehicle that are difficult to drift, one corresponding to a section having one brake slip rate, in response to a vehicle drifting operation by the user, the target gear corresponding to a target section of the brake slip rate. Further, the braking force to be distributed to the vehicle may also be determined based on the braking operation by the user. In this way, the braking force can be distributed by the brake-by-wire system of the vehicle with the braking slip ratio of the vehicle being in the target zone as a target.
That is, a plurality of shift positions with different brake slip ratio intervals can be set. In this way, when a user performs a braking operation, the braking force can be distributed by the brake-by-wire system so that the vehicle is in a corresponding brake slip ratio section. The drift difficulty of the vehicle is different when the brake slip rate of the vehicle is in different brake slip rate intervals. Therefore, the scheme can realize drifting with different difficulties, so that a user can conveniently perform drifting operation.
Based on the same inventive concept, the embodiment of the disclosure also provides a vehicle control device. Fig. 5 is a block diagram of a vehicle control apparatus according to an exemplary embodiment of the present disclosure, and referring to fig. 5, the vehicle control apparatus includes:
a first determining module 501 configured to determine a target gear, which corresponds to a section having one brake slip rate, from among a plurality of gears of a vehicle having difficulty in drifting, in response to a vehicle drifting operation by a user, the target gear corresponding to a target section of the brake slip rate;
a second determining module 502 configured to determine a braking force to be distributed to the vehicle based on a braking operation of the user;
the first execution module 503 is configured to distribute the braking force by a brake-by-wire system of the vehicle, with the braking slip rate of the vehicle being in the target zone as a target.
In the above-described aspect, the target gear may be determined from among a plurality of gears of the vehicle that are difficult to drift, one corresponding to a section having one brake slip rate, in response to a vehicle drifting operation by the user, the target gear corresponding to a target section of the brake slip rate. Further, the braking force to be distributed to the vehicle may also be determined based on the braking operation by the user. In this way, the braking force can be distributed by the brake-by-wire system of the vehicle with the braking slip ratio of the vehicle being in the target zone as a target.
That is, a plurality of shift positions with different brake slip ratio intervals can be set. In this way, when a user performs a braking operation, the braking force can be distributed by the brake-by-wire system so that the vehicle is in a corresponding brake slip ratio section. The drift difficulty of the vehicle is different when the brake slip rate of the vehicle is in different brake slip rate intervals. Therefore, the scheme can realize drifting with different difficulties, so that a user can conveniently perform drifting operation.
Optionally, the first executing module 503 includes:
a first execution sub-module configured to distribute the braking force to rear wheels of the vehicle by a brake-by-wire system of the vehicle, targeting that a brake slip rate of the vehicle is in the target zone.
Optionally, the first execution sub-module includes:
a first execution subunit configured to distribute the braking force to rear wheels of the vehicle through the brake-by-wire system;
the second execution subunit is configured to acquire the current brake slip rate of the vehicle;
and a third execution subunit configured to reduce, by the brake-by-wire system, the braking force of the rear wheel until the current brake slip rate of the vehicle is in the target zone, in a case where the current brake slip rate of the vehicle is greater than the brake slip rate upper limit value of the target zone.
Optionally, the vehicle control device includes:
and the second execution module is configured to maintain the current braking force distribution result when the current braking slip rate of the vehicle is smaller than the lower limit value of the braking slip rate of the target interval.
Optionally, the first executing module 503 includes:
a second execution sub-module configured to distribute the braking force to wheels of the vehicle through the brake-by-wire system;
the third execution sub-module is configured to acquire the current braking slip rate of the vehicle;
and the fourth execution sub-module is configured to distribute the braking force again until the current braking slip rate of the vehicle is in the target interval under the condition that the current braking slip rate of the vehicle is greater than the upper limit value of the braking slip rate of the target interval.
Optionally, the braking slip rate of the section corresponding to the gear with higher drifting difficulty is larger than the braking slip rate of the section corresponding to the gear with lower drifting difficulty.
Optionally, the vehicle control device includes:
a gear determination module configured to determine a target gear from among a plurality of gears of a drift difficulty of the vehicle based on a selection of a user;
the first determining module 501 includes:
a first determination sub-module configured to determine the target gear selected by the user from among a plurality of gears of a drift difficulty of the vehicle in response to a vehicle drift operation by the user.
The disclosed embodiments also provide a vehicle including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to perform the steps of the vehicle control method described in any of the embodiments of the present disclosure.
The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which when executed by a processor implement the steps of the vehicle control method described in any of the embodiments of the present disclosure.
With respect to the vehicle control apparatus in the above-described embodiment, the specific manner in which the respective modules perform operations has been described in detail in the embodiment regarding the vehicle control method, and will not be explained in detail here.
Fig. 6 is a block diagram of a vehicle 600, according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, but may also be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. The vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle. The vehicle 600 may also be equipped with a wired control-braking system.
Referring to fig. 6, a vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Wherein the vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, interconnections between each subsystem and between each component of the vehicle 600 may be achieved by wired or wireless means.
In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, a navigation system, and the like.
The perception system 620 may include several sensors for sensing information of the environment surrounding the vehicle 600. For example, the sensing system 620 may include a global positioning system (which may be a GPS system, a beidou system, or other positioning system), an inertial measurement unit (inertial measurement unit, IMU), a lidar, millimeter wave radar, an ultrasonic radar, and a camera device.
Decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.
The drive system 640 may include components that provide powered movement of the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.
Some or all of the functions of the vehicle 600 are controlled by the computing platform 650. The computing platform 650 may include at least one processor 651 and memory 652, the processor 651 may execute instructions 653 stored in the memory 652.
The processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a System On Chip (SOC), an application specific integrated Chip (Application Specific Integrated Circuit, ASIC), or a combination thereof.
The memory 652 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
In addition to instructions 653, memory 652 may store data such as road maps, route information, vehicle location, direction, speed, and the like. The data stored by memory 652 may be used by computing platform 650.
In an embodiment of the present disclosure, the processor 651 may execute instructions 653 to perform all or part of the steps of the vehicle control method described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned vehicle control method when being executed by the programmable apparatus.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. A vehicle control method characterized by comprising:
determining a target gear from a plurality of gears with drifting difficulty of the vehicle in response to vehicle drifting operation of a user, wherein one gear corresponds to a section with one braking slip rate, and the target gear corresponds to a target section with the braking slip rate;
determining a braking force to be distributed to the vehicle based on a braking operation of a user;
and taking the braking slip rate of the vehicle as a target, and distributing the braking force through a brake-by-wire system of the vehicle.
2. The method of claim 1, wherein the distributing the braking force by the brake-by-wire system of the vehicle targeting the vehicle's brake slip rate at the target interval comprises:
and distributing the braking force to the rear wheels of the vehicle through a brake-by-wire system of the vehicle with the braking slip rate of the vehicle being in the target zone as a target.
3. The method of claim 2, wherein the distributing the braking force to the rear wheels of the vehicle by the brake-by-wire system of the vehicle targeting the brake slip rate of the vehicle at the target interval comprises:
distributing the braking force to rear wheels of the vehicle by the brake-by-wire system;
acquiring the current braking slip rate of the vehicle;
and under the condition that the current braking slip rate of the vehicle is larger than the upper limit value of the braking slip rate of the target interval, reducing the braking force of the rear wheel through the linear control braking system until the current braking slip rate of the vehicle is in the target interval.
4. A method according to claim 3, comprising:
and maintaining the current braking force distribution result under the condition that the current braking slip rate of the vehicle is smaller than the lower limit value of the braking slip rate of the target section.
5. The method of claim 1, wherein the distributing the braking force by the brake-by-wire system of the vehicle targeting the vehicle's brake slip rate at the target interval comprises:
distributing the braking force to wheels of the vehicle by the brake-by-wire system;
acquiring the current braking slip rate of the vehicle;
and when the current brake slip rate of the vehicle is larger than the upper limit value of the brake slip rate of the target interval, distributing the braking force again until the current brake slip rate of the vehicle is in the target interval.
6. The method according to any one of claims 1 to 5, wherein the brake slip ratio of the section corresponding to the shift position with the higher difficulty of drifting is larger than the brake slip ratio of the section corresponding to the shift position with the lower difficulty of drifting.
7. The method according to any one of claims 1 to 5, comprising:
determining a target gear from among a plurality of gears of the drift difficulty of the vehicle based on the selection of the user;
the determining, in response to a user's vehicle drift operation, a target gear from among a plurality of gears of a drift difficulty of a vehicle includes:
and determining the target gear selected by the user from a plurality of gears of the vehicle with drifting difficulty in response to the vehicle drifting operation of the user.
8. A vehicle control apparatus characterized by comprising:
a first determination module configured to determine a target gear, which corresponds to a section having one brake slip rate, from among a plurality of gears of a vehicle having difficulty in drifting, in response to a vehicle drifting operation by a user, the target gear corresponding to a target section of the brake slip rate;
a second determination module configured to determine a braking force to be distributed to the vehicle based on a braking operation of the user;
and a first execution module configured to distribute the braking force by a brake-by-wire system of the vehicle with a brake slip rate of the vehicle being in the target zone as a target.
9. A vehicle, characterized by comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to perform the steps of the method of any one of claims 1 to 7.
10. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the method of any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311118507.2A CN116985813A (en) | 2023-08-31 | 2023-08-31 | Vehicle control method and device, storage medium and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311118507.2A CN116985813A (en) | 2023-08-31 | 2023-08-31 | Vehicle control method and device, storage medium and vehicle |
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| CN116985813A true CN116985813A (en) | 2023-11-03 |
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| CN202311118507.2A Pending CN116985813A (en) | 2023-08-31 | 2023-08-31 | Vehicle control method and device, storage medium and vehicle |
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