WO2023029711A1

WO2023029711A1 - Chassis domain control method under high-speed working condition, and related apparatus

Info

Publication number: WO2023029711A1
Application number: PCT/CN2022/102297
Authority: WO
Inventors: 徐伟萍; 耿俊庆; 李雷; 徐广杰; 郭俊; 周德祥
Original assignee: 长城汽车股份有限公司
Priority date: 2021-08-30
Filing date: 2022-06-29
Publication date: 2023-03-09
Also published as: CN114643991A

Abstract

A chassis domain control method under a high-speed working condition, and a related apparatus. The method comprises: when a vehicle is under a high-speed working condition, detecting whether the vehicle is in a limit early-warning state, wherein when the vehicle speed of the vehicle is greater than a preset vehicle speed, it is determined that the vehicle is under the high-speed working condition, and the limit early-warning state is a slip early-warning state or a steering early-warning state; if it is detected that the vehicle is in the slip early-warning state, then controlling decrease of output torque of an electric motor; and if it is detected that the vehicle is in the steering early-warning state, then performing torque vector control on the vehicle, such that the vehicle generates a yawing moment.

Description

Chassis domain control method and related device in high-speed working condition

This patent application claims priority to Chinese Patent Application No. CN202111004551.1 filed on August 30, 2021. The disclosure of the prior application is incorporated by reference in its entirety into this application.

technical field

The present application relates to the technical field of vehicles, in particular to a chassis domain control method and related devices under high-speed working conditions.

Background technique

Chassis refers to the combination of four parts on the vehicle, the transmission system, the driving system, the steering system and the braking system. The power of the vehicle can make the vehicle move and ensure normal driving.

At present, the chassis domain control for high-speed conditions is usually based on the driver's control for passive response, and active safety control cannot be performed, resulting in low driving safety.

technical problem

The present application provides a chassis domain control method and related devices in high-speed working conditions to solve the problem of low driving safety.

technical solution

In the first aspect, the present application provides a chassis domain control method in high-speed working conditions, including:

When the vehicle is in a high-speed working condition, it is detected whether the vehicle is in a limit warning state; wherein, when the vehicle speed is greater than the preset speed, it is determined that the vehicle is in a high-speed working condition; the limit warning state is a skidding warning state or a steering warning state;

If it is detected that the vehicle is in the skidding warning state, the output torque of the control motor is reduced;

If it is detected that the vehicle is in the steering warning state, the vehicle is controlled by torque vectoring to make the vehicle generate a yaw moment.

In a possible implementation manner, detecting whether the vehicle is in a limit warning state includes:

Obtain the actual road surface adhesion coefficient of the road surface where the vehicle is located;

Obtain the weight of the vehicle, and calculate the friction circle according to the actual road surface adhesion coefficient and the weight of the vehicle;

Obtain the vehicle lateral acceleration and vehicle longitudinal acceleration, and obtain the vehicle lateral force according to the vehicle lateral acceleration, and obtain the vehicle longitudinal force according to the vehicle longitudinal acceleration;

According to the lateral force of the vehicle, the longitudinal force of the vehicle and the friction circle, it is determined whether the vehicle is in the limit warning state.

In a possible implementation, according to the lateral force of the vehicle, the longitudinal force of the vehicle and the friction circle, it is determined whether the vehicle is in the limit warning state, including:

According to the lateral force of the vehicle and the longitudinal force of the vehicle, the resultant force of the vehicle is obtained;

According to the resultant force of the whole vehicle, the friction circle and the dynamic model of the whole vehicle, it is determined whether the vehicle is in the limit warning state.

In a possible implementation manner, obtaining the actual road surface adhesion coefficient of the road surface where the vehicle is located includes:

Obtain the type of road surface where the vehicle is located, and determine the initial road surface adhesion coefficient of the road surface where the vehicle is located according to the type of road surface where the vehicle is located;

The slip ratio of the wheel is obtained, and the initial road adhesion coefficient is corrected according to the slip ratio to obtain the actual road adhesion coefficient of the road where the vehicle is located.

In a possible implementation manner, the chassis domain control method for high-speed working conditions further includes:

When the vehicle is at high speed, detect whether there is a slippery road on the road ahead of the vehicle;

If it is detected that there is a slippery road surface on the road ahead of the vehicle, the output torque of the control motor is reduced, and the steering power of the steering wheel is controlled to decrease.

In a second aspect, the present application provides a chassis domain control device for high-speed working conditions, including:

The detection module is used to detect whether the vehicle is in a limit warning state when the vehicle is in a high-speed working condition; wherein, when the vehicle speed is greater than a preset speed, it is determined that the vehicle is in a high-speed working condition; the limit warning state is a skidding warning state or a steering warning state;

The first control module is used to control the output torque of the motor to decrease if it is detected that the vehicle is in a slipping warning state;

The second control module is used to perform torque vector control on the vehicle to make the vehicle generate a yaw moment if it is detected that the vehicle is in the steering warning state.

In a possible implementation, the detection module is also used to:

In a possible implementation manner, the chassis domain control device for high-speed working conditions further includes a third control module.

The third control module is used for:

In a third aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the computer program, the above The steps of the first aspect or any possible implementation manner of the first aspect described in the method for controlling the chassis domain under high-speed conditions.

In a fourth aspect, an embodiment of the present application provides a vehicle, including the electronic device as described in the third aspect.

In the fifth aspect, the embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it realizes any of the first aspect or the first aspect. A possible implementation manner is the steps of the chassis domain control method under high-speed working conditions.

Beneficial effect

Embodiments of the present application provide a chassis domain control method and related devices under high-speed working conditions. When the vehicle is in high-speed working conditions, it is detected whether the vehicle is in the skidding warning state or steering warning state; if it is detected that the vehicle is in the skidding warning state, then The output torque of the control motor is reduced; if it is detected that the vehicle is in the steering warning state, the vehicle will be controlled by torque vectoring to make the vehicle generate a yaw moment, which can be safely controlled before the vehicle has an emergency and improve driving safety.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

Fig. 1 is the implementation flowchart of the chassis domain control method under high-speed working conditions provided by the embodiment of the present application;

Fig. 2 is a schematic structural diagram of a chassis domain control device under high-speed working conditions provided by an embodiment of the present application;

Fig. 3 is a schematic diagram of an electronic device provided by an embodiment of the present application.

Embodiments of the present invention

In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

In order to make the purpose, technical solution and advantages of the present application clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

Referring to FIG. 1 , it shows a flow chart of the implementation of the method for controlling the chassis domain under high-speed operating conditions provided by the embodiment of the present application. The execution body of the method may be an electronic device, and the electronic device may be the central controller of the vehicle. The method is detailed as follows:

In S101, when the vehicle is in a high-speed working condition, it is detected whether the vehicle is in a limit warning state; wherein, when the vehicle speed is greater than a preset speed, it is determined that the vehicle is in a high-speed working condition; the limit warning state is a skidding warning state or a steering warning state .

This embodiment is aimed at performing chassis domain control when the vehicle is in a high-speed working condition. When the speed of the vehicle is greater than the preset speed, it is determined that the vehicle is in a high-speed working condition.

The preset speed can be determined according to actual needs. Exemplarily, the preset vehicle speed may be 80km/h or 90km/h, etc.

Among them, the limit warning state indicates that the vehicle is about to enter a limit working condition, for example, about to skid, about to understeer, about to oversteer and so on.

The skidding warning state indicates that the vehicle is about to enter a skidding state; the steering warning state indicates that the vehicle is about to enter an understeer or oversteer state.

When the vehicle is running at high speed, it is prone to skidding, and when turning at high speed, it is prone to understeer or oversteer. Therefore, in this embodiment, when the vehicle is in a high-speed working condition, it is monitored in real time whether the vehicle is in the limit warning state. If the vehicle is not in the limit warning state, no other operations are performed, and the monitoring is continued, and the vehicle is driven according to the driver's control. Otherwise, Jump to S102.

In some embodiments, the "detecting whether the vehicle is in the limit warning state" of the above S101 may include:

Among them, the vehicle weight is the sum of the weight of the current vehicle, people and objects inside the vehicle, which can be obtained through corresponding sensors, or can be estimated based on the weight of the vehicle, the number of people in the vehicle, and the number of objects. The lateral acceleration and longitudinal acceleration of the vehicle can be controlled by ESP (Electronic Stability Program, vehicle body electronic stability system) corresponding to the sensor. The road surface adhesion coefficient refers to the size of the adhesion ability of the tire on different road surfaces, which is mainly determined by the road surface and the tire. The larger the adhesion coefficient, the greater the adhesion force, and the less likely the vehicle will slip. The friction circle refers to the available range of tire grip when the vehicle is turning, accelerating, and decelerating. The lateral acceleration of the vehicle refers to the acceleration in the direction perpendicular to the driving direction of the vehicle, and the longitudinal acceleration of the vehicle refers to the acceleration in the driving direction of the vehicle.

In this embodiment, the existing method can be used to calculate the friction circle according to the actual road surface adhesion coefficient and the weight of the vehicle on the road where the vehicle is located; the lateral acceleration of the vehicle is multiplied by the weight of the vehicle to obtain the lateral force of the vehicle, and the longitudinal acceleration of the vehicle Multiply by the vehicle weight to get the longitudinal force of the vehicle. According to the lateral force of the vehicle, the longitudinal force of the vehicle and the friction circle, it can be determined whether the vehicle is in the limit warning state.

In some embodiments, the above-mentioned determination of whether the vehicle is in the limit warning state according to the vehicle lateral force, the vehicle longitudinal force and the friction circle includes:

In this embodiment, the vehicle lateral force and the vehicle longitudinal force are synthesized to obtain the vehicle resultant force.

When the resultant force of the whole vehicle is close to the boundary of the friction circle, it is determined that the vehicle is in the limit warning state, that is, at the critical point of the limit working condition. When determining that the vehicle is in the limit warning state, according to the vehicle dynamics model, the existing method can be used to determine whether the vehicle is in the slipping warning state or the steering warning state.

Wherein, the resultant force of the entire vehicle is close to the boundary of the friction circle, which may be that the distance between the resultant force of the entire vehicle and the boundary of the friction circle is less than a preset distance, and the preset distance can be obtained by calibration.

In some embodiments, the acquisition of the actual road surface adhesion coefficient of the road surface where the vehicle is located includes:

Among them, the type of road surface can represent the material of the road surface, such as cement road, asphalt road or other roads, etc., which can be determined through high-definition maps, or through ADAS (Advanced Driving Assistance System, Advanced Driver Assistance System) is determined by the radar or camera in front of the car.

The corresponding relationship between the road surface type and the initial road surface adhesion coefficient can be determined in advance, and according to the corresponding relationship, the initial road surface adhesion coefficient corresponding to the type of road surface on which the vehicle is currently located can be obtained.

The slip ratio of the wheel can be calculated by existing methods. According to the slip rate, the existing method is used to correct the initial road surface adhesion coefficient to obtain the actual road surface adhesion coefficient of the road where the vehicle is located. For example, each type of road surface can correspond to a correction formula. According to the correction formula and the wheel slip rate The actual road surface adhesion coefficient can be obtained.

In a possible implementation, the corresponding relationship between road surface type, wheel slip rate and road surface adhesion coefficient can be determined in advance, and according to the corresponding relationship, the type of road surface where the current vehicle is located and the current wheel slip rate can be determined to determine the corresponding actual road surface adhesion coefficient.

In S102, if it is detected that the vehicle is in the skidding warning state, the output torque of the motor is controlled to decrease.

In this embodiment, if it is detected that the vehicle is in the skidding warning state, that is, the vehicle is at the critical point of skidding and is about to skid, the power output is directly controlled, that is, the output torque of the motor is controlled to decrease to prevent the vehicle from skidding.

Wherein, controlling the reduction of the output torque of the motor may be sending a first control signal to the VMC (Vehicle Motion Control, chassis domain controller), so that the VMC controls the output torque of the motor to reduce.

In a possible implementation, if it is detected that the vehicle is in a skidding warning state, the driver is reminded by voice or through an instrument that skidding is about to occur, so that the driver can take corresponding measures to prevent skidding.

In S103, if it is detected that the vehicle is in the steering pre-alarm state, torque vector control is performed on the vehicle to make the vehicle generate a yaw moment.

In this embodiment, if it is detected that the vehicle is in the steering warning state, that is, the vehicle is at the critical point of understeer or oversteer, that is, understeer or oversteer is about to occur, then torque vector control can be performed on the vehicle to make the vehicle generate yaw moment.

Wherein, performing torque vector control on the vehicle may include: generating a torque vector control strategy according to the current state of the vehicle, and sending the torque vector control strategy to the VMC, so that the VMC controls the corresponding motor to distribute torque to the inner and outer axles and the front and rear axles according to the torque vector control strategy. Axle, produces torque difference, forms yaw moment, assists steering.

In a possible implementation manner, the steering warning state may include an understeering warning state and an oversteering warning state.

If it is detected that the vehicle is in the understeer warning state, the vehicle is controlled by torque vectoring so that the vehicle generates a yaw moment in the direction of the corner;

If it is detected that the vehicle is in an oversteer warning state, the vehicle is controlled by torque vectoring so that the vehicle generates a yaw moment away from the direction of the corner.

In a possible implementation, if it is detected that the vehicle is in the steering warning state, the driver will be reminded by voice or through the instrument that understeer or oversteer is about to occur, so that the driver can take corresponding measures to prevent understeer or oversteer.

In a possible implementation, if it is detected that the vehicle is in the steering warning state, the yaw moment can be generated by actively building pressure, releasing pressure, maintaining pressure and driving torque control of a single wheel to avoid understeer and oversteer.

Among them, the above S101 to S103 are usually applied in scenarios such as high-speed turning, connected roads, and rainy low-lying roads. For example, when turning at a high speed, due to lack of experience, a novice driver cannot accurately grasp the optimal steering speed of the vehicle, which may easily cause understeer or oversteer. However, after the integration of ADAS/VCM in the embodiment of the present application, according to the vehicle information provided by the ADAS function, the chassis function actively intervenes, and normal cornering can be realized at the current vehicle speed.

In this embodiment, when the vehicle is in a high-speed working condition, it is detected whether the vehicle is in the skidding warning state or the steering warning state; if it is detected that the vehicle is in the skidding warning state, the output torque of the control motor is reduced; In the pre-warning state, torque vector control is performed on the vehicle, so that the vehicle generates yaw moment, which can carry out safety control before the vehicle has an emergency and improve driving safety.

In some embodiments, the above-mentioned chassis domain control method under high-speed conditions further includes:

When the vehicle is running at high speed, there is oil stain or fallen leaves on a small piece of the road surface, which may cause insufficient adhesion of one side wheel when the vehicle passes, and it may easily lead to extreme yaw/tail flicking and other adverse conditions when passing at high speed.

In this embodiment, when the vehicle is in a high-speed working condition, the front-view camera and/or radar of the ADAS system can be used to detect whether there is a slippery road surface on the road ahead of the vehicle. Wherein, the slippery road surface may include slippery objects such as oil stains or fallen leaves on the road surface, or the material of the road surface itself may be a slippery road surface.

When it is detected that there is a slippery road on the road ahead of the vehicle, a second control signal can be sent to the VMC, so that the VMC controls the output torque of the motor used for power output to decrease, and controls the steering wheel to reduce the power steering to prevent extreme yaw \Extreme situations such as tail flicking to ensure the safety of the car and passengers. Among them, the steering power of the steering wheel is reduced, which can make the steering wheel heavier, thereby increasing the steering resistance of the steering wheel and preventing the driver from turning the steering wheel excessively.

In a possible implementation, when a slippery road surface is detected on the road ahead of the vehicle, the driver is reminded of the slippery road ahead by voice or through an instrument, so that the driver can take corresponding measures to prevent skidding.

This embodiment solves the high-speed safety problem of the vehicle, integrates the ADAS and the chassis domain, monitors the environment around the vehicle in real time through the ADAS function, integrates road condition information, and VMC selectively mobilizes the actuators of the chassis to maximize the safety of the vehicle , handling and comfort.

This embodiment can intelligently identify the surrounding environment and road conditions of the vehicle, and effectively combine with the performance of the chassis to actively control the performance of the vehicle, and the response is fast and safe; it is of great benefit to novice drivers and greatly reduces the occurrence of accidents High risk rate, realize active and safe chassis domain control; without human intervention, it can meet level2+, level3 automatic driving, so that intelligent driving can play a better role.

It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.

The following are the device embodiments of this application. For the details that are not described in detail, you can refer to the corresponding method embodiments above. It should be considered that the details that are not described in detail in the device embodiments are the same as the method embodiments, and have been clearly recorded in the description .

Figure 2 shows a schematic structural diagram of the chassis domain control device under high-speed working conditions provided by the embodiment of the present application. For the convenience of description, only the parts related to the embodiment of the present application are shown, and the details are as follows:

As shown in FIG. 2 , the chassis domain control device 30 under high-speed working conditions includes: a detection module 31 , a first control module 32 and a second control module 33 .

The detection module 31 is used to detect whether the vehicle is in a limit warning state when the vehicle is in a high-speed working condition; wherein, when the vehicle speed is greater than a preset speed, it is determined that the vehicle is in a high-speed working condition; the limit warning state is a skidding warning state or steering alert status;

The first control module 32 is used to control the output torque of the motor to decrease if it is detected that the vehicle is in a slipping warning state;

The second control module 33 is configured to perform torque vector control on the vehicle to make the vehicle generate a yaw moment if it is detected that the vehicle is in the steering warning state.

In the embodiment of the present application, through the detection module 31, when the vehicle is in a high-speed working condition, it is detected whether the vehicle is in the skidding warning state or the steering warning state; through the first control module 32, if it is detected that the vehicle is in the skidding warning state, the output of the motor is controlled. Torque reduction; through the second control module 33, if it is detected that the vehicle is in the steering warning state, the vehicle will be controlled by torque vectoring to make the vehicle generate a yaw moment, which can be safely controlled before the vehicle has an emergency and improves driving safety .

In a possible implementation, the detection module 31 is also used for:

The third control module is used for:

The embodiment of the present application also provides a computer program product, which has a program code, and when the program code runs in a corresponding processor, controller, computing device or electronic device, it executes any one of the above-mentioned chassis domain control methods under high-speed conditions The steps in the embodiment are, for example, S101 to S103 shown in FIG. 1 . Those skilled in the art should understand that the methods proposed in the embodiments of the present application and associated devices may be implemented in various forms of hardware, software, firmware, dedicated processors or combinations thereof. Special purpose processors may include Application Specific Integrated Circuits (ASICs), Reduced Instruction Set Computers (RISCs), and/or Field Programmable Gate Arrays (FPGAs). The proposed methods and devices are preferably implemented as a combination of hardware and software. The software is preferably installed as an application program on the program storage device. It is typically a computer platform based machine having hardware, such as one or more central processing units (CPUs), random access memory (RAM), and one or more input/output (I/O) interfaces. An operating system is also typically installed on the computer platform. Various procedures and functions described herein may be part of the application program, or a part thereof may be executed by the operating system.

Fig. 3 is a schematic diagram of an electronic device provided by an embodiment of the present application. As shown in FIG. 3 , the electronic device 4 of this embodiment includes: a processor 40 , a memory 41 , and a computer program 42 stored in the memory 41 and operable on the processor 40 . When the processor 40 executes the computer program 42 , the steps in the embodiments of the above-mentioned chassis domain control method under various high-speed working conditions are implemented, such as S101 to S103 shown in FIG. 1 . Alternatively, when the processor 40 executes the computer program 42, the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules/units 31 to 33 shown in FIG. 2 , are realized.

Exemplarily, the computer program 42 can be divided into one or more modules/units, and the one or more modules/units are stored in the memory 41 and executed by the processor 40 to complete / Implement the scheme provided by this application. The one or more modules/units may be a series of computer program instruction segments capable of accomplishing specific functions, and the instruction segments are used to describe the execution process of the computer program 42 in the electronic device 4 . For example, the computer program 42 may be divided into the modules/units 31 to 33 shown in FIG. 2 .

The electronic device 4 may be a device such as a central controller. The electronic device 4 may include, but not limited to, a processor 40 and a memory 41 . Those skilled in the art can understand that FIG. 3 is only an example of the electronic device 4, and does not constitute a limitation to the electronic device 4. It may include more or less components than shown in the figure, or combine certain components, or different components. , for example, the electronic device may also include an input and output device, a network access device, a bus, and the like.

Described processor 40 can be central processing unit (Central Processing Unit, CPU), and other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application-specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

The storage 41 may be an internal storage unit of the electronic device 4 , such as a hard disk or memory of the electronic device 4 . The memory 41 can also be an external storage device of the electronic device 4, such as a plug-in hard disk equipped on the electronic device 4, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, flash memory card (Flash Card), etc. Further, the memory 41 may also include both an internal storage unit of the electronic device 4 and an external storage device. The memory 41 is used to store the computer program and other programs and data required by the electronic device. The memory 41 can also be used to temporarily store data that has been output or will be output.

Corresponding to the above-mentioned electronic device, an embodiment of the present application further provides a vehicle, including the above-mentioned electronic device, which has the same beneficial effects as the above-mentioned electronic device.

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware It can also be implemented in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the above system, reference may be made to the corresponding process in the foregoing method embodiments, and details will not be repeated here.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not detailed or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

In the embodiments provided in this application, it should be understood that the disclosed device/electronic equipment and method can be implemented in other ways. For example, the device/electronic device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

If the integrated module/unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments in the present application can also be completed by instructing related hardware through computer programs. The computer programs can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps of the embodiments of the above-mentioned chassis domain control method under various high-speed working conditions can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a removable hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (Read-Only Memory, ROM) , random access memory (Random Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, computer-readable media Excluding electrical carrier signals and telecommunication signals.

Furthermore, the embodiments shown in the drawings of the present application or the features of the various embodiments mentioned in this specification are not necessarily to be understood as independent embodiments from each other. Rather, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments to produce other embodiments that are not described in words or with reference to the figures.

The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still implement the foregoing embodiments Modifications to the technical solutions described in the examples, or equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the application, and should be included in the Within the protection scope of this application.

Claims

A chassis domain control method for high-speed working conditions, characterized in that it includes:

When the vehicle is in a high-speed working condition, it is detected whether the vehicle is in a limit warning state; wherein, when the vehicle speed of the vehicle is greater than a preset speed, it is determined that the vehicle is in a high-speed working condition; the limit warning state is a skidding warning state or shift to an alert state;

If it is detected that the vehicle is in the skidding warning state, the output torque of the control motor is reduced;

If it is detected that the vehicle is in the steering warning state, torque vector control is performed on the vehicle to make the vehicle generate a yaw moment.
The chassis domain control method under high-speed working conditions according to claim 1, wherein the detecting whether the vehicle is in a limit warning state comprises:

Obtain the actual road surface adhesion coefficient of the road surface where the vehicle is located;

Obtain the weight of the vehicle, and calculate the friction circle according to the actual road surface adhesion coefficient and the weight of the vehicle;

Obtaining the lateral acceleration of the vehicle and the longitudinal acceleration of the vehicle, obtaining the lateral force of the vehicle according to the lateral acceleration of the vehicle, and obtaining the longitudinal force of the vehicle according to the longitudinal acceleration of the vehicle;

According to the vehicle lateral force, the vehicle longitudinal force and the friction circle, it is determined whether the vehicle is in a limit warning state.
The chassis domain control method under high-speed working conditions according to claim 2, characterized in that, according to the vehicle lateral force, the vehicle longitudinal force and the friction circle, it is determined whether the vehicle is at the limit Alert status, including:

obtaining the resultant force of the vehicle according to the lateral force of the vehicle and the longitudinal force of the vehicle;

According to the vehicle resultant force, the friction circle and the vehicle dynamics model, it is determined whether the vehicle is in a limit warning state.
The chassis domain control method under high-speed working conditions according to claim 2, wherein said obtaining the actual road surface adhesion coefficient of the road surface where the vehicle is located comprises:

Obtaining the type of road surface where the vehicle is located, and determining the initial road surface adhesion coefficient of the road surface where the vehicle is located according to the type of road surface where the vehicle is located;

The slip ratio of the wheels is obtained, and the initial road adhesion coefficient is corrected according to the slip ratio to obtain the actual road adhesion coefficient of the road where the vehicle is located.
The chassis domain control method under high-speed working conditions according to claim 1, wherein said performing torque vector control on said vehicle to make said vehicle generate yaw moment comprises:

Generate a torque vector control strategy according to the current state of the vehicle, and send the torque vector control strategy to the chassis domain controller, so that the chassis domain controller controls the corresponding motor to distribute torque to the inner and outer axles and the front and rear axles according to the torque vector control strategy shaft, a torque difference is generated to form a yaw moment.
The chassis domain control method under high-speed working conditions according to claim 1, wherein the steering warning state includes an understeering warning state and an oversteering warning state;

If it is detected that the vehicle is in the steering warning state, performing torque vector control on the vehicle to make the vehicle generate a yaw moment, including:

If it is detected that the vehicle is in the understeer warning state, then perform torque vectoring control on the vehicle, so that the vehicle generates a yaw moment in the direction of the corner;

If it is detected that the vehicle is in the oversteer warning state, torque vector control is performed on the vehicle, so that the vehicle generates a yaw moment in a direction away from a corner.
The chassis domain control method under high-speed working conditions according to any one of claims 1 to 6, wherein the chassis domain control method under high-speed working conditions further comprises:

When the vehicle is in a high-speed working condition, detecting whether there is a slippery road surface on the road ahead of the vehicle;

If it is detected that there is a slippery road surface on the road ahead of the vehicle, the output torque of the motor is controlled to decrease, and the power steering of the steering wheel is controlled to decrease.
A chassis domain control device for high-speed working conditions, characterized in that it includes:

The detection module is used to detect whether the vehicle is in a limit warning state when the vehicle is in a high-speed working condition; wherein, when the vehicle speed of the vehicle is greater than a preset vehicle speed, it is determined that the vehicle is in a high-speed working condition; the limit warning The state is skidding warning state or steering warning state;

The first control module is used to control the output torque of the motor to decrease if it is detected that the vehicle is in the skidding warning state;

The second control module is configured to perform torque vector control on the vehicle to make the vehicle generate a yaw moment if it is detected that the vehicle is in the steering warning state.
The chassis domain control device under high-speed working conditions according to claim 8, wherein the detection module is also used for:

Obtain the actual road surface adhesion coefficient of the road surface where the vehicle is located;

Obtain the weight of the vehicle, and calculate the friction circle according to the actual road surface adhesion coefficient and the weight of the vehicle;

Obtaining the lateral acceleration of the vehicle and the longitudinal acceleration of the vehicle, obtaining the lateral force of the vehicle according to the lateral acceleration of the vehicle, and obtaining the longitudinal force of the vehicle according to the longitudinal acceleration of the vehicle;

According to the vehicle lateral force, the vehicle longitudinal force and the friction circle, it is determined whether the vehicle is in a limit warning state.
The chassis domain control device under high-speed working conditions according to claim 9, wherein the detection module is also used for:

obtaining the resultant force of the vehicle according to the lateral force of the vehicle and the longitudinal force of the vehicle;

According to the vehicle resultant force, the friction circle and the vehicle dynamics model, it is determined whether the vehicle is in a limit warning state.
The chassis domain control device under high-speed working conditions according to claim 9, wherein the detection module is also used for:

Obtaining the type of road surface where the vehicle is located, and determining the initial road surface adhesion coefficient of the road surface where the vehicle is located according to the type of road surface where the vehicle is located;

The slip ratio of the wheels is obtained, and the initial road adhesion coefficient is corrected according to the slip ratio to obtain the actual road adhesion coefficient of the road where the vehicle is located.
The chassis domain control device according to any one of claims 8 to 11, further comprising a third control module, the third control module is used for:

When the vehicle is in a high-speed working condition, detecting whether there is a slippery road surface on the road ahead of the vehicle;

If it is detected that there is a slippery road surface on the road ahead of the vehicle, the output torque of the motor is controlled to decrease, and the power steering of the steering wheel is controlled to decrease.
An electronic device, comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, characterized in that the above claim 1 is realized when the processor executes the computer program Steps in the method for controlling the chassis domain under any one of 7 to 7 under high-speed operating conditions.
A vehicle, characterized by comprising the electronic device according to claim 13.
A computer-readable storage medium, the computer-readable storage medium stores a computer program, characterized in that, when the computer program is executed by a processor, the high-speed working condition described in any one of claims 1 to 7 above is realized The steps of the chassis domain control method.