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Vehicle control method and device, vehicle and storage medium

A vehicle control and vehicle technology, applied in the field of vehicles, can solve problems such as insufficient response time, insufficient consideration of control system redundancy, and inability to realize the functional requirements of intelligent chassis.

Active Publication Date: 2020-06-02
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the existing public technical solutions, the final corner signal is output after repeated iterative calculations through the collected vehicle signal and the calculated corner signal, but the response time is not fast enough, the redundancy of the control system is insufficiently considered, and the intelligent Chassis functional requirements

Method used

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

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0024] Figure 1A It is a flow chart of a vehicle control method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of vehicle control. The method can be executed by the vehicle control device in the embodiment of the present invention. The device can use software and / or or hardware implementation, such as Figure 1A As shown, the method specifically includes the following steps:

[0025] S110, acquiring state parameters of the vehicle.

[0026] Wherein, the state parameters of the vehicle may include at least one of steering wheel angle, steering wheel torque, front wheel angular transmission ratio, vehicle speed, wheel speed, acceleration, yaw rate, and wheel jump travel.

[0027] Wherein, the state parameter of the vehicle is collected by a sensor on the vehicle, and the sensor may be an acceleration sensor or a gyroscope, which is not limited in this embodiment of the present invention.

[0028] Specifically, obtaining the st...

Embodiment 2

[0061] figure 2 It is a schematic structural diagram of a vehicle control device provided in Embodiment 2 of the present invention. This embodiment can be applied to the situation of vehicle control, the device can be implemented in the form of software and / or hardware, and the device can be integrated in any device that provides the function of vehicle control, such as figure 2 As shown, the vehicle control device specifically includes: a parameter acquisition module 210 , a judging module 220 , a first control module 230 and a second control module 240 .

[0062] Wherein, the parameter acquisition module 210 is used to acquire the state parameters of the vehicle;

[0063] A judging module 220, configured to judge whether the vehicle is in a special working condition according to the state parameters of the vehicle;

[0064] The first control module 230 is configured to, if yes, calculate the sideslip angle of the center of mass according to the state parameters of the ve...

Embodiment 3

[0075] image 3 It is a structural schematic diagram of a vehicle in Embodiment 3 of the present invention. image 3 A block diagram of an exemplary vehicle 12 suitable for use in implementing embodiments of the invention is shown. image 3 The vehicle 12 shown is merely an example and should not limit the scope of functionality and use of embodiments of the present invention.

[0076] Such as image 3 As shown, the vehicle 12 takes the form of a general-purpose computing device. Components of vehicle 12 may include, but are not limited to, one or more processors or processing units 16 , system memory 28 , bus 18 connecting various system components including system memory 28 and processing unit 16 .

[0077] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus structures. These architectures include, by way of ...

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Abstract

The invention discloses a vehicle control method and device, a vehicle and a storage medium. The method comprises the steps of obtaining state parameters of a vehicle; judging whether the vehicle is in a special working condition or not according to the state parameters of the vehicle; if yes, calculating according to the state parameters of the vehicle to obtain a side slip angle, estimating a rear wheel turning angle value according to the side slip angle, and controlling the vehicle according to the estimated rear wheel turning angle value; if not, inputting the state parameters of the vehicle into a pre-trained target rear wheel rotation angle value determination model, and determining an estimated rear wheel rotation angle value according to the output result of the target rear wheelrotation angle value determination model, and controlling the vehicle according to the estimated rear wheel rotation angle value. By means of the technical scheme, the response speed can be increased,and the function requirement of the intelligent chassis can be met.

Description

technical field [0001] The embodiments of the present invention relate to the field of vehicles, and in particular, to a vehicle control method and device, a vehicle and a storage medium. Background technique [0002] Currently, high-end passenger cars on the market are equipped with a rear-wheel steering system, which has an electromechanical actuator that can provide rear-wheel steering functions, thereby helping to improve vehicle dynamics, driving safety and comfort. The system receives the vehicle's steering angle, wheel acceleration, yaw rate and other signals, and calculates and outputs the required rear wheel angle signal through the algorithm specified in the ECU (such as center-of-mass side slip angle control, etc.) Estimate the rear wheel angle. [0003] In the existing public technical solutions, the final corner signal is output after repeated iterative calculations through the collected vehicle signal and the calculated corner signal, but the response time is ...

Claims

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Application Information

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IPC IPC(8): B60W40/10B60W30/00
CPCB60W30/00B60W40/10B60W2520/10B60W2520/105B60W2520/28B60W2540/18
Inventor 禹真韩超单帅余景龙苗为为王立军王君君
Owner CHINA FIRST AUTOMOBILE
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