CN118220148A - Vehicle drift control method, device, equipment, medium, program product and automobile - Google Patents

Abstract

The application provides a vehicle drift control method, a device, equipment, a medium, a program product and an automobile. The method comprises the following steps: acquiring a steering wheel angle value and an accelerator pedal opening value of the vehicle; determining whether the vehicle floats according to a steering wheel angle value and an accelerator pedal opening value of the vehicle; if the vehicle is determined to float, carrying out auxiliary float control on the vehicle; after the float is completed, determining whether the vehicle Shift helm based on a steering wheel angle value of the vehicle; if the vehicle Shift helm is determined, drift assistance control is performed on the vehicle. The method can provide the floating assistance and the drifting assistance in the process that the driver drives the vehicle to drift.

Description

Vehicle drift control method, device, equipment, medium, program product and automobile

Technical Field

The present application relates to vehicle intelligent control technology, and in particular to a vehicle drift control method, device, equipment, medium, program product and automobile.

Background technique

With the increase in sales of electric four-wheel drive models and the improvement in power performance brought by drive motors, more and more electric vehicles can achieve drifting, allowing people to enjoy the fun of drifting.

At present, the drift of electric vehicles is mainly based on the driver's operation of the vehicle. Therefore, the realization of drifting has a certain technical threshold for the driver and depends on the driver's proficiency in controlling the throttle and steering wheel. The driver usually needs a lot of practice to achieve drifting. In other words, the drifting of electric vehicles requires high driving skills of the driver, and the vehicle is difficult to drift. During the drifting process, the vehicle is prone to excessive tail swinging and difficult to drift continuously.

Summary of the invention

The present application provides a vehicle drift control method, device, equipment, medium, program product and automobile, which are used to solve the problems that the drift of electric vehicles requires high driving skills of the driver, the vehicle is difficult to drift, and the vehicle is prone to excessive tail swinging and difficult to drift continuously during the drifting process.

In a first aspect, the present application provides a vehicle drift control method, comprising:

Obtaining a steering wheel angle value and an accelerator pedal opening value of the vehicle;

Determining whether the vehicle is drifting according to a steering wheel angle value and an accelerator pedal opening value of the vehicle;

If it is determined that the vehicle is drifting, performing drift assist control on the vehicle;

After the drift is completed, determining whether the vehicle is in reverse steering based on the steering wheel angle value of the vehicle;

If it is determined that the vehicle is in reverse steering, drift assistance control is performed on the vehicle.

Optionally, determining whether the vehicle is drifting according to the steering wheel angle value and the accelerator pedal opening value of the vehicle includes:

If there is a preset target drift speed range, obtaining the speed of the vehicle;

When the speed of the vehicle is within the target drift speed range, whether the vehicle is drifting is determined according to a steering wheel angle value and an accelerator pedal opening value of the vehicle.

Optionally, determining whether the vehicle is drifting according to the steering wheel angle value and the accelerator pedal opening value of the vehicle includes:

If the accelerator pedal opening value of the vehicle is greater than a preset value A1, the absolute value of the steering wheel angle value of the vehicle is greater than a preset value S1, and the steering wheel angle value change rate of the vehicle is greater than a preset value ΔS1, it is determined that the vehicle is drifting;

Alternatively, if the absolute value of the steering wheel angle of the vehicle is greater than a preset value S2, the accelerator pedal opening value of the vehicle is greater than a preset value A2, and the accelerator pedal opening value change rate of the vehicle is greater than a preset value ΔA2, it is determined that the vehicle is drifting.

Optionally, the method further comprises:

In response to a drift mode on instruction, displaying a list of candidate drift speeds and a target button, wherein the target button is used to indicate that there is no target drift speed range;

In response to a user's selection instruction for a target candidate drift speed in the candidate drift speed list, generating the target drift speed range according to the target candidate drift speed;

Alternatively, in response to the user's operation on the target button, the action of setting the target drift speed range is skipped.

Optionally, the performing drift assist control on the vehicle includes:

Adjusting the torque distribution ratio between the front and rear motors of the vehicle to increase the torque of the rear motor of the vehicle;

Obtaining the yaw angular velocity and lateral acceleration of the vehicle;

If the yaw rate of the vehicle is less than a lower limit of a preset angular rate range, and the lateral acceleration of the vehicle is less than a lower limit of a preset acceleration range, increasing the rear wheel steering angle of the vehicle;

If the yaw rate of the vehicle is greater than an upper limit of a preset angular rate range, and the lateral acceleration of the vehicle exceeds an upper limit of a preset acceleration range, at least one of the following operations is performed:

The total torque of the front and rear axles of the vehicle is reduced according to the vehicle speed, the rear axle torque distribution ratio of the vehicle is reduced according to the yaw angular velocity or lateral acceleration of the vehicle, and the outer rear wheel braking torque of the vehicle is increased according to the rear wheel speed of the vehicle.

Optionally, increasing the rear wheel deflection angle of the vehicle includes:

Obtaining a target deflection angle of a rear wheel of the vehicle according to the preset angular velocity range, the yaw angular velocity of the vehicle, the acceleration range, the lateral acceleration of the vehicle, and the rear axle torque distribution ratio of the vehicle;

The rear wheel deflection angle of the vehicle is adjusted to the rear wheel target deflection angle.

Optionally, determining whether the vehicle is in reverse steering based on the steering wheel angle value of the vehicle comprises:

determining a target yaw rate of the vehicle based on a steering wheel angle value of the vehicle;

subtracting the target yaw rate from the yaw rate of the vehicle to obtain a yaw rate difference of the vehicle;

If the target yaw rate is greater than a preset angular velocity value YR1 and the yaw rate difference is less than a preset angular velocity value ΔYR1, it is determined that the vehicle is in reverse steering.

Optionally, the performing drift assist control on the vehicle includes:

If there is a preset target drift speed range, adjusting the total torque of the front and rear motors of the vehicle according to the speed of the vehicle so that the speed of the vehicle is within the target drift speed range;

and/or, adjusting the front and rear motor torque distribution ratio of the vehicle and the rear wheel deflection angle of the vehicle according to the yaw angular velocity of the vehicle, so that the yaw angular velocity of the vehicle is maintained within a preset angular velocity range;

And/or, the left and right rear wheel braking torques are adjusted according to the wheel speed difference between the front and rear wheels of the vehicle to reduce the wheel speed difference between the left and right rear wheels, and the wheel speed difference between the front and rear wheels is maintained within a preset wheel speed difference range.

Optionally, the performing drift assist control on the vehicle includes:

If there is no preset target drift speed range, adjusting the front and rear motor torque distribution ratio according to the accelerator pedal opening value change rate, and adjusting the rear wheel deflection angle of the vehicle according to the steering wheel angle value of the vehicle, so that the vehicle yaw angular velocity remains within the preset angular velocity range;

And/or, adjusting the left and right rear wheel braking torques according to the slip rate of the wheels of the vehicle.

In a second aspect, the present application provides a vehicle drift control device, the device comprising:

An acquisition module, used to acquire a steering wheel angle value and an accelerator pedal opening value of the vehicle;

A first determination module, configured to determine whether the vehicle is drifting according to a steering wheel angle value and an accelerator pedal opening value of the vehicle;

A drift assist control module, used for performing drift assist control on the vehicle when it is determined that the vehicle is drifting;

A second determination module is used to determine whether the vehicle is in reverse steering based on the steering wheel angle value of the vehicle after the drift is completed;

The drift assist control module is used to perform drift assist control on the vehicle when it is determined that the vehicle is in reverse steering.

In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

The memory stores computer-executable instructions;

The processor executes the computer-executable instructions stored in the memory to implement the method as described in any one of the first aspects.

In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method as described in any one of the first aspects.

In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the method as described in any one of the first aspects.

In a sixth aspect, the present application provides an electric vehicle, wherein the electric vehicle is equipped with a vehicle controller, and the vehicle controller is used to implement the method as described in any one of the first aspects.

The vehicle drift control method, device, equipment, medium, program product and automobile provided by the present application can automatically adjust the driving force and braking force according to the state and parameters of the vehicle by adding a drift assist control function and a drift assist function to the vehicle, thereby assisting the driver to smoothly enter the drift state during the drift process, and adding a drift assist control function to assist the driver to achieve continuous drifting during the drift process, thereby making it easier for the driver to start and maintain drifting.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

FIG1 is a schematic diagram of the structure of a possible four-wheel drive electric vehicle;

FIG2 is a schematic flow chart of a vehicle drift control method provided in an embodiment of the present application;

FIG3 is a schematic diagram of a possible user interface provided in an embodiment of the present application;

FIG4 is a flow chart of another vehicle drift control method provided in an embodiment of the present application;

FIG5 is a schematic diagram of a process of performing drift assist control on a vehicle provided by an embodiment of the present application;

FIG6 is a flow chart of another vehicle drift control method provided in an embodiment of the present application;

FIG7 is a schematic diagram of the structure of a vehicle drift control device provided in an embodiment of the present application;

FIG8 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments.

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

At present, the drift of four-wheel drive electric vehicles is mainly based on the driver's operation of the vehicle. The realization of drifting has a certain technical threshold for the driver, and depends on the driver's proficiency in controlling the throttle and steering wheel. Slight changes or wrong operations may make it impossible to drift or destroy the drift state. Therefore, the driver usually needs a lot of practice to achieve drifting. In other words, the drifting of electric vehicles requires a high level of driving skills from the driver.

Some drivers may have a large tail swing during drifting due to insufficient perception of the vehicle's yaw posture during drifting, and the vehicle will spin and fail to enter the drift state. On the other hand, the vehicle is very sensitive to changes in the steering wheel and throttle during drifting. Drivers without drift muscle memory cannot achieve delicate hand-foot coordination during drifting, and often lose sight of one thing while focusing on another, and cannot drift continuously.

Therefore, a kind of auxiliary automobile drifting technology is needed to ensure that inexperienced drivers can also successfully complete the drifting operation of the four-wheel drive electric vehicle.

In view of this, an embodiment of the present application provides a vehicle control method, which can automatically adjust the driving force and braking force according to the state and parameters of the vehicle by adding a drift assist control function and a drift assist function to the vehicle, to assist the driver to smoothly enter the drift state during the drift process, and to add a drift assist control function to assist the driver to achieve continuous drifting during the drift process, so that the driver can drive the vehicle to drift and maintain drift more easily.

The method of the embodiment of the present application can be applied to the above-mentioned four-wheel drive electric vehicle, that is, an electric vehicle with a front axle and a rear axle driven separately.

FIG1 is a schematic diagram of a possible four-wheel drive electric vehicle. As shown in FIG1 , the four-wheel drive electric vehicle includes: a vehicle controller, front and rear four wheels, and front and rear motors. The vehicle controller can send corresponding control requests to the front motor to request torque, to the rear motor to request torque, and control the torque of the front axle or the torque of the rear axle through the corresponding motor.

The connection relationship between these components can be shown in FIG. 1 , for example, and will not be described in detail here.

In order to enable those skilled in the art to better understand the technical solutions of the embodiments of the present application, some concepts involved in the present application are explained and illustrated below:

Yaw angular velocity: refers to the angular velocity of the vehicle mass rotating around the z-axis (vehicle coordinate system).

Lateral acceleration: refers to the acceleration from left to right or from right to left experienced by the vehicle, and the inertial force is in the opposite direction of the acceleration.

Steering wheel angle: refers to the angle at which the steering wheel turns when the driver operates the steering wheel.

Accelerator pedal opening: refers to the degree or amplitude of the driver's operation of the accelerator pedal.

Front and rear motor torque distribution ratio: The ratio in which an electric vehicle distributes motor torque between the front and rear wheels.

Total torque of the front and rear axles: the sum of the torques generated by the front and rear wheels of the vehicle.

Rear axle distribution ratio: the ratio between the output torque of the rear axle and the total output torque of the front and rear motors when the output torque of the front and rear motors is transmitted to the wheels.

Rear axle torque distribution ratio: The torque output by the front and rear motors is distributed proportionally to the front and rear wheels.

Left and right rear wheel braking torque: the braking torque output by the left and right rear wheel brake calipers to the left and right rear wheels.

Rear wheel deflection angle: the deflection angle of the vehicle's rear wheels relative to the x-axis direction of the vehicle body.

It should be noted that because the power source of the front axle is the front motor and the power source of the rear axle is the rear motor, the 'front axle torque' and 'front motor torque' in the embodiment of the present application have the same meaning, and the 'rear axle torque' and 'rear motor torque' have the same meaning, and the embodiment of the present application does not distinguish between them.

Correspondingly, ‘rear axle distribution ratio’, ‘rear axle torque distribution ratio’, ‘rear motor distribution ratio’ and ‘rear motor torque distribution ratio’ have the same meaning and all refer to the ratio of the rear motor torque to the total torque. The embodiments of the present application do not distinguish between the two.

It should be understood that the method of the embodiment of the present application can be applied not only to the above-mentioned four-wheel drive electric vehicle, but also to any car driven by front and rear motors, that is, a car that achieves four-wheel drive by front and rear motors.

It should be noted that the execution entity of the method in the embodiment of the present application may be, for example, a vehicle controller on a vehicle.

The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

FIG2 is a flow chart of a vehicle drift control method provided in an embodiment of the present application. As shown in FIG2 , the method may include the following steps:

S101. Obtain a steering wheel angle value and an accelerator pedal opening value of a vehicle.

A possible implementation method is to obtain a steering wheel angle value collected by a steering wheel sensor of the vehicle and an accelerator pedal opening value collected by an accelerator pedal sensor during vehicle driving.

A possible implementation method is that when the vehicle is pre-set with a target drift speed range for drifting, it can first determine whether the speed of the vehicle is within the target drift speed range. When it is within the target drift speed range, the steering wheel angle value collected by the steering wheel sensor of the vehicle and the accelerator pedal opening value collected by the accelerator pedal sensor are obtained. The target drift speed range can be a default drift speed range, or a target drift speed range determined by a target drift speed pre-selected by the driver. If the target drift speed is 20 kilometers per hour, the target drift speed range can be [15,25].

If there is a preset target drift speed range, obtaining the speed of the vehicle;

When the speed of the vehicle is within the target drift speed range, determining whether the vehicle is drifting according to the steering wheel angle value and the accelerator pedal opening value of the vehicle

S102, determine whether the vehicle is drifting according to the steering wheel angle value and the accelerator pedal opening value of the vehicle. If yes, execute step S103. If no, the current process ends. For example, the steering wheel angle value and the accelerator pedal opening value of the vehicle at the next moment can be re-obtained to re-determine whether the conditions are met.

In a possible implementation, a judgment rule related to the steering wheel angle value and the accelerator pedal opening value may be pre-set, so that whether the vehicle is drifting can be determined by the judgment rule. The judgment rule may be, for example:

(1) Judgment rule based on accelerator pedal opening value, steering wheel angle value, and steering wheel angle value change rate. The steering wheel angle value change rate can be calculated based on the steering wheel angle value collected at the current moment and the steering wheel angle value collected at the previous moment.

Exemplarily, the judgment rule may be as follows: if the accelerator pedal opening value of the vehicle is greater than a preset value A1, the absolute value of the steering wheel angle value of the vehicle is greater than a preset value S1, and the steering wheel angle value change rate of the vehicle is greater than a preset value ΔS1, then it is determined that the vehicle is drifting; if any of the above conditions is not met, it is determined that the vehicle is not drifting.

That is, when the absolute value of the vehicle's steering wheel angle is greater than a certain value, the accelerator pedal opening value is greater than a certain value, and the steering wheel angle value increases rapidly in a short period of time, it is recognized that the driver is operating the vehicle to drift.

(2) Judgment rules based on the accelerator pedal opening value, the steering wheel angle value, and the accelerator pedal opening value change rate. The accelerator pedal opening value change rate can be calculated based on the accelerator pedal opening value collected at the current moment and the accelerator pedal opening value collected at the previous moment.

Exemplarily, the judgment rule may be as follows: if the absolute value of the steering wheel angle of the vehicle is greater than a preset value S2, the accelerator pedal opening value of the vehicle is greater than a preset value A2, and the accelerator pedal opening value change rate of the vehicle is greater than a preset value ΔA2, then it is determined that the vehicle is drifting. If any of the above conditions is not met, it is determined that the vehicle is not drifting.

That is, when the absolute value of the vehicle's steering wheel angle is greater than a certain value, the accelerator pedal opening value is greater than a certain value, and the accelerator pedal opening value increases rapidly in a short period of time, it is recognized that the driver is operating the vehicle to drift.

It should be understood that the above are only exemplary examples of some judgment rules that can determine whether the vehicle is drifting based on the steering wheel angle value and the accelerator pedal opening value. In specific implementation, it is also possible to determine whether the vehicle is drifting based only on the judgment rule containing the judgment conditions of the steering wheel angle value and the accelerator pedal opening value, or it is also possible to determine whether the vehicle is drifting based on the judgment rule containing the accelerator pedal opening value, the steering wheel angle value, the steering wheel angle value change rate, and the accelerator pedal opening value change rate.

In addition, it is also possible to use a judgment rule including judgment conditions of other parameters that can be determined based on the accelerator pedal opening value and the steering wheel angle value to determine whether the vehicle is drifting.

It should be noted that the preset values used in the above judgment rules can be set according to actual needs, or can be determined by combining the corresponding values when the sampled vehicle drifts.

One possible implementation method can be implemented by a pre-set prediction model. That is, the steering wheel angle value and the accelerator pedal opening value are input into the prediction model to obtain a conclusion on whether the vehicle is drifting. Alternatively, the parameter value combination used in the above judgment rule is input into the prediction model to obtain a conclusion on whether the vehicle is drifting. The prediction model can be, for example, a lightweight model to reduce the amount of calculation of the controller and improve control efficiency.

S103, performing drift assist control on the vehicle.

Initial Drift refers to a series of actions before a car enters the drift state. Through these actions, the rear wheels of the vehicle will break through the ground adhesion and slip, causing the vehicle to oversteer (i.e., skid), achieving drift and providing a basis for subsequent drift.

At present, when a driver drives a vehicle to achieve drifting, he needs to quickly and accurately turn the steering wheel to transfer the vehicle's center of gravity to the outer wheels, and at the same time, quickly step on the accelerator at the right time to increase the lateral grip of the vehicle's tires. During the drifting process, if the driver is inexperienced and cannot accurately judge the timing and strength of the center of gravity transfer, drifting may fail. For example, the vehicle loses balance, rolls over, or loses control, and other dangerous situations occur.

When the vehicle successfully drifts, the lateral acceleration and yaw rate of the vehicle are usually within a certain range. Therefore, the parameters affecting the lateral acceleration and yaw rate of the vehicle can be adjusted to keep the lateral acceleration and yaw rate of the vehicle within a certain range to avoid insufficient or excessive tail drift. The parameters affecting the lateral acceleration and yaw rate of the vehicle can include one or more of the following: the front and rear motor torque distribution ratio, the total torque of the front and rear axles, the outer rear wheel brake torque, etc.

One possible implementation method is to pre-set a mapping relationship between these parameters and the yaw rate and lateral acceleration, so that the yaw rate and lateral acceleration can be adjusted based on the mapping relationship. When the driver operates the vehicle, the yaw rate and lateral acceleration are assisted to be within the corresponding range, thereby assisting the driver to achieve drifting.

One possible implementation method may be achieved through a pre-set control model. For example, the yaw rate and lateral acceleration may be input into the control model to obtain the values of the parameters affecting the lateral acceleration and yaw rate of the vehicle, thereby controlling the vehicle based on these parameters so that it is within the corresponding range, thereby assisting the driver in achieving drifting. The control model may be, for example, a lightweight model to reduce the amount of calculation of the controller and improve control efficiency.

S104: After the drift is completed, determine whether the vehicle is in reverse steering based on the steering wheel angle value of the vehicle.

The anti-rudder action refers to the action of the driver quickly turning the steering wheel in the opposite direction when drifting. After the drift is completed, the driver needs to use the vehicle steering wheel to complete the anti-rudder action. The main purpose of this action is to control the attitude and balance of the vehicle to achieve continuous drifting of the vehicle.

If it is determined that the vehicle reverses the steering, step S105 is executed. If it is determined that the vehicle does not reverse the steering, step S104 is continued to be executed to continuously detect whether the vehicle reverses the steering.

One possible implementation method is to obtain the steering wheel angle value collected by the vehicle's steering wheel sensor in real time during vehicle driving, and pre-set a judgment rule related to the steering wheel angle value. Therefore, the judgment rule can be used to determine whether the driver makes a reverse steering operation.

If the expected yaw rate is greater than the preset angular velocity value YR1 and the yaw rate difference is less than the preset angular velocity value ΔYR1, if so, it is determined that the vehicle has an anti-steering action; if the above conditions are not met, it is determined that the vehicle has no anti-steering operation.

The expected yaw rate can be obtained by looking up a table based on the steering wheel angle value, and the table can be pre-calibrated based on the sampling data of the steering wheel angle value and the yaw rate when the vehicle reverses the steering wheel. For example, it can be shown in the following Table 1:

Table 1

Steering wheel angle 0 90 180 270 360 450 540 Expected yaw rate 0 25 55 95 140 180 230

It should be noted that the preset values used in the above judgment rules can be set according to actual needs, or can be determined by combining the corresponding values when the sampled vehicle drifts.

S105. Perform drift assist control on the vehicle.

After the car completes the anti-steering operation, the driver needs to control the vehicle's posture and angle by controlling the steering wheel and throttle to maintain the vehicle's drifting state.

When the vehicle maintains drift, the vehicle speed and yaw rate need to be maintained within a certain range. Therefore, the parameters that affect the vehicle speed and yaw rate can be adjusted so that the vehicle speed and yaw rate are within a certain range to avoid insufficient or excessive drifting.

Among them, when the vehicle is pre-set with a target drift speed range for drifting, the parameters affecting the speed and yaw rate of the vehicle can be adjusted, for example, including at least one of the following: the total torque of the front and rear motors of the vehicle, the torque distribution ratio of the front and rear motors, the rear wheel deflection angle, and the left and right rear wheel braking torque.

When the vehicle is not set with a target drift speed range for drifting, the parameters affecting the speed and yaw rate of the vehicle may include, for example, at least one of the following: the front and rear motor torque distribution ratio, the rear wheel deflection angle, and the left and right rear wheel braking torque.

One possible implementation method is to pre-set a mapping relationship between these parameters and the vehicle's speed and yaw rate, so that the vehicle's speed and yaw rate can be adjusted based on the mapping relationship. When the driver operates the vehicle, the vehicle's speed and yaw rate are assisted to be within the corresponding range, thereby assisting the driver to achieve continuous drift.

One possible implementation method may be achieved through a pre-set control model. For example, the speed and yaw rate of the vehicle may be input into the control model to obtain the values of the parameters affecting the speed and yaw rate of the vehicle, thereby controlling the vehicle based on these parameters so that it is within the corresponding range, thereby assisting the driver to achieve continuous drift. The control model may be, for example, a lightweight model to reduce the amount of calculation of the controller and improve control efficiency.

The vehicle drift control method provided in the embodiment of the present application, by adding a drift assist control function and a drift assist function to the vehicle, can automatically adjust the driving force and the braking force according to the state and parameters of the vehicle, thereby assisting the driver to smoothly enter the drift state during the drift process, and, by adding a drift assist control function to assist the driver to achieve continuous drifting during the drift process, thereby making it easier for the driver to start and maintain drifting.

The above-mentioned drift assist control function and drift assist function can be regarded as functions in the drift mode of the vehicle. The drift mode can be an optional mode of the vehicle, that is, it can be turned on or off based on the needs of the driver.

For example, the drift mode can be used as a switch of the vehicle for the driver to operate. The switch can be a soft switch on the central control screen or a physical button. The embodiment does not limit the location of the physical button, which can be set within the driver's control range, such as the central console, the left front door, or other locations.

When the user operates the switch, it can trigger the sending of a drift mode on or off instruction to the vehicle controller. For example, the user can turn on the drift mode by clicking the switch, and turn off the drift mode by clicking the switch again. Alternatively, the on and off modes are different, for example, one is a long press, the other is a single click, etc.

It should be understood that in this implementation, the drift mode can be associated with the vehicle's electronic stability control system (ESC)/electronic stability program (ESP). When the drift mode is turned on, the ESC/ESP is automatically turned off, and the traction control system (TCS) and other functions are no longer available, thereby enabling the vehicle's drift assistance.

Optionally, in this implementation, the driver can also set some parameters in the drift mode, for example, the target drift speed range mentioned above can be set.

Exemplarily, the drift mode may be pre-set with a plurality of candidate drift speeds. After receiving a drift mode on command from a user, in response to the drift mode on command, the vehicle controller may perform the following operations:

A list of candidate drift speeds is displayed, as well as a target button, which is used to represent a non-target drift speed range.

The candidate drift speed list may include multiple candidate drift speeds, and the multiple candidate drift speed list may include at least one of the following drift speeds: a preset default drift speed, a drift speed preset by a user, and a drift speed corrected by a user based on the default drift speed. The embodiment of the present application does not limit the number of the above candidate drift speeds.

Optionally, the above-mentioned multiple candidate drift speeds can be applicable to different drifting scenarios, such as different drifting sites and circle radii. Therefore, by setting the above-mentioned multiple candidate drift speeds, the drift mode can have a wider adaptability.

FIG3 is a schematic diagram of a possible user interface provided in an embodiment of the present application. As shown in FIG3 , the candidate drift speed list includes four candidate drift speeds, namely 20 kilometers per hour (kph), 40 kph, 60 kph, and 80 kph, for example.

In this example, the candidate drift speed list and the target button may be displayed in the manner shown in FIG. 3 .

If the user selects a target candidate drift speed in the candidate drift speed list (which can be any candidate drift speed in the list), a target drift speed range is generated according to the target candidate drift speed in response to the user's selection instruction for the target candidate drift speed in the candidate drift speed list.

For example, a drift speed range of a range interval may be preset, such as +5 kph/-5 kph. Taking the target candidate drift speed as 40 kph as an example, the generated target drift speed range is 35 kph to 45 kph.

If the user clicks the target button, the action of setting the target drift speed range is skipped in response to the user's operation on the target button. That is, in this implementation, the user does not limit the drift speed of the vehicle. That is, the vehicle releases the control of the drift speed, and the driver adjusts the drift speed of the vehicle through the throttle. In the aforementioned scenario where the target drift speed is set, the vehicle controller controls the speed of the vehicle during drift. In this implementation, it can also be called the FREE mode of the drift mode.

It should be understood that the above-mentioned drift mode can be a mode of the vehicle or a drift control system of the vehicle, and the present application does not limit its form on the vehicle.

The method of the embodiment of the present application is described below through two specific examples. Example 1 is an implementation method based on the user presetting the target drift speed and the target drift speed range, and Example 2 is an implementation method based on the user selecting the FREE mode, that is, the vehicle has no target drift speed and the target drift speed range. In specific implementation, the vehicle can determine whether to implement drift assistance using the method of Example 1 or the method of Example 2 by judging whether there is a preset target drift speed.

Example 1:

FIG4 is a flow chart of another vehicle drift control method provided in an embodiment of the present application. As shown in FIG4 , the method may include the following steps:

S401. Obtain the speed of the vehicle.

For example, a wheel speed signal sensor installed on the vehicle is used to collect the wheel speed corresponding to the vehicle in real time, and the vehicle speed is calculated based on this.

S402: Determine whether the speed of the vehicle is within a target drift speed range.

For example, the vehicle speed corresponding to the vehicle is calculated according to step S401, and the vehicle controller determines whether the vehicle speed is within the target drift speed range.

If yes, then S403 is executed, if no, then the current process ends. For example, the speed of the vehicle at the next moment can be re-acquired to re-determine whether the condition is met.

S403: Determine whether the vehicle is drifting according to the steering wheel angle value and the accelerator pedal opening value of the vehicle.

For example, if the accelerator pedal opening value of the vehicle is greater than a preset value A1, the absolute value of the steering wheel angle value of the vehicle is greater than a preset value S1, and the rate of change of the steering wheel angle value of the vehicle is greater than a preset value ΔS1, then the vehicle is determined to be drifting; or, if the absolute value of the steering wheel angle value of the vehicle is greater than a preset value S2, the accelerator pedal opening value of the vehicle is greater than a preset value A2, and the rate of change of the accelerator pedal opening value of the vehicle is greater than a preset value ΔA2, then the vehicle is determined to be drifting.

If yes, then S404 is executed, if no, then the current process ends. For example, the speed of the vehicle at the next moment can be re-acquired to re-judge.

S404: Based on the parameters that affect the lateral acceleration and yaw rate of the vehicle, perform drift assist control on the vehicle.

Taking the parameters that affect the lateral acceleration and yaw rate of the vehicle, including the front and rear motor torque distribution ratio, the total torque of the front and rear axles, and the outer rear wheel braking torque as an example, how to implement the vehicle drift assist control is described. FIG5 is a flow chart of a vehicle drift assist control provided by an embodiment of the present application. As shown in FIG5, step S404 may include the following steps:

S501. Adjust the torque distribution ratio of the front and rear motors of the vehicle to increase the torque of the rear motor of the vehicle.

For example, a mapping relationship between the front and rear motor torque distribution ratio and the vehicle speed may be preset, and the front and rear motor torque distribution ratio under the mapping relationship may cause the rear wheels of the vehicle to break through the ground adhesion and slip when the vehicle is traveling at the speed. Therefore, based on the vehicle speed and the mapping relationship, the target front and rear motor torque distribution ratio may be obtained, and the front and rear motor torque distribution ratio of the vehicle may be adjusted to the target front and rear motor torque distribution ratio.

S502: Obtain the yaw angular velocity and lateral acceleration of the vehicle.

S503: Determine whether the yaw angular velocity of the vehicle is less than a lower limit of a preset angular velocity range, and whether the lateral acceleration of the vehicle is less than a lower limit of a preset acceleration range.

If both are less than , it means that the yaw rate and lateral acceleration of the vehicle are insufficient, which may cause the vehicle to drift insufficiently and fail to start drifting, and then S504 is executed. If both are greater than , then S505 is executed.

S504: Increase the rear wheel deflection angle of the vehicle.

For example, a fixed angular velocity step size may be used to increase the rear wheel steering angle of the vehicle, for example, 0.5 degrees.

Alternatively, the rear wheel deflection angle difference of the vehicle may be obtained based on the difference between the current yaw rate and lateral acceleration of the vehicle and the corresponding value range, and the rear wheel deflection angle difference may be increased based on the current rear wheel deflection angle of the vehicle.

Alternatively, the target rear wheel deflection angle of the vehicle may be obtained based on the difference between the current yaw angular velocity and lateral acceleration of the vehicle and the corresponding value ranges, and the current rear wheel deflection angle of the vehicle may be adjusted to the target rear wheel deflection angle.

The embodiments of the present application do not limit how to obtain the above rear wheel deflection angle difference or target rear wheel deflection angle according to the difference between the current vehicle's yaw rate and lateral acceleration and the corresponding value range. For example, the mapping relationship between them can be obtained by offline calibration. The mapping relationship can be presented in a table or expressed by a functional relationship, etc., and the present application does not limit this.

Alternatively, the target steering angle of the vehicle's rear wheels may be acquired based on a preset angular velocity range, the vehicle's yaw angular velocity, an acceleration range, the vehicle's lateral acceleration, and the vehicle's rear axle torque distribution ratio; and the vehicle's rear wheel steering angle may be adjusted to the target steering angle of the rear wheels.

For example, a mapping relationship between a preset angular velocity range, a yaw rate of the vehicle, an acceleration range, a lateral acceleration of the vehicle, a rear axle torque distribution ratio of the vehicle, and a rear wheel target deflection angle may be pre-set, so that the rear wheel target deflection angle may be obtained through the mapping relationship. The mapping relationship may be presented in a table or expressed in a functional relationship, etc., which is not limited in the present application. The above acceleration range may be set, for example, according to drift requirements.

Optionally, after executing this step, the current process ends. For example, the yaw rate and lateral acceleration of the vehicle at the next moment can be re-acquired to re-judge. That is, return to step S502.

S505: Determine whether the yaw angular velocity of the vehicle is greater than an upper limit of a preset angular velocity range, and whether the lateral acceleration of the vehicle exceeds an upper limit of a preset acceleration range.

If both are greater than , it means that the yaw angular velocity and lateral acceleration of the vehicle are too large, which may cause the vehicle to drift excessively and fail to drift, and then execute S506.

If both are less than or equal to, it means that the current yaw rate and lateral acceleration are both within the corresponding preset range, and the process ends. Optionally, the yaw rate and lateral acceleration of the vehicle at the next moment can be re-acquired for re-judgment. That is, return to step S502.

S506. Perform at least one of the following operations: reduce the total torque of the front and rear axles of the vehicle according to the vehicle speed, reduce the rear axle torque distribution ratio of the vehicle according to the vehicle's yaw angular velocity or lateral acceleration, and increase the outer rear wheel braking torque of the vehicle according to the vehicle's rear wheel speed.

For example, a mapping relationship between the vehicle speed and the total torque of the front and rear axles of the vehicle may be preset, and the mapping relationship is used to characterize the mapping relationship between the vehicle and the total torque of the front and rear axles at a certain speed when the yaw rate and lateral acceleration of the vehicle are both within the corresponding preset range. Therefore, the target total torque of the front and rear axles of the vehicle can be obtained through the mapping relationship and the current speed of the vehicle, and the current total torque of the rear axle of the vehicle can be adjusted to the target total torque of the front and rear axles.

Alternatively, the mapping relationship is used to characterize the mapping relationship between the difference between the vehicle's yaw rate and lateral acceleration and the corresponding preset range, the vehicle's current speed and the total torque of the front and rear axles. Therefore, the target total torque of the front and rear axles of the vehicle can be obtained through the mapping relationship, the current speed of the vehicle, and the difference between the vehicle's yaw rate and lateral acceleration and the corresponding preset range, and the current total torque of the rear axle of the vehicle can be adjusted to the target total torque of the front and rear axles.

For example, the rear axle torque distribution ratio difference of the vehicle can be obtained according to the difference between the current vehicle's yaw angular velocity and lateral acceleration and the corresponding value range, and the rear axle torque distribution ratio difference can be increased based on the vehicle's current rear axle torque distribution ratio.

Alternatively, the target rear axle torque distribution ratio of the vehicle can be obtained based on the difference between the current vehicle's yaw angular velocity and lateral acceleration and the corresponding value range, and the current rear axle torque distribution ratio of the vehicle can be adjusted to the target rear axle torque distribution ratio.

The embodiment of the present application does not limit how to obtain the above rear axle torque distribution ratio difference or target rear axle torque distribution ratio according to the difference between the current vehicle's yaw rate, lateral acceleration and the corresponding value range. For example, the mapping relationship between them can be obtained by offline calibration. The mapping relationship can be presented in a table or expressed by a functional relationship, etc., and the present application does not limit this.

For example, a mapping relationship between the rear wheel speed and the outer rear wheel braking torque of the vehicle may be preset, and the mapping relationship is used to characterize the mapping relationship between the rear wheel of the vehicle and the outer rear wheel braking torque at a certain wheel speed when the yaw angular velocity and lateral acceleration of the vehicle are both within the corresponding preset range. Therefore, the target outer rear wheel braking torque of the vehicle can be obtained through the mapping relationship and the current rear wheel speed of the vehicle, and the current outer rear wheel braking torque of the vehicle can be adjusted to the target outer rear wheel braking torque.

Alternatively, the mapping relationship is used to characterize the mapping relationship between the difference between the vehicle's yaw rate and lateral acceleration and the corresponding preset range, and the vehicle's outer rear wheel braking torque at a certain rear wheel speed. Therefore, the target outer rear wheel braking torque of the vehicle can be obtained through the mapping relationship, the vehicle's current rear wheel speed, and the difference between the vehicle's yaw rate and lateral acceleration and the corresponding preset range, and the vehicle's current outer rear wheel braking torque can be adjusted to the target outer rear wheel braking torque.

Optionally, there may be a drift assist configuration option in the drift mode, which is used to configure, during drift assist, which one or more of the following are used to perform drift assist control: reducing the total torque of the front and rear axles of the vehicle according to the vehicle speed, reducing the rear axle torque distribution ratio of the vehicle according to the vehicle yaw rate or lateral acceleration, and increasing the outer rear wheel braking torque of the vehicle according to the rear wheel speed of the vehicle. Alternatively, the drift mode is pre-set to use the one or more items to perform drift assist control.

When multiple items are used for drift assist control, there may be no restriction on the order in which the multiple items are executed, or the execution order of the multiple items may be preset without limitation.

Optionally, after executing this step, the current process ends. For example, the yaw rate and lateral acceleration of the vehicle at the next moment can be re-acquired to re-judge. That is, return to step S502.

S405: After the drift is completed, determine whether the vehicle is in reverse steering based on the steering wheel angle value of the vehicle.

If yes, it means that the vehicle has entered the continuous drifting stage, and step S406 is executed. If no, step S405 is continued to be executed to continuously detect whether the vehicle is in reverse steering.

For example, the target yaw rate of the vehicle can be determined based on the steering wheel angle value of the vehicle; the target yaw rate is subtracted from the yaw rate of the vehicle to obtain the yaw rate difference of the vehicle; if the target yaw rate is greater than a preset angular velocity value YR1, and the yaw rate difference is less than a preset angular velocity value ΔYR1, the vehicle is determined to be in reverse steering.

S406. Adjust the total torque of the front and rear motors of the vehicle according to the speed of the vehicle; and/or, adjust the front and rear motor torque distribution ratio and the rear wheel steering angle of the vehicle according to the real-time yaw angular velocity of the vehicle; and/or, adjust the left and right rear wheel braking torque according to the real-time wheel speed difference between the front and rear wheels of the vehicle.

For example, the vehicle controller may adjust the total torque of the front and rear motors of the vehicle according to the speed of the vehicle so that the speed of the vehicle is within the target drift speed range.

The vehicle controller can adjust the front and rear motor torque distribution ratio of the vehicle and the rear wheel deflection angle of the vehicle according to the vehicle's yaw angular velocity, so that the vehicle's yaw angular velocity remains within a preset angular velocity range.

The vehicle controller adjusts the left and right rear wheel braking torques according to the wheel speed difference between the front and rear wheels of the vehicle to reduce the wheel speed difference between the left and right rear wheels, and the wheel speed difference between the front and rear wheels is maintained within a preset wheel speed difference range.

The embodiment of the present application does not limit the above method of adjusting each parameter, for example, it can be implemented using a pre-calibrated mapping relationship. Taking the total torque of the front and rear motors as an example, for example, a mapping relationship between the speed, the total torque of the front and rear motors, and the target drift speed range can be pre-set, so that the target total torque of the front and rear motors can be obtained based on the mapping relationship to achieve the above adjustment. It should be understood that the mapping relationship used in this embodiment can be expressed in the form of a table or a function.

Optionally, there may be a drift assist configuration option in the drift mode, and the drift assist configuration option is used to configure the use of one or more items for drift assist control during drift assist. Alternatively, the drift mode is pre-set to use the one or more items for drift assist control.

When multiple items are used for drift assist control, there may be no restriction on the order in which the multiple items are executed, or the execution order of the multiple items may be preset, and there is no limitation on this.

It should be noted that multiple steps in the above examples provide possible implementation methods through mapping relationships. In specific implementations, other implementation methods can also be used to achieve the above effects. For example, a lightweight model can be used to obtain the adjustment amount, and then adjustments can be made based on the adjustment amount, etc. This will not be elaborated.

The method of the embodiment of the present application, by adding a drift assist control function and a drift assist function to the vehicle, can automatically adjust the driving force and the braking force according to the vehicle's state, parameters, and the target drift speed range selected by the user, to assist the driver to smoothly enter the drift state during the drifting process, and, by adding a drift assist control function to assist the driver to achieve continuous drifting during the drifting process, thereby making it easier for the driver to start and maintain drifting.

Example 2:

FIG6 is a flow chart of another vehicle drift control method provided in an embodiment of the present application. As shown in FIG6 , the method may include the following steps:

S601. Determine whether the vehicle is drifting according to the steering wheel angle value and the accelerator pedal opening value of the vehicle.

If yes, execute S602, if no, continue to execute step S601 to continuously detect whether the vehicle is drifting.

For example, the above step S601 may refer to the description of the above step S403, which will not be repeated here.

S602: Based on parameters that affect the lateral acceleration and yaw rate of the vehicle, perform drift assist control on the vehicle.

For example, the above step S602 may refer to the description of the above step S404, which will not be repeated here.

S603: After the drift is completed, determine whether the vehicle is in reverse steering based on the steering wheel angle value of the vehicle.

If yes, then execute step S604 , if no, then continue to execute step S603 to continuously detect whether the vehicle is in reverse steering.

For example, the above step S603 may refer to the description of the above step S405, which will not be repeated here.

S604, adjusting the front and rear motor torque distribution ratio according to the rate of change of the accelerator pedal opening value, and adjusting the rear wheel deflection angle of the vehicle according to the steering wheel angle value of the vehicle, and/or adjusting the left and right rear wheel braking torque according to the slip rate of the vehicle's wheels.

For example, the vehicle controller can adjust the front and rear motor torque distribution ratio according to the rate of change of the accelerator pedal opening value, and adjust the rear wheel deflection angle of the vehicle according to the steering wheel angle value of the vehicle to keep the vehicle's yaw angular velocity within a preset angular velocity range.

The vehicle controller can adjust the left and right rear wheel braking torques according to the slip rate of the vehicle's wheels, wherein the slip rate of the wheels can be calculated, for example, from the vehicle's speed and the wheel speed of the vehicle's wheels.

The embodiment of the present application does not limit the above-mentioned method of adjusting each parameter, for example, it can be implemented using a pre-calibrated mapping relationship. Taking the total torque of the front and rear motors as an example, for example, a mapping relationship between the rate of change of the accelerator pedal opening value and the speed of the front and rear motor torque distribution ratio can be pre-set, and the mapping relationship can be a mapping relationship in which the vehicle yaw angular velocity is maintained within a preset angular velocity range, so that the target front and rear motor torque distribution ratio can be obtained based on the mapping relationship to achieve the above-mentioned adjustment. It should be understood that the mapping relationship used in this embodiment can be expressed in the form of a table or a function.

Optionally, there may be a drift assist configuration option in the drift mode, and the drift assist configuration option is used to configure the use of one or more items for drift assist control during drift assist. Alternatively, the drift mode is pre-set to use the one or more items for drift assist control.

When multiple operations are used for drift assist control, there may be no restriction on the execution order of the multiple operations, or the execution order of the multiple operations may be preset, and there is no limitation on this.

It should be noted that multiple steps in the above examples provide possible implementation methods through mapping relationships. In specific implementations, other implementation methods can also be used to achieve the above effects. For example, a lightweight model can be used to obtain the adjustment amount, and then adjustments can be made based on the adjustment amount, etc. This will not be elaborated.

The method of the embodiment of the present application, by adding a drift assist control function and a drift assist function to the vehicle, can automatically adjust the driving force and the braking force according to the state and parameters of the vehicle, assisting the driver to smoothly enter the drift state during the drifting process, and adding a drift assist control function to assist the driver to achieve continuous drifting during the drifting process, thereby making it easier for the driver to start and maintain drifting.

In the above methods of Example 1 and Example 2, after the driver selects the target drift speed, the vehicle controller can obtain the driver's operation of the accelerator and steering wheel, and combine the vehicle speed, yaw rate and other information to determine whether the driver is performing a drift action. In other words, the driver's intention to drift can be identified.

When the driver is identified to start drifting, drift assist control is performed, causing the rear tires to break through the ground adhesion and slip, increasing the lateral acceleration and the vehicle's yaw rate, and causing the vehicle to oversteer, i.e., drift. Then, the vehicle controller can obtain the real-time lateral acceleration and yaw rate, and when it exceeds the preset threshold, reduce the torque distribution ratio and/or the total torque of the front and rear axles, or/and apply the outer rear wheel braking torque to prevent self-rotation or uncontrollability caused by excessive drifting. In other words, the vehicle has a more appropriate drift amplitude, solving the problem of excessive drifting when many people start drifting.

After the drift is completed, the driver quickly reverses the steering wheel (counter-steering) and the vehicle maintains drifting. The vehicle controller can control the total drive torque to keep the vehicle speed within the drift speed range, and/or control the front and rear axle torque distribution ratio to keep the yaw rate within the desired range, and/or control the left and right rear wheel braking torque to eliminate the left and right wheel speed difference and keep the rear and front wheel speed difference within the desired range. The driver keeps the throttle unchanged, and the vehicle controller takes over the front and rear axle drive motor torque control. The driver only needs to operate the steering wheel to adjust the vehicle's driving direction.

That is, by setting the target drift speed, the vehicle controller can maintain the vehicle's speed and drift state by adjusting the torque size, torque distribution ratio, applying braking force and other means, replacing the driver's control of the throttle, and solving the problem of the driver's confusion when drifting and slight improper operation of the throttle, which leads to the destruction of the drift state.

If the drift speed is selected as FREE mode (i.e., the method in Example 2), the drift speed is controlled by the driver through the throttle, and the vehicle controller no longer limits the total torque output. In this scenario, the vehicle controller still controls the front and rear axle torque distribution ratio to keep the yaw rate within the desired range, and/or controls the left and right rear wheel braking torque to eliminate the left and right wheel speed difference, and keeps the rear wheel and front wheel speed difference within the desired range.

It should be noted that in this mode, the driver needs to control the steering wheel and accelerator at the same time to maintain the drift state, which requires slightly higher drifting skills from the driver.

The method of the embodiment of the present application reduces the difficulty of drifting the vehicle through the above-mentioned manner, so that when the driver operates the vehicle, it can easily drift and prevent excessive drifting, thereby reducing the difficulty of drifting and control. For example, the driver only needs to adjust the steering wheel to maintain drift while keeping the throttle stable.

The above is an introduction to the method embodiment of the present application. The following is a description of the device part provided in the embodiment of the present application.

FIG7 is a schematic diagram of the structure of a vehicle drift control device provided in an embodiment of the present application. As shown in FIG7 , the device may include, for example, an acquisition module 701, a first determination module 702, a drift assisting control module 703, a second determination module 704, and a drift assisting control module 705. Optionally, the device may also include, for example, a setting module 706.

An acquisition module 701 is used to acquire a steering wheel angle value and an accelerator pedal opening value of the vehicle;

A first determination module 702 is used to determine whether the vehicle is drifting according to the steering wheel angle value and the accelerator pedal opening value of the vehicle;

A drift assist control module 703 is used to perform drift assist control on the vehicle when it is determined that the vehicle is drifting;

A second determination module 704 is used to determine whether the vehicle is reversed based on the steering wheel angle value of the vehicle after the drift is completed;

The drift assist control module 705 is used to perform drift assist control on the vehicle when it is determined that the vehicle is in reverse steering.

In a possible implementation, the first determination module 702 is specifically used to: if there is a preset target drift speed range, obtain the speed of the vehicle; when the speed of the vehicle is within the target drift speed range, determine whether the vehicle drifts according to the steering wheel angle value and the accelerator pedal opening value of the vehicle.

In a possible implementation manner, the first determining module 702 is specifically configured to:

If the accelerator pedal opening value of the vehicle is greater than a preset value A1, the absolute value of the steering wheel angle value of the vehicle is greater than a preset value S1, and the rate of change of the steering wheel angle value of the vehicle is greater than a preset value ΔS1, then the vehicle is determined to be drifting; or, if the absolute value of the steering wheel angle value of the vehicle is greater than a preset value S2, the accelerator pedal opening value of the vehicle is greater than a preset value A2, and the rate of change of the accelerator pedal opening value of the vehicle is greater than a preset value ΔA2, then the vehicle is determined to be drifting.

In a possible implementation, the setting module 706 is used to:

In response to a drift mode turn-on instruction, a candidate drift speed list and a target button are displayed, wherein the target button is used to indicate that the target drift speed range is not available; in response to a user's selection instruction for a target candidate drift speed in the candidate drift speed list, the target drift speed range is generated according to the target candidate drift speed; or, in response to a user's operation on the target button, the action of setting the target drift speed range is skipped.

In a possible implementation, the drift assisting control module 703 is specifically configured to:

Adjusting the torque distribution ratio between the front and rear motors of the vehicle to increase the torque of the rear motor of the vehicle;

Obtaining the yaw angular velocity and lateral acceleration of the vehicle;

If the yaw rate of the vehicle is less than a lower limit of a preset angular rate range, and the lateral acceleration of the vehicle is less than a lower limit of a preset acceleration range, increasing the rear wheel steering angle of the vehicle;

If the yaw rate of the vehicle is greater than an upper limit of a preset angular rate range, and the lateral acceleration of the vehicle exceeds an upper limit of a preset acceleration range, at least one of the following operations is performed:

The total torque of the front and rear axles of the vehicle is reduced according to the vehicle speed, the rear axle torque distribution ratio of the vehicle is reduced according to the yaw angular velocity or lateral acceleration of the vehicle, and the outer rear wheel braking torque of the vehicle is increased according to the rear wheel speed of the vehicle.

For example, the drift assist control module 703 is specifically used to obtain the target deflection angle of the rear wheels of the vehicle according to the preset angular velocity range, the yaw angular velocity of the vehicle, the acceleration range, the lateral acceleration of the vehicle, and the rear axle torque distribution ratio of the vehicle; and adjust the rear wheel deflection angle of the vehicle to the target rear wheel deflection angle.

In a possible implementation manner, the second determining module 704 is specifically configured to:

determining a target yaw rate of the vehicle based on a steering wheel angle value of the vehicle;

subtracting the target yaw rate from the yaw rate of the vehicle to obtain a yaw rate difference of the vehicle;

If the target yaw rate is greater than a preset angular velocity value YR1 and the yaw rate difference is less than a preset angular velocity value ΔYR1, it is determined that the vehicle is in reverse steering.

In a possible implementation, the drift auxiliary control module 705 is specifically configured to:

If there is a preset target drift speed range, adjusting the total torque of the front and rear motors of the vehicle according to the speed of the vehicle so that the speed of the vehicle is within the target drift speed range;

and/or, adjusting the front and rear motor torque distribution ratio of the vehicle and the rear wheel deflection angle of the vehicle according to the yaw angular velocity of the vehicle, so that the yaw angular velocity of the vehicle is maintained within a preset angular velocity range;

And/or, the left and right rear wheel braking torques are adjusted according to the wheel speed difference between the front and rear wheels of the vehicle to reduce the wheel speed difference between the left and right rear wheels, and the wheel speed difference between the front and rear wheels is maintained within a preset wheel speed difference range.

In a possible implementation, the drift auxiliary control module 705 is specifically configured to:

If there is no preset target drift speed range, adjusting the front and rear motor torque distribution ratio according to the accelerator pedal opening value change rate, and adjusting the rear wheel deflection angle of the vehicle according to the steering wheel angle value of the vehicle, so that the vehicle yaw angular velocity remains within the preset angular velocity range;

And/or, adjusting the left and right rear wheel braking torques according to the slip rate of the wheels of the vehicle.

The device provided in the embodiment of the present application can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

FIG8 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. As shown in FIG8 , the electronic device may include: at least one processor 801 and a memory 802. The electronic device may be, for example, a device with a control function on a vehicle, such as a vehicle controller, or may be an electronic device independent of the vehicle and capable of controlling the vehicle.

The memory 802 is used to store programs. Specifically, the programs may include program codes, and the program codes include computer operation instructions.

The memory 802 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

The processor 801 is used to execute the computer-executable instructions stored in the memory 802 to implement the method of the aforementioned method embodiment. The processor 801 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

Optionally, the electronic device 800 can communicate and interact with other sensors on the vehicle through the communication interface 803 to obtain the values of parameters required to execute the above method embodiments, such as the speed and yaw angular velocity of the vehicle.

In a specific implementation, if the communication interface 803, the memory 802 and the processor 801 are implemented independently, the communication interface 803, the memory 802 and the processor 801 can be connected to each other through a bus and communicate with each other.

Optionally, in a specific implementation, if the communication interface 803, the memory 802 and the processor 801 are integrated on a chip, the communication interface 803, the memory 802 and the processor 801 can communicate through an internal interface.

The present application also provides a vehicle on which a control device (such as a vehicle controller) is deployed, and the device is capable of executing the method actions of the aforementioned embodiment to achieve drift assist control and drift assist control when the driver drives the vehicle to drift.

The present application also provides a computer-readable storage medium, which may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes. Specifically, the computer-readable storage medium stores program instructions, and the program instructions are used to implement the actions of the above-mentioned method implementation method.

The present application also provides a program product, which includes an execution instruction, which is stored in a readable storage medium. At least one processor of the electronic device can read the execution instruction from the readable storage medium, and at least one processor executes the execution instruction so that the electronic device implements the actions of the above method implementation.

The present application also provides an electric vehicle, which is equipped with a vehicle controller, and the vehicle controller is used to implement the actions of the above method implementation method. The electric vehicle can be, for example, an electric vehicle with a front motor and a rear motor.

Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims (14)

1. A vehicle drift control method, characterized in that the method comprises: Obtaining a steering wheel angle value and an accelerator pedal opening value of the vehicle; Determining whether the vehicle is drifting according to a steering wheel angle value and an accelerator pedal opening value of the vehicle; If it is determined that the vehicle is drifting, performing drift assist control on the vehicle; After the drift is completed, determining whether the vehicle is in reverse steering based on the steering wheel angle value of the vehicle; If it is determined that the vehicle is in reverse steering, drift assistance control is performed on the vehicle. 2. The method according to claim 1, characterized in that the determining whether the vehicle is drifting according to the steering wheel angle value and the accelerator pedal opening value of the vehicle comprises: If there is a preset target drift speed range, obtaining the speed of the vehicle; When the speed of the vehicle is within the target drift speed range, whether the vehicle is drifting is determined according to a steering wheel angle value and an accelerator pedal opening value of the vehicle. 3. The method according to claim 2, characterized in that the determining whether the vehicle is drifting according to the steering wheel angle value and the accelerator pedal opening value of the vehicle comprises: If the accelerator pedal opening value of the vehicle is greater than a preset value A1, the absolute value of the steering wheel angle value of the vehicle is greater than a preset value S1, and the steering wheel angle value change rate of the vehicle is greater than a preset value ΔS1, it is determined that the vehicle is drifting; Alternatively, if the absolute value of the steering wheel angle of the vehicle is greater than a preset value S2, the accelerator pedal opening value of the vehicle is greater than a preset value A2, and the accelerator pedal opening value change rate of the vehicle is greater than a preset value ΔA2, it is determined that the vehicle is drifting. 4. The method according to claim 3, characterized in that the method further comprises: In response to a drift mode on instruction, a candidate drift speed list and a target button are displayed, wherein the target button is used to indicate that there is no target drift speed range; In response to a user's selection instruction for a target candidate drift speed in the candidate drift speed list, generating the target drift speed range according to the target candidate drift speed; Alternatively, in response to the user's operation on the target button, the action of setting the target drift speed range is skipped. 5. The method according to any one of claims 1 to 4, characterized in that the performing drift assist control on the vehicle comprises: Adjusting the torque distribution ratio between the front and rear motors of the vehicle to increase the torque of the rear motor of the vehicle; Obtaining the yaw angular velocity and lateral acceleration of the vehicle; If the yaw rate of the vehicle is less than a lower limit of a preset angular rate range, and the lateral acceleration of the vehicle is less than a lower limit of a preset acceleration range, increasing the rear wheel deflection angle of the vehicle; If the yaw rate of the vehicle is greater than an upper limit of a preset angular rate range, and the lateral acceleration of the vehicle exceeds an upper limit of a preset acceleration range, at least one of the following operations is performed: The total torque of the front and rear axles of the vehicle is reduced according to the vehicle speed, the rear axle torque distribution ratio of the vehicle is reduced according to the yaw angular velocity or lateral acceleration of the vehicle, and the outer rear wheel braking torque of the vehicle is increased according to the rear wheel speed of the vehicle. 6. The method according to claim 5, characterized in that increasing the rear wheel deflection angle of the vehicle comprises: Obtaining a target deflection angle of a rear wheel of the vehicle according to the preset angular velocity range, the yaw angular velocity of the vehicle, the acceleration range, the lateral acceleration of the vehicle, and the rear axle torque distribution ratio of the vehicle; The rear wheel deflection angle of the vehicle is adjusted to the rear wheel target deflection angle. 7. The method according to any one of claims 1 to 4, characterized in that the determining whether the vehicle is in reverse steering based on the steering wheel angle value of the vehicle comprises: determining a target yaw rate of the vehicle based on a steering wheel angle value of the vehicle; subtracting the target yaw rate from the yaw rate of the vehicle to obtain a yaw rate difference of the vehicle; If the target yaw rate is greater than a preset angular velocity value YR1 and the yaw rate difference is less than a preset angular velocity value ΔYR1, it is determined that the vehicle is in reverse steering. 8. The method according to any one of claims 1 to 4, characterized in that the drift assist control of the vehicle comprises: If there is a preset target drift speed range, adjusting the total torque of the front and rear motors of the vehicle according to the speed of the vehicle so that the speed of the vehicle is within the target drift speed range; and/or, adjusting the front and rear motor torque distribution ratio of the vehicle and the rear wheel deflection angle of the vehicle according to the yaw angular velocity of the vehicle, so that the yaw angular velocity of the vehicle is maintained within a preset angular velocity range; And/or, adjusting the left and right rear wheel braking torques of the vehicle according to the wheel speed difference between the front and rear wheels of the vehicle to reduce the wheel speed difference between the left and right rear wheels, and maintaining the wheel speed difference between the front and rear wheels within a preset wheel speed difference range. 9. The method according to any one of claims 1 to 4, characterized in that the drift assist control of the vehicle comprises: If there is no preset target drift speed range, adjusting the front and rear motor torque distribution ratio according to the accelerator pedal opening value change rate, and adjusting the rear wheel deflection angle of the vehicle according to the steering wheel angle value of the vehicle, so that the vehicle yaw angular velocity remains within the preset angular velocity range; And/or, adjusting the left and right rear wheel braking torques of the vehicle according to the slip rate of the wheels of the vehicle. 10. A vehicle drift control device, characterized in that the device comprises: An acquisition module, used to acquire a steering wheel angle value and an accelerator pedal opening value of the vehicle; A first determination module, configured to determine whether the vehicle is drifting according to a steering wheel angle value and an accelerator pedal opening value of the vehicle; A drift assist control module, used for performing drift assist control on the vehicle when it is determined that the vehicle is drifting; A second determination module is used to determine whether the vehicle is in reverse steering based on the steering wheel angle value of the vehicle after the drift is completed; The drift assist control module is used to perform drift assist control on the vehicle when it is determined that the vehicle is in reverse steering. 11. An electronic device, comprising: a processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 9. 12. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 9. 13. A computer program product, characterized in that it comprises a computer program, and when the computer program is executed by a processor, it implements the method according to any one of claims 1 to 9. 14. An electric vehicle, characterized in that the electric vehicle is equipped with a vehicle controller, and the vehicle controller is used to implement the method as claimed in any one of claims 1 to 9.