CN118363363A - Whole vehicle control method, device, equipment and storage medium - Google Patents

Abstract

The present invention relates to the field of vehicle control technology, and discloses a whole vehicle control method, device, equipment and storage medium, the method comprising: obtaining vehicle driving state parameters, and determining preset conditions satisfied by the vehicle driving state parameters; determining vehicle control parameters according to the preset conditions, and obtaining a first control strategy corresponding to the vehicle control parameters; adjusting the vehicle control parameters according to the first control strategy to achieve whole vehicle control. The present invention determines vehicle control parameters according to preset conditions satisfied by vehicle driving state parameters, and adjusts vehicle control parameters according to the control strategy, thereby solving the problem that different system functions are associated with driving modes and cannot be freely adjusted according to real-time vehicle conditions and user needs, thereby achieving free control of driving style and improving driving safety.

Description

Vehicle control method, device, equipment and storage medium

Technical Field

The present invention relates to the field of vehicle control technology, and in particular to a whole vehicle control method, device, equipment and storage medium.

Background technique

Vehicles usually have multiple driving modes, such as sport, comfort, and economy. However, in order to provide customers with a better driving experience, OEMs usually set up the correlation between different system functions and driving modes. Common correlation items include air spring height, CDC adjustable hardness, steering force, pedal feel curve, etc. In this way, the driver will not be able to experience the combination of different systems in different states, which will lead to certain complaints. For example, in the economy mode, the air spring height is usually at a medium height, and the CDC is at a medium force. Once the driving mode is selected, the style of the relevant system is locked, and there is little space for setting. It cannot be freely adjusted according to the real-time vehicle conditions and user needs. If the driver has personalized needs, they will not be met.

Summary of the invention

The main purpose of the present invention is to provide a whole vehicle control method, device, equipment and storage medium, aiming to solve the technical problem that different system functions in the prior art are associated with driving modes and cannot be freely adjusted according to real-time vehicle conditions and user needs.

To achieve the above object, the present invention provides a vehicle control method, the method comprising the following steps:

Acquiring vehicle driving state parameters, and determining preset conditions satisfied by the vehicle driving state parameters;

Determining a vehicle control parameter according to the preset condition, and acquiring a first control strategy corresponding to the vehicle control parameter;

The vehicle control parameters are adjusted according to the first control strategy to achieve whole vehicle control.

Optionally, the vehicle driving state parameters include at least lateral acceleration, longitudinal acceleration, wheel center upper offset distance, wheel center lower offset distance, vehicle driving speed, vehicle steering angle and vehicle yaw angle.

Optionally, the determining of the preset condition satisfied by the vehicle driving state parameter includes:

When at least one of the lateral acceleration, the longitudinal acceleration, the wheel center upper offset distance, the wheel center lower offset distance, the vehicle driving speed and the vehicle steering angle reaches a corresponding parameter threshold, determining that the preset condition satisfied by the vehicle driving state parameter is a first preset condition;

When at least one of the lateral acceleration, the longitudinal acceleration, the vehicle driving speed and the vehicle yaw angle reaches a corresponding parameter threshold, determining that the preset condition satisfied by the vehicle driving state parameter is a second preset condition;

When the vehicle driving speed and/or longitudinal acceleration reaches a corresponding parameter threshold, determining that the preset condition satisfied by the vehicle driving state parameter is a third preset condition;

When the vehicle driving speed reaches the corresponding parameter threshold, it is determined that the preset condition satisfied by the vehicle driving state parameter is a fourth preset condition.

Optionally, determining the vehicle control parameter according to the preset condition includes:

When the preset condition is the first preset condition, determining that the vehicle control parameter is a damping force;

When the preset condition is the second preset condition, determining that the vehicle control parameter is the steering hand force;

When the preset condition is the third preset condition, determining that the vehicle control parameter is a pedal opening;

When the preset condition is the fourth preset condition, the vehicle control parameter is determined to be the empty spring height.

Optionally, the obtaining of a first control strategy corresponding to the vehicle control parameter includes:

When the vehicle control parameter is a damping force, determining that the first control strategy is to increase the damping force until the damping force reaches a damping force threshold;

When the vehicle control parameter is steering hand force, determining that the first control strategy is to increase the steering hand force until the steering hand force reaches a steering hand force threshold;

When the vehicle control parameter is a pedal opening, determining the first control strategy to reduce the pedal opening until the pedal opening reaches a pedal opening target value;

When the vehicle control parameter is the empty spring height, the first control strategy is determined to reduce the empty spring height until the empty spring height reaches an empty spring height target value.

Optionally, after acquiring the vehicle driving state parameter and determining the preset condition satisfied by the vehicle driving state parameter, the method further includes:

When the vehicle driving state parameter does not meet the preset condition, determining the vehicle control parameter according to the driver's input command or by matching the vehicle driving state;

Determining a corresponding second control strategy according to the vehicle control parameter;

The vehicle control parameters are adjusted according to the second control strategy to achieve whole vehicle control.

Optionally, determining the corresponding second control strategy according to the vehicle control parameter includes:

When the vehicle control parameter is a damping force, determining the second control strategy to reduce the damping force when it is detected that the vehicle is in a target road condition;

When the vehicle control parameter is steering hand force, determining that the second control strategy is to obtain historical steering hand force data, and adjusting the steering hand force according to the historical steering hand force data;

When the vehicle control parameter is a pedal opening, determining the second control strategy is to obtain historical pedal opening data, and adjusting the pedal opening according to the historical pedal opening data;

When the vehicle control parameter is the empty spring height, the second control strategy is determined to obtain the vehicle driving speed and adjust the empty spring height according to the vehicle driving speed.

In addition, to achieve the above-mentioned purpose, the present invention further proposes a whole vehicle control device, the whole vehicle control device comprising:

An acquisition module, used to acquire vehicle driving state parameters and determine preset conditions satisfied by the vehicle driving state parameters;

A determination module, used to determine a vehicle control parameter according to the preset condition, and obtain a first control strategy corresponding to the vehicle control parameter;

An adjustment module is used to adjust the vehicle control parameters according to the first control strategy to achieve whole vehicle control.

In addition, to achieve the above-mentioned purpose, the present invention also proposes a whole vehicle control device, which includes: a memory, a processor, and a whole vehicle control program stored in the memory and executable on the processor, and the whole vehicle control program is configured to implement the steps of the whole vehicle control method as described above.

In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a whole vehicle control program is stored, and when the whole vehicle control program is executed by a processor, the steps of the whole vehicle control method described above are implemented.

The present invention obtains vehicle driving state parameters and determines the preset conditions satisfied by the vehicle driving state parameters; determines vehicle control parameters according to the preset conditions and obtains the first control strategy corresponding to the vehicle control parameters; and adjusts the vehicle control parameters according to the first control strategy to achieve vehicle control. In the above manner, by determining the vehicle control parameters according to the preset conditions satisfied by the vehicle driving state parameters and adjusting the vehicle control parameters according to the control strategy, the problem that different system functions are associated with driving modes and cannot be freely adjusted according to real-time vehicle conditions and user needs is solved, and free control of driving style is achieved, thereby improving driving safety.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the structure of a vehicle control device in a hardware operating environment according to an embodiment of the present invention;

FIG2 is a schematic flow chart of a first embodiment of a vehicle control method according to the present invention;

FIG3 is a control block diagram of driving mode decoupling according to an embodiment of a vehicle control method of the present invention;

FIG4 is a schematic flow chart of a second embodiment of a vehicle control method according to the present invention;

FIG5 is an overall flow chart of driving mode decoupling control according to an embodiment of a whole vehicle control method of the present invention;

FIG. 6 is a structural block diagram of the first embodiment of the vehicle control device of the present invention.

The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings.

Detailed ways

It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

Refer to FIG. 1 , which is a schematic diagram of the structure of a vehicle control device in a hardware operating environment according to an embodiment of the present invention.

As shown in FIG1 , the vehicle control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

Those skilled in the art will appreciate that the structure shown in FIG. 1 does not constitute a limitation on the vehicle control device, and may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.

As shown in FIG. 1 , the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a vehicle control program.

In the vehicle control device shown in Figure 1, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the vehicle control device of the present invention can be set in the vehicle control device, and the vehicle control device calls the vehicle control program stored in the memory 1005 through the processor 1001, and executes the vehicle control method provided by the embodiment of the present invention.

An embodiment of the present invention provides a whole vehicle control method. Referring to FIG. 2 , FIG. 2 is a flow chart of a first embodiment of the whole vehicle control method of the present invention.

In this embodiment, the vehicle control method includes the following steps:

Step S10: Acquire vehicle driving state parameters, and determine the preset conditions satisfied by the vehicle driving state parameters.

It should be noted that the executor of this embodiment is the vehicle control device, and may also be other devices that implement the same or similar devices. This embodiment does not impose specific restrictions on this. This embodiment is described using the vehicle control device as an example.

It can be understood that the vehicle driving state parameters refer to a series of parameters that characterize the real-time kinematic and dynamic states of the vehicle, which are directly measured using on-board sensors or estimated using parameter estimation algorithms.

In a specific implementation, the vehicle driving state parameters include at least lateral acceleration, longitudinal acceleration, wheel center upper offset distance, wheel center lower offset distance, vehicle driving speed, vehicle steering angle and vehicle yaw angle, etc. This embodiment does not impose specific restrictions on this.

Furthermore, the determining of the preset conditions satisfied by the vehicle driving state parameters includes:

When at least one of the lateral acceleration, the longitudinal acceleration, the wheel center upper offset distance, the wheel center lower offset distance, the vehicle speed and the vehicle steering angle reaches the corresponding parameter threshold, the preset condition satisfied by the vehicle driving state parameter is determined to be the first preset condition; when at least one of the lateral acceleration, the longitudinal acceleration, the vehicle speed and the vehicle yaw angle reaches the corresponding parameter threshold, the preset condition satisfied by the vehicle driving state parameter is determined to be the second preset condition; when the vehicle speed and/or the longitudinal acceleration reaches the corresponding parameter threshold, the preset condition satisfied by the vehicle driving state parameter is determined to be the third preset condition; when the vehicle speed reaches the corresponding parameter threshold, the preset condition satisfied by the vehicle driving state parameter is determined to be the fourth preset condition.

It should be noted that the preset conditions include the first to fourth preset conditions, and the preset conditions that are satisfied can be determined by comparing the vehicle driving state parameters with the corresponding boundary thresholds.

It can be understood that when the lateral acceleration or longitudinal acceleration is too large and reaches the corresponding first acceleration threshold, it is determined that the first preset condition is met, and the vehicle control parameter is the damping force. When the wheel center offset distance (i.e., wheel center jump) or the wheel center offset distance (i.e., wheel center jump) reaches the corresponding wheel center offset distance threshold, that is, when the wheel center jump or jump is close to the CDC travel limit, it is determined that the first preset condition is met, and the vehicle control parameter is the damping force. When the vehicle speed is too high and reaches the first speed threshold, when the vehicle needs good stability, it is determined that the first preset condition is met, and the vehicle control parameter is the damping force. When the vehicle steering angle is too large, it is determined that the first preset condition is met, and the vehicle control parameter is the damping force.

It is worth noting that when the lateral acceleration or longitudinal acceleration is too large and reaches the corresponding second acceleration threshold, it is determined that the second preset condition is met and the vehicle control parameter is the steering hand force. When the vehicle speed is too high and reaches the second speed threshold, it is determined that the second preset condition is met and the vehicle control parameter is the steering hand force. When the vehicle has a large yaw angle, that is, when the vehicle yaw angle reaches the corresponding yaw angle threshold, it is determined that the second preset condition is met and the vehicle control parameter is the steering hand force.

It is worth noting that when the vehicle speed is too high and reaches the third speed threshold, it is determined that the third preset condition is met and the vehicle control parameter is the pedal opening. When the vehicle longitudinal acceleration is too large, it is determined that the third preset condition is met and the vehicle control parameter is the pedal opening.

It is worth noting that when the vehicle travels at an excessively high speed and reaches a fourth speed threshold, it is determined that the fourth preset condition is satisfied and the vehicle control parameter is the empty spring height.

Step S20: Determine a vehicle control parameter according to the preset condition, and obtain a first control strategy corresponding to the vehicle control parameter.

It should be noted that the preset conditions correspond one-to-one to the vehicle control parameters. The corresponding vehicle control parameters, such as damping force, steering hand force, pedal opening, empty spring height, etc., can be determined based on the preset conditions satisfied by the vehicle driving state parameters. This embodiment does not impose specific restrictions on this.

Further, determining the vehicle control parameter according to the preset condition includes: when the preset condition is a first preset condition, determining the vehicle control parameter to be a damping force; when the preset condition is a second preset condition, determining the vehicle control parameter to be a steering hand force; when the preset condition is a third preset condition, determining the vehicle control parameter to be a pedal opening; when the preset condition is a fourth preset condition, determining the vehicle control parameter to be an empty spring height.

It should be noted that the vehicle control parameters include at least damping force, steering hand force, pedal opening, and air spring height. The vehicle control parameters are controlled by the corresponding system functions, among which the damping force is controlled by the electronic shock absorber controller (CDC); the steering hand force, that is, the steering wheel force, is controlled by the electric power steering system (EPS); the pedal opening, that is, the brake pedal feel, is controlled by the intelligent integrated brake control unit (IPB); and the air spring height is controlled by the active suspension integrated controller (ASC).

It is understandable that when initializing each system of the vehicle and determining whether the system has any faults, it is necessary to confirm that each system has no faults and can respond normally to the decoupling control requirements. Each system is independent and does not affect each other. The driving mode is only associated with the power mode, and the rest is decoupled. The driver can define it according to his personal preferences (air spring height, CDC damping, steering force, pedal feel style). The self-definition has a certain range and boundaries. It can be executed according to the driver's settings within the boundaries. When the boundary value is reached, the execution conditions set by the boundary value will be responded to first to ensure safe driving.

As shown in FIG3 , FIG3 is a control block diagram of driving mode decoupling, wherein the active suspension integrated controller (ASC), the electronically controlled shock absorber controller (CDC), the electric power steering system (EPS), the intelligent integrated brake control unit (IPB) and the power threshold controller (PDCM) are controlled by the vehicle-mounted host (IVI), the air spring height is controlled by the active suspension integrated controller (ASC), the shock absorber damping is controlled by the electronically controlled shock absorber controller (CDC), the steering wheel power is controlled by the electric power steering system (EPS), the brake pedal feel is controlled by the intelligent integrated brake control unit (IPB), and the vehicle power is controlled by the power threshold controller (PDCM).

In a specific implementation, if the vehicle driving state parameter satisfies the first preset condition, the vehicle control parameter is the damping force; if the vehicle driving state parameter satisfies the second preset condition, the vehicle control parameter is the steering hand force; if the vehicle driving state parameter satisfies the third preset condition, the vehicle control parameter is the pedal opening; if the vehicle driving state parameter satisfies the fourth preset condition, the vehicle control parameter is the empty spring height.

Step S30: adjusting the vehicle control parameters according to the first control strategy to achieve whole vehicle control.

It should be noted that the vehicle control parameters are adjusted by executing corresponding control strategies through the control systems corresponding to the vehicle control parameters.

Furthermore, after obtaining the vehicle driving state parameters and determining that the vehicle driving state parameters satisfy the preset conditions, it also includes: when the vehicle driving state parameters do not satisfy the preset conditions, determining the vehicle control parameters according to the driver's input instructions or by matching the vehicle driving state; determining a corresponding second control strategy according to the vehicle control parameters; and adjusting the vehicle control parameters according to the second control strategy to achieve whole vehicle control.

It should be noted that when the vehicle driving state parameters do not meet the preset conditions, that is, the vehicle driving state parameters have not reached the boundary threshold, the vehicle control parameters that need to be adjusted are determined according to the driver's input instructions. Within the boundary value range of the vehicle control parameters, the driver can freely choose the size of the vehicle control parameters. For example, when the vehicle control parameter is the damping force, the driver can freely choose the CDC damping force within the boundary value range; when the vehicle control parameter is the steering hand force, the driver can freely choose the steering hand force within the boundary value range; when the vehicle control parameter is the pedal opening, the driver can freely choose different pedal feels within the boundary value range; when the vehicle control parameter is the empty spring height, the driver can freely choose different empty spring heights within the boundary value range.

In the specific implementation, the second control strategy includes manual mode and automatic mode; the manual mode controls the entire vehicle according to the vehicle control parameters selected by the driver, such as damping force, steering force, pedal feel, and air spring height; the automatic mode automatically matches the above vehicle control parameters according to the vehicle driving status.

Further, when the vehicle control parameter is the damping force, the second control strategy is determined to reduce the damping force when it is detected that the vehicle is in the target road condition; when the vehicle control parameter is the steering hand force, the second control strategy is determined to obtain historical steering hand force data, and adjust the steering hand force according to the historical steering hand force data; when the vehicle control parameter is the pedal opening, the second control strategy is determined to obtain historical pedal opening data, and adjust the pedal opening according to the historical pedal opening data; when the vehicle control parameter is the empty spring height, the second control strategy is determined to obtain the vehicle driving speed, and adjust the empty spring height according to the vehicle driving speed.

It should be noted that when the vehicle control parameter is the damping force, if it is detected that the vehicle is traveling on a continuously uneven road surface, that is, the target road condition, but the boundary condition is not met, if the CDC damping force is at the hardest stiffness, it is requested to reduce the stiffness to improve comfort.

It can be understood that when the vehicle control parameter is the steering hand force, if the vehicle driving state parameter does not reach the boundary condition, the system records the driver's driving habits. If the driver likes to steer sharply, the system recommends setting a large hand force. On the contrary, if the driver does not have the habit of steer sharply, the system recommends setting a light hand force.

It is worth mentioning that when the vehicle control parameter is the pedal opening, if the vehicle driving state parameter does not reach the boundary condition, the system will record the driver's driving habits. If the driver likes to frequently brake and other aggressive driving habits, the system recommends setting it to a heavy pedal feel, otherwise it recommends setting it to a light pedal feel.

It is worth mentioning that when the vehicle control parameter is the height of the empty spring, the speed-dependent function under personalization can be set to automatically lower the height of the empty spring at high speed to improve driving stability, and automatically raise the height of the empty spring at low speed to improve vehicle passability and the driver's field of vision. When the static empty spring height needs to be adjusted, it can be linked with CDC, and CDC switches the damping value to a low value to improve adjustment efficiency.

In a specific implementation, the vehicle driving state parameters are obtained, and it is determined whether the vehicle driving state parameters meet preset conditions; based on the preset conditions, it is determined whether the vehicle control parameters are executed according to the first control strategy or the second control strategy; and the vehicle control parameters are adjusted according to the selected control strategy to achieve whole vehicle control.

This embodiment obtains vehicle driving state parameters and determines the preset conditions satisfied by the vehicle driving state parameters; determines vehicle control parameters according to the preset conditions and obtains the first control strategy corresponding to the vehicle control parameters; adjusts the vehicle control parameters according to the first control strategy to achieve vehicle control. In the above manner, by determining the vehicle control parameters according to the preset conditions satisfied by the vehicle driving state parameters and adjusting the vehicle control parameters according to the control strategy, the problem that different system functions are associated with driving modes and cannot be freely adjusted according to real-time vehicle conditions and user needs is solved, and free control of driving style is achieved, thereby improving driving safety.

Refer to FIG. 4 , which is a flow chart of a second embodiment of a whole vehicle control method according to the present invention.

Based on the first embodiment, the vehicle control method of this embodiment includes, in step S20:

Step S201: when the vehicle control parameter is the damping force, determining that the first control strategy is to increase the damping force until the damping force reaches a damping force threshold.

It should be noted that when the vehicle driving state parameters associated with the damping force reach the boundary value, the damping force is adjusted to the hardest stiffness through the electronic shock absorber controller (CDC) to ensure safety. For example, when the threshold value is too large in lateral acceleration or longitudinal acceleration, the CDC is forced to switch to the hardest mode; when the wheel center jumps up or down close to the CDC travel limit, it switches to the hardest mode; when the vehicle speed is too high and good stability is required, it switches to the hardest mode; when the vehicle is at a large steering angle, it switches to the hardest mode.

Step S202: When the vehicle control parameter is the steering hand force, determining that the first control strategy is to increase the steering hand force until the steering hand force reaches a steering hand force threshold.

It should be noted that when the vehicle driving state parameter associated with the steering hand force reaches a boundary value, the steering hand force is adjusted to the maximum through the electric power steering system (EPS) to ensure safety.

Step S203: When the vehicle control parameter is the pedal opening, determining that the first control strategy is to reduce the pedal opening until the pedal opening reaches a pedal opening target value.

It should be noted that when the vehicle driving state parameter associated with the pedal opening reaches the boundary value, the pedal opening is adjusted to a light pedal feel through the intelligent integrated brake control unit (IPB) to ensure safety.

Step S204: When the vehicle control parameter is the empty spring height, determining that the first control strategy is to reduce the empty spring height until the empty spring height reaches an empty spring height target value.

It should be noted that when the vehicle body is in the highest posture, if the vehicle driving state parameter related to the air spring height reaches the boundary value, the air spring height is adjusted through the active suspension integrated controller (ASC) to adjust the vehicle body to the middle height to ensure safety. The air spring height is related to the vehicle model and shock absorber model.

As shown in Figure 5, Figure 5 is an overall flow chart of the driving mode decoupling control. After the system is initialized, it is determined whether the limit conditions are met. If so, the limit boundary conditions are responded to first. If not, the driver can customize several parameters to detect driving habits, and then recommend adjusting the steering hand and pedal feel according to the driving habits, and detect whether the road surface grade meets the switching conditions. If so, it is recommended to adjust the damping. If not, the driving habits are detected and the damping is recommended to be adjusted according to the driving habits.

In this embodiment, when the vehicle control parameter is the damping force, the first control strategy is determined to increase the damping force until the damping force reaches the damping force threshold; when the vehicle control parameter is the steering hand force, the first control strategy is determined to increase the steering hand force until the steering hand force reaches the steering hand force threshold; when the vehicle control parameter is the pedal opening, the first control strategy is determined to reduce the pedal opening until the pedal opening reaches the pedal opening target value; when the vehicle control parameter is the empty spring height, the first control strategy is determined to reduce the empty spring height until the empty spring height reaches the empty spring height target value. In the above manner, the corresponding control strategy is determined according to the vehicle control parameters, so as to adjust the vehicle control parameters and improve driving safety.

Refer to FIG. 6 , which is a structural block diagram of a first embodiment of a whole vehicle control device according to the present invention.

As shown in FIG6 , the vehicle control device provided in the embodiment of the present invention includes:

The acquisition module 10 is used to acquire vehicle driving state parameters and determine the preset conditions satisfied by the vehicle driving state parameters.

The determination module 20 is used to determine the vehicle control parameter according to the preset condition and obtain the first control strategy corresponding to the vehicle control parameter.

The adjustment module 30 is used to adjust the vehicle control parameters according to the first control strategy to achieve whole vehicle control.

This embodiment obtains vehicle driving state parameters and determines the preset conditions satisfied by the vehicle driving state parameters; determines vehicle control parameters according to the preset conditions and obtains the first control strategy corresponding to the vehicle control parameters; adjusts the vehicle control parameters according to the first control strategy to achieve vehicle control. In the above manner, by determining the vehicle control parameters according to the preset conditions satisfied by the vehicle driving state parameters and adjusting the vehicle control parameters according to the control strategy, the problem that different system functions are associated with driving modes and cannot be freely adjusted according to real-time vehicle conditions and user needs is solved, and free control of driving style is achieved, thereby improving driving safety.

In one embodiment, the vehicle driving state parameters include at least lateral acceleration, longitudinal acceleration, wheel center upper offset distance, wheel center lower offset distance, vehicle driving speed, vehicle steering angle and vehicle yaw angle.

In one embodiment, the acquisition module 10 is further used to determine that the preset condition satisfied by the vehicle driving state parameter is a first preset condition when at least one of the lateral acceleration, the longitudinal acceleration, the wheel center upper offset distance, the wheel center lower offset distance, the vehicle driving speed and the vehicle steering angle reaches a corresponding parameter threshold; to determine that the preset condition satisfied by the vehicle driving state parameter is a second preset condition when at least one of the lateral acceleration, the longitudinal acceleration, the vehicle driving speed and the vehicle yaw angle reaches a corresponding parameter threshold; to determine that the preset condition satisfied by the vehicle driving state parameter is a third preset condition when the vehicle driving speed and/or the longitudinal acceleration reaches a corresponding parameter threshold; and to determine that the preset condition satisfied by the vehicle driving state parameter is a fourth preset condition when the vehicle driving speed reaches a corresponding parameter threshold.

In one embodiment, the determination module 20 is also used to determine that the vehicle control parameter is the damping force when the preset condition is the first preset condition; to determine that the vehicle control parameter is the steering hand force when the preset condition is the second preset condition; to determine that the vehicle control parameter is the pedal opening when the preset condition is the third preset condition; and to determine that the vehicle control parameter is the empty spring height when the preset condition is the fourth preset condition.

In one embodiment, the determination module 20 is also used to determine that the first control strategy is to increase the damping force until the damping force reaches a damping force threshold when the vehicle control parameter is the damping force; to determine that the first control strategy is to increase the steering hand force until the steering hand force reaches a steering hand force threshold when the vehicle control parameter is the pedal opening; to determine that the first control strategy is to reduce the pedal opening until the pedal opening reaches a target pedal opening value when the vehicle control parameter is the empty spring height; and to determine that the first control strategy is to reduce the empty spring height until the empty spring height reaches a target empty spring height value when the vehicle control parameter is the empty spring height.

In one embodiment, the acquisition module 10 is also used to determine the vehicle control parameters according to the driver's input instructions or by matching the vehicle driving state when the vehicle driving state parameters do not meet the preset conditions; determine the corresponding second control strategy according to the vehicle control parameters; adjust the vehicle control parameters according to the second control strategy to achieve whole vehicle control.

In one embodiment, the acquisition module 10 is also used to determine, when the vehicle control parameter is the damping force, that the second control strategy is to reduce the damping force when it is detected that the vehicle is in a target road condition; when the vehicle control parameter is the steering hand force, determine that the second control strategy is to obtain historical steering hand force data, and adjust the steering hand force according to the historical steering hand force data; when the vehicle control parameter is the pedal opening, determine that the second control strategy is to obtain historical pedal opening data, and adjust the pedal opening according to the historical pedal opening data; when the vehicle control parameter is the empty spring height, determine that the second control strategy is to obtain the vehicle driving speed, and adjust the empty spring height according to the vehicle driving speed.

In addition, to achieve the above-mentioned purpose, the present invention also proposes a whole vehicle control device, which includes: a memory, a processor, and a whole vehicle control program stored in the memory and executable on the processor, and the whole vehicle control program is configured to implement the steps of the whole vehicle control method as described above.

Since the whole vehicle control device adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

In addition, an embodiment of the present invention further proposes a storage medium, on which a whole vehicle control program is stored. When the whole vehicle control program is executed by a processor, the steps of the whole vehicle control method described above are implemented.

Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

In addition, for technical details that are not described in detail in this embodiment, reference can be made to the vehicle control method provided in any embodiment of the present invention, and they will not be repeated here.

In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM)/RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims (10)

1. A method for controlling a whole vehicle, the method comprising:

Acquiring a vehicle running state parameter, and determining preset conditions met by the vehicle running state parameter;

determining vehicle control parameters according to the preset conditions, and acquiring a first control strategy corresponding to the vehicle control parameters;

And adjusting the vehicle control parameters according to the first control strategy to realize the whole vehicle control.

2. The method of claim 1, wherein the vehicle travel state parameters include at least lateral acceleration, longitudinal acceleration, over-center offset distance, under-center offset distance, vehicle travel speed, vehicle steering angle, and vehicle yaw angle.

3. The method of claim 2, wherein the determining the preset condition satisfied by the vehicle driving state parameter comprises:

When at least one of the lateral acceleration, the longitudinal acceleration, the wheel center upper offset distance, the wheel center lower offset distance, the vehicle running speed and the vehicle steering angle reaches a corresponding parameter threshold value, determining that the preset condition met by the vehicle running state parameter is a first preset condition;

When at least one of the lateral acceleration, the longitudinal acceleration, the vehicle running speed and the vehicle yaw angle reaches a corresponding parameter threshold value, determining that a preset condition satisfied by the vehicle running state parameter is a second preset condition;

When the running speed and/or the longitudinal acceleration of the vehicle reach the corresponding parameter threshold values, determining that the preset condition met by the running state parameters of the vehicle is a third preset condition;

And when the vehicle running speed reaches a corresponding parameter threshold value, determining that the preset condition met by the vehicle running state parameter is a fourth preset condition.

4. The method of claim 1, wherein said determining vehicle control parameters based on said preset conditions comprises:

When the preset condition is a first preset condition, determining the vehicle control parameter as a damping force;

When the preset condition is a second preset condition, determining that the vehicle control parameter is steering hand force;

When the preset condition is a third preset condition, determining that the vehicle control parameter is pedal opening;

and when the preset condition is a fourth preset condition, determining that the vehicle control parameter is the air spring height.

5. The method of claim 1, wherein the obtaining the first control strategy corresponding to the vehicle control parameter comprises:

when the vehicle control parameter is a damping force, determining that the first control strategy is to increase the damping force until the damping force reaches a damping force threshold;

When the vehicle control parameter is steering hand force, determining that the first control strategy will increase the steering hand force until the steering hand force reaches a steering hand force threshold;

when the vehicle control parameter is pedal opening, determining that the first control strategy is to reduce the pedal opening until the pedal opening reaches a target pedal opening value;

And when the vehicle control parameter is the air spring height, determining the first control strategy to reduce the air spring height until the air spring height reaches an air spring height target value.

6. The method of claim 1, wherein after the acquiring the vehicle running state parameter, further comprising:

When the vehicle running state parameter does not meet the preset condition, determining the vehicle control parameter according to an input instruction of a driver or by matching the vehicle running state;

Determining a corresponding second control strategy according to the vehicle control parameters;

and adjusting the vehicle control parameters according to the second control strategy to realize the whole vehicle control.

7. The method of claim 6, wherein the determining a corresponding second control strategy based on the vehicle control parameters comprises:

when the vehicle control parameter is damping force, determining the second control strategy to reduce the damping force when the vehicle is detected to be in a target road condition;

When the vehicle control parameter is steering hand force, determining that the second control strategy is to acquire historical steering hand force data, and adjusting the steering hand force according to the historical steering hand force data;

when the vehicle control parameter is pedal opening, determining that the second control strategy is to acquire historical pedal opening data, and adjusting the pedal opening according to the historical pedal opening data;

And when the vehicle control parameter is the air spring height, determining the second control strategy to acquire the vehicle running speed, and adjusting the air spring height according to the vehicle running speed.

8. The utility model provides a whole car controlling means which characterized in that, whole car controlling means includes:

The acquisition module is used for acquiring the vehicle running state parameters and determining preset conditions met by the vehicle running state parameters;

The determining module is used for determining vehicle control parameters according to the preset conditions and acquiring a first control strategy corresponding to the vehicle control parameters;

And the adjusting module is used for adjusting the vehicle control parameters according to the first control strategy so as to realize the whole vehicle control.

9. The whole vehicle control device is characterized by comprising: the vehicle control system comprises a memory, a processor and a vehicle control program stored on the memory and capable of running on the processor, wherein the vehicle control program is configured to realize the vehicle control method as claimed in any one of claims 1 to 7.

10. A storage medium, wherein a vehicle control program is stored on the storage medium, and when executed by a processor, the vehicle control program implements the vehicle control method according to any one of claims 1 to 7.