CN-121989907-A - Control method and device for vehicle, processor and electronic equipment

Abstract

The application discloses a control method and device of a vehicle, a processor and electronic equipment. The method comprises the steps of obtaining state information of a vehicle, wherein the state information is used for representing a dynamic running state of the vehicle in a running process, responding to a brake recovery working condition of the vehicle, detecting the vehicle based on the state information to obtain a detection result, wherein the brake recovery working condition is used for representing a working condition that the vehicle converts kinetic energy into electric energy and recovers the electric energy through driving a motor of the vehicle in a deceleration process, the motor outputs negative torque to assist deceleration, the detection result is used for representing whether the vehicle meets a condition for controlling the steering wheel of the vehicle to start jitter suppression, determining a control strategy of the vehicle based on the detection result, and controlling the steering wheel of the vehicle to start jitter suppression or exit jitter suppression according to the control strategy. The application solves the technical problem that the vehicle cannot be effectively controlled.

Inventors

• ZHANG LAIXIN
• XU JIALIANG

Assignees

• 中国第一汽车股份有限公司

Dates

Publication Date

20260508

Application Date

20260327

Claims (13)

1. 1. A control method of a vehicle, characterized by comprising: Acquiring state information of the vehicle, wherein the state information is used for representing a dynamic running state of the vehicle in a running process; Responding to the condition that the vehicle is in a braking recovery condition, and detecting the vehicle based on the state information to obtain a detection result, wherein the braking recovery condition is used for indicating whether the vehicle meets the condition for controlling the steering wheel of the vehicle to start and shake inhibition or not in the deceleration process of the vehicle, the motor of the vehicle is driven to convert kinetic energy into electric energy and recover the electric energy, and the motor outputs negative torque to assist the deceleration condition; Determining a control strategy of the vehicle based on the detection result, wherein the control strategy is used for representing a rule for starting the shake suppression on a steering wheel of the vehicle or exiting the shake suppression; and controlling the steering wheel of the vehicle to start the jitter suppression or to exit the jitter suppression according to the control strategy.
2. 2. The method of claim 1, wherein the status information includes at least one of a vehicle speed of the vehicle, a braking deceleration of the vehicle, an operating mode of a power drive system of the vehicle, a rotational speed of an engine of the vehicle, and detecting the vehicle based on the status information in response to the vehicle being in a brake recovery condition, the detecting comprising: And responding to the vehicle in the brake recovery working condition, detecting the vehicle, determining the magnitude relation between the vehicle speed and a first vehicle speed threshold value, determining the magnitude relation between the brake deceleration and the first brake deceleration threshold value, judging whether the running mode is a non-direct driving mode or not, and determining the magnitude relation between the rotating speed and the first rotating speed threshold value to obtain the detection result.
3. 3. The method of claim 2, determining a magnitude relationship of the rotational speed to a first rotational speed threshold, comprising: In response to the vehicle speed being below the first vehicle speed threshold, the operating mode being the non-direct drive mode, obtaining a brake torque limit value for the electric machine and an actual brake recovery torque for the vehicle, wherein the brake torque limit value is in positive correlation with the brake deceleration, the actual brake recovery torque being indicative of a magnitude of negative torque actually output by a brake system of the vehicle; in response to the actual brake recovery torque being greater than or equal to the brake torque limit value, determining that the rotational speed is greater than or equal to the first rotational speed threshold.
4. 4. The method of claim 2, wherein detecting the vehicle based on the status information in response to the vehicle being in a brake recovery condition, comprises: And in response to the vehicle speed being below the first vehicle speed threshold, the braking deceleration being below the first braking deceleration threshold, the operating mode being the indirect drive mode, and the rotational speed being below the first rotational speed threshold, determining that the detection result is that the vehicle satisfies a condition that controls a steering wheel of the vehicle to initiate the shudder suppression.
5. 5. The method of claim 2, wherein detecting the vehicle based on the status information in response to the vehicle being in a brake recovery condition, comprises: And responding to the vehicle in the braking recovery working condition, detecting the vehicle, determining the magnitude relation between the vehicle speed and a second vehicle speed threshold, determining the magnitude relation between the braking deceleration and the second braking deceleration threshold, and obtaining the detection result if the running mode is a pure electric mode or a parallel mode and the magnitude relation between the rotating speed and the second rotating speed threshold.
6. 6. The method of claim 5, wherein the method further comprises: Determining a first brake recovery sub-condition and a second brake recovery sub-condition corresponding to the brake recovery condition, wherein the first brake recovery sub-condition is used for indicating that a brake torque limit value of the motor reaches or exceeds a maximum assignable limit value of a front axle of the vehicle, and the second brake recovery sub-condition is used for indicating that the brake torque limit value is lower than a low-load brake recovery state of a difference between a front axle limit threshold value of the vehicle and a preset offset; and determining the magnitude relation between the rotating speed and the second rotating speed threshold based on the first braking recovery sub-working condition and the second braking recovery sub-working condition.
7. 7. The method of claim 5, wherein detecting the vehicle based on the status information in response to the vehicle being in a brake recovery condition, comprises: And in response to the vehicle speed being greater than the second vehicle speed threshold, the braking deceleration is greater than the second braking deceleration threshold, the running mode is the pure electric mode or the parallel mode, or the rotating speed is higher than the second rotating speed threshold, and the detection result is determined that the vehicle meets the condition for controlling the steering wheel of the vehicle to exit the shake suppression.
8. 8. The method according to any one of claims 1 to 7, characterized in that determining a control strategy of the vehicle based on the detection result includes: Determining the control strategy to adjust the torque of a front axle in the vehicle and the rotating speed of an engine in response to the detection result that the vehicle meets the condition for controlling the steering wheel of the vehicle to start the shake suppression; and determining the control strategy to terminate the shake suppression in response to the detection result being that the vehicle meets a condition for controlling a steering wheel of the vehicle to exit the shake suppression.
9. 9. A control device for a vehicle, comprising: The system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring state information of the vehicle, wherein the state information is used for representing a dynamic running state of the vehicle in a running process; The detection unit is used for responding to the condition that the vehicle is in a braking recovery condition, detecting the vehicle based on the state information to obtain a detection result, wherein the braking recovery condition is used for indicating whether the vehicle meets the condition for controlling the steering wheel of the vehicle to start jitter suppression or not in the deceleration process, the motor of the vehicle is driven to convert kinetic energy into electric energy and recover the electric energy, and the motor outputs negative torque to assist the deceleration condition; A determining unit configured to determine a control strategy of the vehicle based on the detection result, where the control strategy is used to represent a rule for starting the shake suppression for a steering wheel of the vehicle or exiting the shake suppression; And the control unit is used for controlling the steering wheel of the vehicle to start the jitter suppression or to withdraw from the jitter suppression according to the control strategy.
10. 10. A processor for running a program, wherein the program when run performs the method of any one of claims 1 to 8.
11. 11. An electronic device, comprising: A memory storing an executable program; A processor for executing the program, wherein the program when run performs the method of any one of claims 1 to 8.
12. 12. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program when run controls a device in which the computer readable storage medium is located to perform the method according to any one of claims 1 to 8.
13. 13. A vehicle comprising a memory storing an executable program and a processor for executing the program, wherein the program is executed to perform the method of any one of claims 1 to 8.

Description

Control method and device for vehicle, processor and electronic equipment Technical Field The present application relates to the field of vehicle control technologies, and in particular, to a vehicle control method, device, processor, and electronic apparatus. Background Currently, for the problem of jitter in a vehicle, it is often dependent on physical optimization of the structure of the suspension system of the vehicle. For example, vibration isolation efficiency is improved by locally trimming the vehicle, modifying the material, or redesigning the suspension stiffness and damping characteristics. However, the method needs to be carried out in the middle and later stages of development of the vehicle, and not only needs to carry out simulation verification and bench test of a suspension system in the vehicle again, but also risks such as production line adjustment, cost surge and project period extension are faced. In addition, because the risks are difficult to accurately model and predict in the early simulation stage of the vehicle, the risks are often found by relying on a later real lane road test, so that the correction window is extremely small, and the feasibility and reliability verification of the optimization scheme are seriously insufficient. Therefore, there is still a technical problem that the vehicle cannot be controlled effectively. In view of the above technical problems, no effective solution has been proposed at present. Disclosure of Invention The embodiment of the application provides a vehicle control method, a device, a processor and electronic equipment, which are used for at least solving the technical problem that the vehicle cannot be effectively controlled. According to an aspect of an embodiment of the present application, there is provided a control method of a vehicle. The method comprises the steps of obtaining state information of a vehicle, wherein the state information is used for representing a dynamic running state of the vehicle in a running process, responding to a condition that the vehicle is in a brake recovery condition, detecting the vehicle based on the state information to obtain a detection result, wherein the brake recovery condition is used for representing a condition that the vehicle is in a deceleration process, kinetic energy is converted into electric energy through a motor for driving the vehicle and recovered, the motor outputs negative torque to assist in deceleration, the detection result is used for representing whether the vehicle meets a condition for controlling the steering wheel of the vehicle to start the shake suppression, determining a control strategy of the vehicle based on the detection result, wherein the control strategy is used for representing a rule for starting the shake suppression or exiting the shake suppression on the steering wheel of the vehicle, and controlling the steering wheel of the vehicle to start the shake suppression or exiting the shake suppression according to the control strategy. Optionally, the state information comprises at least one of a vehicle speed of the vehicle, a braking deceleration of the vehicle, an operation mode of a power drive system of the vehicle, a rotational speed of an engine of the vehicle, and detecting the vehicle based on the state information to obtain a detection result in response to the vehicle being in a braking recovery condition, including detecting the vehicle in response to the vehicle being in the braking recovery condition, determining a magnitude relation between the vehicle speed and a first vehicle speed threshold, a magnitude relation between the braking deceleration and the first braking deceleration threshold, whether the operation mode is a non-direct drive mode, and a magnitude relation between the rotational speed and the first rotational speed threshold to obtain the detection result. Optionally, determining the magnitude relation between the rotating speed and the first rotating speed threshold value comprises obtaining a braking torque limiting value of the motor and an actual braking recovery torque of the vehicle in response to the vehicle speed being lower than the first vehicle speed threshold value and the operation mode being a non-direct driving mode, wherein the braking torque limiting value and the braking deceleration are in positive correlation, the actual braking recovery torque is used for representing the magnitude of negative torque actually output by a braking system of the vehicle, and determining that the rotating speed is greater than or equal to the first rotating speed threshold value in response to the actual braking recovery torque being greater than or equal to the braking torque limiting value. Optionally, the vehicle is detected based on the state information in response to the vehicle being in a brake recovery condition, and a detection result is obtained, wherein the detection result comprises that the vehicle is determined to meet t