CN117141458A - Vehicle drift control method and vehicle - Google Patents

Vehicle drift control method and vehicle Download PDF

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Publication number
CN117141458A
CN117141458A CN202311127695.5A CN202311127695A CN117141458A CN 117141458 A CN117141458 A CN 117141458A CN 202311127695 A CN202311127695 A CN 202311127695A CN 117141458 A CN117141458 A CN 117141458A
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CN
China
Prior art keywords
vehicle
target
torque
current
feedforward
Prior art date
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Pending
Application number
CN202311127695.5A
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Chinese (zh)
Inventor
赵洋
崔金龙
吴爱彬
周泽慧
卢渊俊
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FAW Group Corp
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FAW Group Corp
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Publication date
Application filed by FAW Group Corp filed Critical FAW Group Corp
Priority to CN202311127695.5A priority Critical patent/CN117141458A/en
Publication of CN117141458A publication Critical patent/CN117141458A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/101—Side slip angle of tyre
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0604—Throttle position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/30—Wheel torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)

Abstract

The invention discloses a drift control method of a vehicle and the vehicle. Wherein the method comprises the following steps: in response to receiving a drift mode starting instruction, controlling a stability control system of the vehicle to be closed; and adjusting the current driving parameters of the vehicle based on the state parameters of the vehicle to obtain target driving parameters, wherein the state parameters comprise at least one of the following: the accelerator opening state and the yaw rate, and the current driving parameters comprise at least one of the following: the method comprises the steps of feeding forward four-wheel drive torque at present, feeding back four-wheel drive torque at present and sliding rate at present, wherein the feeding forward four-wheel drive torque at present is used for providing power for drifting of a vehicle, the feeding back four-wheel drive torque at present is used for maintaining a drifting state of the vehicle, and the sliding rate at present is used for maintaining the drifting state of the vehicle; the vehicle is drift controlled based on the target parameter. The invention solves the technical problem that the vehicle drifting is difficult in the related art.

Description

Vehicle drift control method and vehicle
Technical Field
The invention relates to the field of vehicle control, in particular to a drift control method of a vehicle and the vehicle.
Background
The drift can bring very big driving challenge and driving enjoyment for the driver, and in current correlation technique, drift driving's operation is comparatively complicated, and is higher to the requirement of driver, and because the operation stability of pure electric four-wheel drive car is stronger, therefore the vehicle drift is comparatively difficult.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a vehicle drift control method and a vehicle, which are used for at least solving the technical problem that vehicle drift is difficult in the related art.
According to an aspect of an embodiment of the present invention, there is provided a drift control method of a vehicle, including: in response to receiving a drift mode starting instruction, controlling a stability control system of the vehicle to be closed; and adjusting the current driving parameters of the vehicle based on the state parameters of the vehicle to obtain target driving parameters, wherein the state parameters comprise at least one of the following: the accelerator opening state and the yaw rate, and the current driving parameters comprise at least one of the following: the method comprises the steps of feeding forward four-wheel drive torque at present, feeding back four-wheel drive torque at present and sliding rate at present, wherein the feeding forward four-wheel drive torque at present is used for providing power for drifting of a vehicle, the feeding back four-wheel drive torque at present is used for maintaining a drifting state of the vehicle, and the sliding rate at present is used for maintaining the drifting state of the vehicle; the vehicle is drift controlled based on the target drive parameter.
Optionally, adjusting the current driving parameters of the vehicle based on the state parameters of the vehicle to obtain target driving parameters, including: based on the throttle opening state, adjusting the current feedforward four-wheel drive torque to obtain a target feedforward four-wheel drive torque; based on the yaw rate, adjusting the current feedback four-wheel drive torque to obtain a target feedback four-wheel drive torque; and adjusting the current slip rate based on the yaw rate to obtain a target slip rate.
Optionally, the current slip ratio includes: the current front axle slip rate and the current rear axle slip rate, the target slip rate includes: the target front axle slip ratio and the target rear axle slip ratio are based on yaw rate, the current slip ratio of the vehicle is adjusted to obtain the target slip ratio, and the method comprises the following steps: in response to the yaw rate being greater than the preset yaw rate, controlling the current rear axle slip rate to decrease to obtain a target rear axle slip rate, and controlling the current front axle slip rate to increase to obtain a target front axle slip rate; and determining the current rear axle slip rate as a target rear axle slip rate and determining the current front axle slip rate as a target front axle slip rate in response to the yaw rate being less than or equal to the preset yaw rate.
Optionally, drift control is performed on the vehicle based on the target parameter, including: determining a front axle shaft speed difference and a rear axle shaft speed difference of the vehicle based on the target front axle slip rate and the target rear axle slip rate; determining a torque adjustment amount based on the front axle shaft speed difference and the rear axle shaft speed difference; the vehicle is drift-controlled based on the torque adjustment amount.
Optionally, determining the front axle shaft speed difference and the rear axle shaft speed difference of the vehicle based on the target front axle slip ratio and the target rear axle slip ratio includes: determining an actual front axle speed and an actual rear axle speed of the vehicle based on wheel speeds of the vehicle; determining a preset front axle speed of the vehicle based on the target front axle slip rate; determining a preset rear axle speed of the vehicle based on the target rear axle slip rate; acquiring a difference value between an actual front axle speed and a preset front axle speed to obtain a front axle speed difference; and obtaining a difference value between the actual rear axle speed and the preset rear axle speed to obtain a rear axle speed difference.
Optionally, the current feed-forward four-drive torque includes: the current feedforward precursor torque and the current feedforward postdrive torque, and the target feedforward four-drive torque comprises: the target feedforward precursor torque and the target feedforward rear drive torque are used for adjusting the current feedforward four-drive torque based on the accelerator opening state to obtain the target feedforward four-drive torque, and the method comprises the following steps: responding to the accelerator opening state as accelerator opening increase, controlling the current feedforward precursor torque to decrease to obtain target feedforward precursor torque, and controlling the current feedforward rear-drive torque to increase to obtain target feedforward rear-drive torque; and in response to the throttle opening state being that the throttle opening is reduced, controlling the current feedforward precursor torque to be increased to obtain the target feedforward precursor torque, and controlling the current feedforward rear-drive torque to be reduced to obtain the target feedforward rear-drive torque.
Optionally, the current feedback four-wheel drive torque includes: the current feedback precursor torque and the current feedback post-drive torque, and the target feedback four-drive torque comprises: the target feedback precursor torque and the target feedback post-driving torque are adjusted to obtain the target feedback four-driving torque based on the yaw rate, and the method comprises the following steps: in response to the yaw rate being greater than the preset yaw rate, controlling the current feedback precursor torque to increase to obtain a target feedback precursor torque, and controlling the current feedback precursor torque to decrease to obtain a target feedback precursor torque; and determining the current feedback precursor torque as the target feedback precursor torque in response to the current yaw rate being less than or equal to the preset yaw rate.
Optionally, after receiving the drift mode on instruction, the method further comprises: displaying a prompt window on a preset screen, wherein the prompt window is used for prompting a user whether to confirm to start a drift mode; responding to a confirmation instruction acting on the prompt window, and controlling the vehicle to enter a drifting mode; in response to a cancel command acting on the prompt window, the vehicle is prohibited from entering the drift mode.
According to another aspect of the embodiments of the present invention, there is also provided a nonvolatile storage medium, characterized in that the nonvolatile storage medium includes a stored program, wherein the drift control method of the vehicle of any one of the above is executed in a processor of a device where the program is controlled when running.
According to another aspect of the embodiment of the present invention, there is also provided a vehicle, characterized by comprising: one or more processors; a storage means for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors are caused to perform the drift control method of the vehicle of any one of the above.
According to another aspect of the embodiment of the present invention, there is also provided a processor for running a program, where the program executes the drift control method of the vehicle.
In the embodiment of the invention, a stability control system of a vehicle is controlled to be closed in response to receiving a drifting mode starting instruction; and adjusting the current driving parameters of the vehicle based on the state parameters of the vehicle to obtain target driving parameters, wherein the state parameters comprise at least one of the following: the accelerator opening state and the yaw rate, and the current driving parameters comprise at least one of the following: the method comprises the steps of feeding forward four-wheel drive torque at present, feeding back four-wheel drive torque at present and sliding rate at present, wherein the feeding forward four-wheel drive torque at present is used for providing power for drifting of a vehicle, the feeding back four-wheel drive torque at present is used for maintaining a drifting state of the vehicle, and the sliding rate at present is used for maintaining the drifting state of the vehicle; the vehicle is drift controlled based on the target parameter. According to the method, under the condition that the vehicle is required to be subjected to drift control, the stability control system is firstly closed, then driving parameters such as the current feedforward four-wheel drive torque, the current feedback four-wheel drive torque and the current slip rate of the vehicle are adjusted, finally the vehicle is subjected to drift control based on the adjusted driving parameters, the effect of avoiding the influence of the vehicle stability control system is achieved, the vehicle can be subjected to drift control only by adjusting the driving parameters, the technical effect of simply controlling the vehicle to drift is achieved, and the technical problem that the vehicle drift is difficult in the related art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a flowchart of a drift control method of a vehicle according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a drift control system for a vehicle according to an embodiment of the application;
fig. 3 is a schematic diagram of a drift control device of a vehicle according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to an embodiment of the present invention, there is provided a drift control method of a vehicle, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in an order different from that herein.
The method embodiments provided by the embodiments of the present invention may be performed in a mobile terminal, computer terminal or similar electronic device that includes a memory and a processor. Taking an electronic device as an example, the electronic device may include one or more processors and memory for storing data. Optionally, the electronic apparatus may further include a communication device for a communication function and a display device. It will be appreciated by those of ordinary skill in the art that the foregoing structural descriptions are merely illustrative and are not intended to limit the structure of the electronic device. The electronic device may also include more or fewer components than described above, or have a different configuration than described above.
The processor may include one or more processing units. For example: the processor may include a processing device of a central processing unit (central processing unit, CPU), a graphics processor (graphics processing unit, GPU), a digital signal processing (digital signal processing, DSP) chip, a microprocessor (microcontroller unit, MCU), a programmable logic device (field-programmable gate array, FPGA), a neural network processor (neural-network processing unit, NPU), a tensor processor (tensor processing unit, TPU), an artificial intelligence (artificial intelligent, AI) type processor, or the like. Wherein the different processing units may be separate components or may be integrated in one or more processors. In some examples, the electronic device may also include one or more processors.
The memory may be used to store a computer program, for example, a computer program corresponding to a method for testing a touch screen of a vehicle in an embodiment of the present invention, and the processor executes the computer program stored in the memory, thereby implementing the method for testing a touch screen of a vehicle. The memory may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory. In some examples, the memory may further include memory remotely located with respect to the processor, which may be connected to the electronic device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The communication device is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the communication device includes a network adapter (network interface controller, NIC) that can connect to other network devices through the base station to communicate with the internet. In one example, the communication device may be a Radio Frequency (RF) module for communicating with the internet wirelessly.
Display devices may be, for example, touch screen type liquid crystal displays (liquid crystal display, LCDs) and touch displays (also referred to as "touch screens" or "touch display screens"). The liquid crystal display may enable a user to interact with a user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (graphical user interface, GUI) with which a user can interact with the GUI by touching finger contacts and/or gestures on the touch-sensitive surface, where the human-machine interaction functionality optionally includes the following interactions: executable instructions for performing the above-described human-machine interaction functions, such as creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, sending and receiving electronic mail, talking interfaces, playing digital video, playing digital music, and/or web browsing, are configured/stored in a computer program product or readable storage medium executable by one or more processors.
Fig. 1 is a flowchart of a drift control method of a vehicle according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S102, in response to receiving the drifting mode starting instruction, the stability control system of the vehicle is controlled to be closed.
The drift mode on command may be understood as a command for instructing the vehicle to turn on the drift mode, and the stability control system may be understood as a control system for improving the stability and safety of the vehicle under various driving conditions.
In an alternative embodiment, the drift mode on command may be issued by a physical button or by voice, for example, when the user presses the button of "drift mode", the user may be considered to issue the drift mode on command, or when the user speaks "turn on drift mode", the user may be considered to issue the drift mode on command.
It can be understood that when the vehicle receives the drifting mode starting instruction, the user can consider that the vehicle needs to be controlled to drift at the moment, and as the stability control system of the vehicle can timely identify and correct the situation of vehicle out of control or instability by monitoring various parameters of the vehicle and the control behavior of a driver so as to improve the operability and the safety of the vehicle, the vehicle drifting is a dynamic driving mode that the tail of the vehicle loses traction and slides in a curve by controlling the steering and the accelerator of the vehicle, thereby realizing high-speed turning or twisting driving, namely, the stability control system of the vehicle can influence the vehicle drifting, thereby reducing the success rate of vehicle drifting and increasing the difficulty of vehicle drifting.
Step S104, based on the state parameters of the vehicle, adjusting the current driving parameters of the vehicle to obtain target driving parameters, wherein the state parameters comprise at least one of the following: the accelerator opening state and the yaw rate, and the current driving parameters comprise at least one of the following: the method comprises the steps of feeding forward four-wheel drive torque at present, feeding back four-wheel drive torque at present and sliding rate at present, wherein the feeding forward four-wheel drive torque at present is used for providing power for drifting of a vehicle, the feeding back four-wheel drive torque at present is used for maintaining a drifting state of the vehicle, and the sliding rate at present is used for maintaining the drifting state of the vehicle.
The state parameter may be understood as a parameter for representing a state of the vehicle, the current driving parameter may be understood as a current parameter of the vehicle for driving the vehicle to run, and the target driving parameter may be understood as a driving parameter suitable for drifting of the vehicle obtained after the current driving parameter is adjusted.
The accelerator opening state may be understood as a parameter for characterizing the position of an accelerator pedal of the vehicle, may represent a driver's demand for acceleration or deceleration of the vehicle, and the yaw rate may be understood as an angular velocity at which the vehicle body rotates about a vertical axis during lateral movement of the vehicle.
The feedforward four-wheel drive torque can be understood as calculating required torque distribution in advance through a preset algorithm or model according to the power demand and driving condition of the vehicle, and is directly applied to four wheels to achieve better control and driving performance, the feedback four-wheel drive torque can be understood as monitoring and feeding back the actual state of the vehicle in real time through a sensor and a controller in a four-wheel drive system, then torque distribution is adjusted according to feedback information, and the slip ratio can be understood as the relative slip degree between the wheels and the road surface in the driving process.
In an alternative embodiment, the throttle opening state may be expressed in terms of a percentage, e.g., 0% for fully closed throttle and 100% for fully open throttle, with changes in the throttle opening state affecting the output power of the engine and thus the acceleration performance and speed of the vehicle.
In an alternative embodiment, the slip ratio may be used to measure the degree of wheel slip, i.e., the ratio between the actual speed of the wheel and the desired rotational speed of the wheel, with a greater slip ratio indicating more pronounced wheel slip and a lesser wheel slip.
It will be appreciated that since the driving parameters of the vehicle are the primary factors controlling vehicle drift, adjusting the current driving parameters of the vehicle based on the state parameters of the vehicle may control the vehicle to drift.
Step S106, drift control is performed on the vehicle based on the target driving parameter.
It can be understood that the target driving parameter is obtained after the current driving parameter of the vehicle is adjusted based on the state parameter of the vehicle, and the purpose of adjusting the current driving parameter is to control the vehicle to drift, so that the purpose of controlling the vehicle to drift based on the target driving parameter can be achieved.
Through the steps, the stability control system of the vehicle is controlled to be closed in response to receiving a drifting mode starting instruction; and adjusting the current driving parameters of the vehicle based on the state parameters of the vehicle to obtain target driving parameters, wherein the state parameters comprise at least one of the following: the accelerator opening state and the yaw rate, and the current driving parameters comprise at least one of the following: the method comprises the steps of feeding forward four-wheel drive torque at present, feeding back four-wheel drive torque at present and sliding rate at present, wherein the feeding forward four-wheel drive torque at present is used for providing power for drifting of a vehicle, the feeding back four-wheel drive torque at present is used for maintaining a drifting state of the vehicle, and the sliding rate at present is used for maintaining the drifting state of the vehicle; the vehicle is drift controlled based on the target parameter. According to the method, under the condition that the vehicle is required to be subjected to drift control, the stability control system is firstly closed, then driving parameters such as the current feedforward four-wheel drive torque, the current feedback four-wheel drive torque and the current slip rate of the vehicle are adjusted, finally the vehicle is subjected to drift control based on the adjusted driving parameters, the effect of avoiding the influence of the vehicle stability control system is achieved, the vehicle can be subjected to drift control only by adjusting the driving parameters, the technical effect of simply controlling the vehicle to drift is achieved, and the technical problem that the vehicle drift is difficult in the related art is solved.
Optionally, adjusting the current driving parameters of the vehicle based on the state parameters of the vehicle to obtain target driving parameters, including: based on the throttle opening state, adjusting the current feedforward four-wheel drive torque to obtain a target feedforward four-wheel drive torque; based on the yaw rate, adjusting the current feedback four-wheel drive torque to obtain a target feedback four-wheel drive torque; and adjusting the current slip rate based on the yaw rate to obtain a target slip rate.
The target feedforward four-wheel drive torque can be understood as feedforward four-wheel drive torque which is obtained after the current feedforward four-wheel drive torque is adjusted and can realize vehicle drifting, the target feedback four-wheel drive torque can be understood as feedback four-wheel drive torque which is obtained after the current feedback four-wheel drive torque is adjusted and can realize vehicle drifting, and the target slip rate can be understood as slip rate which can be obtained after the current slip rate is adjusted and can realize vehicle drifting.
It can be understood that the change state of the accelerator opening and the yaw rate of the vehicle can represent the drifting state of the vehicle, so that the current driving parameters of the vehicle are adjusted based on the accelerator opening state and the yaw rate, and the user can be helped to realize vehicle drifting.
Optionally, the current slip ratio includes: the current front axle slip rate and the current rear axle slip rate, the target slip rate includes: the target front axle slip ratio and the target rear axle slip ratio are based on yaw rate, the current slip ratio of the vehicle is adjusted to obtain the target slip ratio, and the method comprises the following steps: in response to the yaw rate being greater than the preset yaw rate, controlling the current rear axle slip rate to decrease to obtain a target rear axle slip rate, and controlling the current front axle slip rate to increase to obtain a target front axle slip rate; and determining the current rear axle slip rate as a target rear axle slip rate and determining the current front axle slip rate as a target front axle slip rate in response to the yaw rate being less than or equal to the preset yaw rate.
The front axle slip rate can be understood as the slip rate of the front axle of the vehicle, the rear axle slip rate can be understood as the slip rate of the front axle of the vehicle, the target front axle slip rate can be understood as the front axle slip rate which can realize vehicle drifting after adjusting the front axle slip rate, the target rear axle slip rate can be understood as the rear axle slip rate which can realize vehicle drifting after adjusting the rear axle slip rate, the front axle is mainly used for supporting front weight and controlling steering of the vehicle, and the rear axle is mainly used for supporting rear weight and transmitting power to the rear wheels of the vehicle.
The preset yaw rate may be understood as a yaw rate preset in advance, which is more suitable for drift under the condition of ensuring driving safety.
It can be appreciated that when the yaw rate of the vehicle is greater than the preset yaw rate, the rear axle target slip rate can be reduced, and the front axle target slip rate can be increased, thereby improving the stability of the vehicle, preventing the vehicle from rolling over, and when the yaw rate of the vehicle is less than or equal to the preset yaw rate, the current target slip rate can be maintained, avoiding unintended steering to the driver. The vehicle is controlled through the slip rate, and the front and rear axle torque is respectively controlled in a torque reducing way, so that the continuous drifting of a driver can be effectively assisted.
In an alternative embodiment, the slip ratio of the vehicle may be adjusted in a variety of ways, for example, by adjusting the tire pressure, i.e., by increasing the tire pressure to reduce the contact area of the tire with the ground, thereby increasing the slip ratio, and by decreasing the tire pressure to increase the contact area, thereby decreasing the slip ratio; the gravity center of the vehicle is adjusted, namely, the slip rate of the vehicle during turning or accelerating can be changed by adjusting the gravity center position of the vehicle, and the load of the front wheels can be increased by moving the gravity center forward, so that the slip rate is reduced; shifting the center of gravity backwards increases the load on the rear wheels and increases the slip ratio; with different types of tires, selecting tires with lower grip and friction coefficients may increase the slip ratio, and vice versa, since different types of tires have different grip and friction coefficients; by adjusting the driving force distribution, i.e. by adjusting the driving force distribution of the front and rear wheels, the slip ratio of the vehicle can be changed, more driving force being distributed to the rear wheels will increase the slip ratio, and more driving force being distributed to the front wheels will decrease the slip ratio. In the embodiment of the present invention, the adjustment of the driving force distribution is described as an example.
Optionally, drift control is performed on the vehicle based on the target parameter, including: determining a front axle shaft speed difference and a rear axle shaft speed difference of the vehicle based on the target front axle slip rate and the target rear axle slip rate; determining a torque adjustment amount based on the front axle shaft speed difference and the rear axle shaft speed difference; the vehicle is drift-controlled based on the torque adjustment amount.
The front axle speed difference is understood to be the difference between the linear speeds of the front two tires of the vehicle when the front tires are in contact with the ground, the rear axle speed difference is understood to be the difference between the linear speeds of the rear two tires of the vehicle when the rear tires are in contact with the ground, and the torque adjustment amount is understood to be the amount by which the torque distribution of the front axle and the rear axle of the vehicle needs to be adjusted.
Specifically, the torque adjustment amount is determined based on the front axle shaft speed difference and the rear axle shaft speed difference, and can be expressed by the following equation:
ΔT＝k p ·Δv r +k i ·∫Δv r
wherein DeltaT represents the torque adjustment amount, k p Represents the scaling factor, k i Representing the integral adjustment coefficient.
It is understood that since torque distribution of the front and rear axles of the vehicle can directly affect slip ratio of the front and rear axles of the vehicle, drift control of the vehicle can be performed based on the torque adjustment amount.
Optionally, determining the front axle shaft speed difference and the rear axle shaft speed difference of the vehicle based on the target front axle slip ratio and the target rear axle slip ratio includes: determining an actual front axle speed and an actual rear axle speed of the vehicle based on wheel speeds of the vehicle; determining a preset front axle speed of the vehicle based on the target front axle slip rate; determining a preset rear axle speed of the vehicle based on the target rear axle slip rate; acquiring a difference value between an actual front axle speed and a preset front axle speed to obtain a front axle speed difference; and obtaining a difference value between the actual rear axle speed and the preset rear axle speed to obtain a rear axle speed difference.
The actual front axle speed can be understood as the actual axle speed of the front axle of the vehicle, the actual rear axle speed can be understood as the actual axle speed of the rear axle of the vehicle, the preset front axle speed can be understood as the front axle speed which is preset in advance and can control the vehicle to drift, and the preset rear axle speed can be understood as the rear axle speed which is preset in advance and can control the vehicle to drift.
Specifically, the process of calculating the preset front axle shaft speed and the preset rear axle shaft speed can be expressed as follows:
v f,tgt ＝v x (1+s f )，v r,tgt ＝v x (1+s r )
wherein v is f,tgt Representing the preset front axle speed, v r,tgt Indicating the preset rear axle speed, v x Representing a reference vehicle speed s f Indicating the current front axle slip ratio s r Indicating the current rear axle slip ratio.
The process of calculating the actual front axle shaft speed and the actual rear axle shaft speed can be expressed as follows:
v f ＝(v fl +v fr )/2，v r ＝(v rl +v rr )/2
wherein v is f Representing the actual front axle speed, v r Represents the actual rear axle speed, v fl ，v fr ，v rl ，v rr Representing the wheel speeds of four wheels.
The process of calculating the front axle shaft speed difference and the rear axle shaft speed difference can be expressed as follows by the formula:
Δv f ＝v f -v f,tgt ，Δv r ＝v r -v r,tgt
wherein Deltav f Representing the front axle speed difference, deltav r Indicating the rear axle speed difference.
In an alternative embodiment, taking rear axle slip ratio control as an example, when Deltav r >And 0 and after a certain time, the slip rate feedback control function can be activated, then feedback control is performed based on the difference value between the actual shaft speed and the target shaft speed, and the torque of the front shaft and the rear shaft is adjusted, so that the vehicle is subjected to drift control.
Optionally, the current feed-forward four-drive torque includes: the current feedforward precursor torque and the current feedforward postdrive torque, and the target feedforward four-drive torque comprises: the target feedforward precursor torque and the target feedforward rear drive torque are used for adjusting the current feedforward four-drive torque based on the accelerator opening state to obtain the target feedforward four-drive torque, and the method comprises the following steps: responding to the accelerator opening state as accelerator opening increase, controlling the current feedforward precursor torque to decrease to obtain target feedforward precursor torque, and controlling the current feedforward rear-drive torque to increase to obtain target feedforward rear-drive torque; and in response to the throttle opening state being that the throttle opening is reduced, controlling the current feedforward precursor torque to be increased to obtain the target feedforward precursor torque, and controlling the current feedforward rear-drive torque to be reduced to obtain the target feedforward rear-drive torque.
The current feedforward precursor torque may be understood as a feedforward precursor torque of a current front axle of the vehicle, the current feedforward precursor torque may be understood as a feedforward precursor torque of a current rear axle of the vehicle, the target feedforward precursor torque may be understood as a feedforward precursor torque capable of realizing vehicle drift after adjusting the current feedforward precursor torque, and the target feedforward precursor torque may be understood as a feedforward precursor torque capable of realizing vehicle drift after adjusting the current feedforward precursor torque.
In an alternative embodiment, the torque distribution of the front and rear axle motors can be used to make the driver more powerful on the rear axle during the float and to shift the torque on the front and rear axles during the continuous drift of the vehicle, so as to maintain reasonable power on the front and rear axles. The specific process can comprise the following steps: basic four-wheel drive torque distribution and four-wheel drive torque distribution based on accelerator opening.
Wherein, the basic four-wheel drive torque distribution can be to set the basic four-wheel drive torque distribution coefficient of the float-lifting stage as f=t for the convenience of the driver float-lifting R /(T R +T F ) I.e. the ratio of the rear axle torque to the total torque, f can be determined by real vehicle calibration, for example, can be set to a value greater than 0.8, but is not limited to this, so that the vehicle is driven mainly by the rear drive, the vehicle is easy to swing out of the tail, and the float is realized.
The four-wheel drive torque distribution based on the accelerator opening degree can be based on basic four-wheel drive torque distribution, and the four-wheel drive torque distribution coefficient is adjusted according to the change rate of the accelerator opening degree, namely, when the accelerator opening degree is increased, the vehicle drifting state is insufficient, the rear axle power is insufficient, the wheel skidding is easy to cause, the torque can be transferred to the rear axle to increase the rear axle driving force, when the accelerator opening degree is reduced, the vehicle drifting state is excessive, the rear axle skidding is serious and even the tail flicking is about to occur, and when the vehicle drifting state is reduced, the torque can be transferred to the front axle to reduce the rear axle driving force.
Optionally, the current feedback four-wheel drive torque includes: the current feedback precursor torque and the current feedback post-drive torque, and the target feedback four-drive torque comprises: the target feedback precursor torque and the target feedback post-driving torque are adjusted to obtain the target feedback four-driving torque based on the yaw rate, and the method comprises the following steps: in response to the yaw rate being greater than the preset yaw rate, controlling the current feedback precursor torque to increase to obtain a target feedback precursor torque, and controlling the current feedback precursor torque to decrease to obtain a target feedback precursor torque; and determining the current feedback precursor torque as the target feedback precursor torque in response to the current yaw rate being less than or equal to the preset yaw rate.
The current feedback precursor torque may be understood as a feedback precursor torque of a current front axle of the vehicle, the current feedback precursor torque may be understood as a feedback precursor torque of the current rear axle of the vehicle, the target feedback precursor torque may be understood as a feedback precursor torque capable of realizing vehicle drift after the current feedback precursor torque is adjusted, and the target feedback precursor torque may be understood as a feedback precursor torque capable of realizing vehicle drift after the current feedback precursor torque is adjusted.
It is understood that the drift yaw feedback control may be performed to reduce the occurrence of drift tail flick by setting a preset yaw rate, when the actual yaw rate exceeds the preset yaw rate. When the actual yaw rate is greater than the preset yaw rate, the vehicle is easy to break through a stability boundary and is subject to tail flick instability, at the moment, the driving torque can be transferred to the front shaft, when the actual yaw rate is less than the preset yaw rate, the vehicle is in a stable range, the driver is controllable, at the moment, torque transfer control can not be performed, and unexpected steering is avoided for the driver.
In an alternative embodiment, the preset yaw rate may be determined from a look-up table of steering wheel angles and vehicle speeds of the vehicle.
Optionally, after receiving the drift mode on instruction, the method further includes: displaying a prompt window on a preset screen, wherein the prompt window is used for prompting a user whether to confirm to start a drift mode; responding to a confirmation instruction acting on the prompt window, and controlling the vehicle to enter a drifting mode; in response to a cancel command acting on the prompt window, the vehicle is prohibited from entering the drift mode.
The preset screen may be understood as a screen preset in advance in which information can be displayed in the vehicle, and the prompt window may be understood as a window displayed on the preset screen for prompting the user whether to confirm that the drift mode is turned on.
In an alternative embodiment, the preset screen may be a central control screen of the vehicle, or may be a virtual screen projected onto a front windshield of the vehicle, which is not limited by the present invention.
In another alternative embodiment, the confirmation command and the cancel command of the prompt window may be issued by the user after clicking "confirm" and "cancel" on the preset screen, or may be issued by the user through voice control, for example, when the user speaks "confirm on", the user may be considered to issue the confirmation command, and when the user speaks "cancel on", the user may be considered to issue the cancel command.
It can be understood that, because the drift driving is different from the conventional driving style, the control strategy is greatly different, so that a drift mode selection switch can be set, a user can switch between the conventional mode and the drift mode after operating the switch, after selecting the drift mode, a prompt window can be popped up to illustrate the difference between the drift mode and the conventional mode, and remind the driver to drive safely, and finally, the driver needs to confirm again in the prompt window to enter the drift mode.
If the drift mode is turned on by the user during the running process, the drift mode is automatically restored to the normal mode after the vehicle is powered down.
Fig. 2 is a schematic diagram of a drift control system of a vehicle according to an embodiment of the present invention, as shown in fig. 2, after the vehicle enters a drift mode, a stability control function is disabled first, then a base torque distribution and a feedforward torque distribution are determined according to a torque distribution table and a throttle opening change rate, respectively, and a slip rate control is performed according to a yaw rate difference, thereby realizing drift control of the vehicle.
Example 2
According to another aspect of the embodiment of the present invention, there is further provided a drift control device for a vehicle, where the device may execute the drift control method for a vehicle in the foregoing embodiment 1, and the specific implementation and application scenario in this embodiment are the same as those in the foregoing embodiment 1, and are not described herein.
Fig. 3 is a schematic view of a drift control device for a vehicle according to an embodiment of the present invention, as shown in fig. 3, the device including: the system control module 302 is configured to control a stability control system of the vehicle to be turned off in response to receiving a drift mode on command; the parameter adjustment module 304 is configured to adjust a current driving parameter of the vehicle based on a state parameter of the vehicle to obtain a target driving parameter, where the state parameter includes at least one of: the accelerator opening state and the yaw rate, and the current driving parameters comprise at least one of the following: the method comprises the steps of feeding forward four-wheel drive torque at present, feeding back four-wheel drive torque at present and sliding rate at present, wherein the feeding forward four-wheel drive torque at present is used for providing power for drifting of a vehicle, the feeding back four-wheel drive torque at present is used for maintaining a drifting state of the vehicle, and the sliding rate at present is used for maintaining the drifting state of the vehicle; the vehicle control module 306 is configured to drift control the vehicle based on the target driving parameter.
The parameter adjustment module 304 includes: the first adjusting unit is used for adjusting the current feedforward four-wheel drive torque based on the accelerator opening state to obtain a target feedforward four-wheel drive torque; the second adjusting unit is used for adjusting the current feedback four-wheel drive torque based on the yaw rate to obtain a target feedback four-wheel drive torque; and the third adjusting unit is used for adjusting the current slip rate based on the yaw rate to obtain the target slip rate.
The third adjusting unit includes: the sliding rate control subunit is used for controlling the current rear axle sliding rate to be reduced to obtain a target rear axle sliding rate and controlling the current front axle sliding rate to be increased to obtain a target front axle sliding rate in response to the yaw rate being greater than the preset yaw rate; and the slip rate determination subunit is used for determining the current back shaft slip rate as the target back shaft slip rate and determining the current front shaft slip rate as the target front shaft slip rate in response to the yaw rate being less than or equal to the preset yaw rate.
The vehicle control module 306 includes: a first determining unit configured to determine a front axle shaft speed difference and a rear axle shaft speed difference of the vehicle based on a target front axle slip rate and a target rear axle slip rate; a second determining unit configured to determine a torque adjustment amount based on the front axle shaft speed difference and the rear axle shaft speed difference; and a vehicle control unit for drift control of the vehicle based on the torque adjustment amount.
The first determination unit includes: a first determination subunit configured to determine an actual front axle speed and an actual rear axle speed of the vehicle based on wheel speeds of wheels of the vehicle; a second determination subunit configured to determine a preset front axle shaft speed of the vehicle based on the target front axle slip rate; a third determination subunit configured to determine a preset rear axle shaft speed of the vehicle based on the target rear axle slip rate; the first acquisition subunit is used for acquiring a difference value between the actual front axle speed and a preset front axle speed to obtain a front axle speed difference; and the second acquisition subunit is used for acquiring the difference value between the actual rear axle speed and the preset rear axle speed to obtain the rear axle speed difference.
The first adjustment unit includes: the first control subunit is used for controlling the current feedforward precursor torque to be reduced to obtain target feedforward precursor torque and controlling the current feedforward rear-drive torque to be increased to obtain target feedforward rear-drive torque in response to the accelerator opening state being that the accelerator opening is increased; and the second control subunit is used for controlling the current feedforward precursor torque to be increased to obtain target feedforward precursor torque and controlling the current feedforward rear-drive torque to be reduced to obtain target feedforward rear-drive torque in response to the fact that the accelerator opening state is reduced.
The second adjusting unit includes: the third control subunit is used for controlling the current feedback precursor torque to be increased to obtain a target feedback precursor torque and controlling the current feedback precursor torque to be reduced to obtain a target feedback precursor torque in response to the yaw rate being larger than the preset yaw rate; and a fourth determining subunit, configured to determine, in response to the current yaw rate being less than or equal to the preset yaw rate, the current feedback precursor torque as the target feedback precursor torque, and determine the current feedback precursor torque as the target feedback precursor torque.
The device further comprises: the display module is used for displaying a prompt window on a preset screen, wherein the prompt window is used for prompting a user whether to confirm to start the drift mode; the control module is used for responding to a confirmation instruction acted on the prompt window and controlling the vehicle to enter a drifting mode; and the prohibiting module is used for prohibiting the vehicle from entering the drift mode in response to a cancel instruction acting on the prompt window.
Example 3
According to another aspect of the embodiments of the present invention, there is also provided a nonvolatile storage medium, characterized in that the nonvolatile storage medium includes a stored program, wherein the drift control method of the vehicle of any one of the above is executed in a processor of a device where the program is controlled when running.
Example 4
According to another aspect of the embodiment of the present application, there is also provided a vehicle, characterized by comprising: one or more processors; a storage means for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors are caused to perform the drift control method of the vehicle of any one of the above.
Example 5
According to another aspect of the embodiment of the present application, there is also provided a processor for running a program, where the program executes the drift control method of the vehicle.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present disclosure, a non-volatile storage medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The non-volatile storage medium may be a machine-readable signal medium or a machine-readable storage medium. The non-volatile storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a non-volatile storage medium would include one or more wire-based electrical connections, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims (10)

1. A drift control method of a vehicle, characterized by comprising:
In response to receiving a drift mode starting instruction, controlling a stability control system of the vehicle to be closed;
adjusting current driving parameters of the vehicle based on the state parameters of the vehicle to obtain target driving parameters, wherein the state parameters comprise at least one of the following: the accelerator opening state and the yaw rate, and the current driving parameters comprise at least one of the following: the vehicle driving device comprises a current feedforward four-wheel drive torque, a current feedback four-wheel drive torque and a current slip ratio, wherein the current feedforward four-wheel drive torque is used for providing power for drifting of the vehicle, the current feedback four-wheel drive torque is used for maintaining the drifting state of the vehicle, and the current slip ratio is used for maintaining the drifting state of the vehicle;
and carrying out drift control on the vehicle based on the target driving parameters.
2. The drift control method of a vehicle according to claim 1, wherein adjusting a current driving parameter of the vehicle based on a state parameter of the vehicle to obtain a target driving parameter includes:
based on the accelerator opening state, adjusting the current feedforward four-wheel drive torque to obtain a target feedforward four-wheel drive torque;
Based on the yaw rate, adjusting the current feedback four-wheel drive torque to obtain a target feedback four-wheel drive torque;
and adjusting the current slip rate based on the yaw rate to obtain a target slip rate.
3. The drift control method of a vehicle according to claim 2, characterized in that the current slip ratio includes: the current front axle slip rate and the current rear axle slip rate, the target slip rate comprises: the target front axle slip rate and the target rear axle slip rate are used for adjusting the current slip rate of the vehicle based on the yaw rate to obtain the target slip rate, and the method comprises the following steps:
controlling the current rear axle slip rate to be reduced in response to the yaw rate being greater than a preset yaw rate to obtain the target rear axle slip rate, and controlling the current front axle slip rate to be increased to obtain the target front axle slip rate;
and in response to the yaw rate being less than or equal to the preset yaw rate, determining the current rear axle slip rate as the target rear axle slip rate, and determining the current front axle slip rate as the target front axle slip rate.
4. A drift control method of a vehicle according to claim 3, characterized in that drift control of the vehicle is performed based on the target parameter, comprising:
Determining a front axle shaft speed difference and a rear axle shaft speed difference of the vehicle based on the target front axle slip ratio and the target rear axle slip ratio;
determining a torque adjustment amount based on the front axle shaft speed difference and the rear axle shaft speed difference;
and performing drift control on the vehicle based on the torque adjustment amount.
5. The drift control method of a vehicle according to claim 4, characterized in that determining a front axle shaft speed difference and a rear axle shaft speed difference of the vehicle based on the target front axle slip ratio and the target rear axle slip ratio includes:
determining an actual front axle speed and an actual rear axle speed of the vehicle based on wheel speeds of the vehicle;
determining a preset front axle speed of the vehicle based on the target front axle slip rate;
determining a preset rear axle speed of the vehicle based on the target rear axle slip rate;
obtaining a difference value between the actual front axle speed and the preset front axle speed to obtain the front axle speed difference;
and obtaining a difference value between the actual rear axle speed and the preset rear axle speed to obtain the rear axle speed difference.
6. The drift control method of a vehicle according to claim 2, characterized in that the current feedforward four-wheel drive torque includes: the current feedforward precursor torque and the current feedforward postdrive torque, and the target feedforward four-drive torque comprises: the target feedforward precursor torque and the target feedforward rear drive torque are used for adjusting the current feedforward four-drive torque based on the accelerator opening state to obtain the target feedforward four-drive torque, and the method comprises the following steps:
Responding to the accelerator opening state that the accelerator opening is increased, controlling the current feedforward precursor torque to be reduced to obtain the target feedforward precursor torque, and controlling the current feedforward rear-drive torque to be increased to obtain the target feedforward rear-drive torque;
and responding to the throttle opening state as the throttle opening decrease, controlling the current feedforward precursor torque to increase to obtain the target feedforward precursor torque, and controlling the current feedforward post-driver torque to decrease to obtain the target feedforward post-driver torque.
7. The drift control method of a vehicle according to claim 2, characterized in that the current feedback four-wheel drive torque includes: the current feedback precursor torque and the current feedback post-drive torque, and the target feedback four-drive torque comprises: the target feedback precursor torque and the target feedback post-driving torque are used for adjusting the current feedback four-driving torque based on the yaw rate to obtain the target feedback four-driving torque, and the method comprises the following steps:
controlling the current feedback precursor torque to be increased to obtain the target feedback precursor torque, and controlling the current feedback precursor torque to be reduced to obtain the target feedback precursor torque in response to the yaw rate being greater than a preset yaw rate;
And determining that the current feedback precursor torque is a target feedback precursor torque and determining that the current feedback post-driving torque is the target feedback post-driving torque in response to the current yaw rate being less than or equal to the preset yaw rate.
8. The drift control method of a vehicle according to claim 1, characterized in that after receiving a drift mode-on instruction, the method further comprises:
displaying a prompt window on a preset screen, wherein the prompt window is used for prompting a user whether to confirm to start a drift mode;
responding to a confirmation instruction acting on the prompt window, and controlling the vehicle to enter a drifting mode;
and in response to a cancel command acting on the prompt window, prohibiting the vehicle from entering a drift mode.
9. A non-volatile storage medium, characterized in that the non-volatile storage medium comprises a stored program, wherein the drift control method of the vehicle according to any one of claims 1 to 8 is executed in a processor of a device where the program is controlled to run.
10. A vehicle, characterized by comprising:
one or more processors;
a storage means for storing one or more programs;
The one or more programs, when executed by the one or more processors, cause the one or more processors to perform the drift control method of the vehicle of any one of claims 1 to 8.
CN202311127695.5A 2023-09-01 2023-09-01 Vehicle drift control method and vehicle Pending CN117141458A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117962992A (en) * 2024-03-29 2024-05-03 博世汽车部件(苏州)有限公司 Steering assist system, steering assist unit, and steering assist method for vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117962992A (en) * 2024-03-29 2024-05-03 博世汽车部件(苏州)有限公司 Steering assist system, steering assist unit, and steering assist method for vehicle
CN117962992B (en) * 2024-03-29 2024-06-07 博世汽车部件(苏州)有限公司 Steering assist system, steering assist unit, and steering assist method for vehicle

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