Vehicle control method and apparatus, electronic apparatus, and computer-readable storage medium
View Patent ↗This application relates to the automobile field, and specifically, to a vehicle control method and apparatus, and the like. In the vehicle control method, when a steering mode of braking a rear wheel on an inner steering side is performed, target braking force of the rear wheel on the inner steering side is determined based on hand force applied when a driver performs a steering operation on a steering wheel, and steering control is performed based on the target braking force. In this way, steering control that well reflects an intention of the driver can be implemented, to avoid a case in which the driver frequently performs a driving operation to correct a traveling track of a vehicle, and reduce a driving burden. The method provided in embodiments of this application may be applied to an intelligent vehicle.
1 . A vehicle control method, comprising:
obtaining steering wheel torque existing based on a driver performing a steering operation on a steering wheel;
obtaining target torque of a first wheel based on the steering wheel torque; and
performing first steering control, wherein the first steering control comprises controlling the first wheel based on the target torque;
wherein the obtaining the target torque of the first wheel based on the steering wheel torque comprises obtaining braking torque of a first inner-side rear wheel based on the steering wheel torque, wherein the first inner-side rear wheel is a rear wheel located on an inner steering side;
wherein the controlling the first wheel based on the target torque comprises braking the first inner-side rear wheel based on the braking torque; and
wherein the obtaining the braking torque of the first inner-side rear wheel based on the steering wheel torque comprises:
obtaining a first yaw moment based on the steering wheel torque;
obtaining an actual yaw rate error;
obtaining a second yaw moment based on the steering wheel torque and the actual yaw rate error; and
obtaining the braking torque based on the first yaw moment and the second yaw moment.
2 . The method according to claim 1 , wherein the obtaining the second yaw moment based on the steering wheel torque and the actual yaw rate error comprises:
obtaining a target yaw rate error based on the steering wheel torque; and
obtaining the second yaw moment based on the target yaw rate error and the actual yaw rate error.
3 . The method according to claim 1 , wherein the obtaining the actual yaw rate error comprises:
obtaining the actual yaw rate error based on a target yaw rate and an actual yaw rate.
4 . The method according to claim 1 , wherein the obtaining the first yaw moment based on the steering wheel torque comprises:
determining the first yaw moment as 0 based on the steering wheel torque being less than a first threshold.
5 . The method according to claim 1 , wherein the obtaining the first yaw moment based on the steering wheel torque comprises:
obtaining the first yaw moment based on the steering wheel torque and a first function relationship based on the steering wheel torque being greater than a first threshold.
6 . The method according to claim 1 , wherein the obtaining the first yaw moment based on the steering wheel torque comprises:
determining the first yaw moment as a constant value based on the steering wheel torque being greater than a second threshold.
7 . The method according to claim 1 , further comprising:
obtaining on/off state information of a first enabling switch; and
performing the first steering control based on the on/off state information indicating that the first enabling switch is turned on.
8 . The method according to claim 1 , further comprising:
obtaining on/off state information of a first enabling switch:
obtaining a road adhesion coefficient; and
performing the first steering control based on the on/off state information indicating that the first enabling switch is turned off and the road adhesion coefficient is less than an adhesion coefficient threshold.
9 . The method according to claim 1 , further comprising:
obtaining a rotation angle of the steering wheel; and
performing the first steering control based on the rotation angle being a limit rotation angle.
10 . The method according to claim 1 , further comprising:
obtaining a slip ratio of the first inner-side rear wheel; and
obtaining target driving force of a first outer-side rear wheel based on the steering wheel torque based on the slip ratio being greater than a first slip ratio threshold, wherein the first outer-side rear wheel is a rear wheel located on an outer steering side, wherein
the first steering control further comprises: driving the first outer-side rear wheel based on the target driving force.
11 . The method according to claim 1 , further comprising:
obtaining a slip ratio of the first inner-side rear wheel; and
obtaining target driving force of a first outer-side front wheel based on the steering wheel torque based on the slip ratio being greater than a first slip ratio threshold, wherein the first outer-side front wheel is a front wheel located on an outer steering side, wherein
the first steering control further comprises: driving the first outer-side front wheel based on the target driving force.
12 . A vehicle control apparatus, comprising:
a receiver configured to obtain steering wheel torque existing based on a driver performing a steering operation on a steering wheel; and
a processor is configured to:
determine target torque of a first wheel based on the steering wheel torque; and
perform first steering control, wherein the first steering control comprises controlling the first wheel based on the target torque
wherein the obtaining the target torque of the first wheel based on the steering wheel torque comprises obtaining braking torque of a first inner-side rear wheel based on the steering wheel torque, wherein the first inner-side rear wheel is a rear wheel located on an inner steering side;
wherein the controlling the first wheel based on the target torque comprises braking the first inner-side rear wheel based on the braking torque; and
wherein the obtaining the braking torque of the first inner-side rear wheel based on the steering wheel torque comprises:
obtaining a first yaw moment based on the steering wheel torque;
obtaining an actual yaw rate error;
obtaining a second yaw moment based on the steering wheel torque and the actual yaw rate error; and
obtaining the braking torque based on the first yaw moment and the second yaw moment.
13 . The apparatus according to claim 12 , wherein the processor is configured to:
obtain a target yaw rate error based on the steering wheel torque; and
obtain the second yaw moment based on the target yaw rate error and the actual yaw rate error.
14 . The apparatus according to claim 12 , wherein the processor is configured to obtain the actual yaw rate error based on a target yaw rate and an actual yaw rate.
15 . The apparatus according to claim 12 , wherein the processor is configured to determine the first yaw moment as 0 based on the steering wheel torque being less than a first threshold.
16 . A non-transitory computer-readable storage medium, wherein the computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a computer, the computer is caused to perform a method comprising:
obtaining steering wheel torque existing based on a driver performing a steering operation on a steering wheel;
obtaining target torque of a first wheel based on the steering wheel torque; and performing first steering control, wherein the first steering control comprises controlling the first wheel based on the target torque;
wherein the obtaining the target torque of the first wheel based on the steering wheel torque comprises obtaining braking torque of a first inner-side rear wheel based on the steering wheel torque, wherein the first inner-side rear wheel is a rear wheel located on an inner steering side;
wherein the controlling the first wheel based on the target torque comprises braking the first inner-side rear wheel based on the braking torque; and
wherein the obtaining the braking torque of the first inner-side rear wheel based on the steering wheel torque comprises:
obtaining a first yaw moment based on the steering wheel torque;
obtaining an actual yaw rate error;
obtaining a second yaw moment based on the steering wheel torque and the actual yaw rate error; and
obtaining the braking torque based on the first yaw moment and the second yaw moment.
17 . The computer-readable storage medium according to claim 16 , wherein the obtaining the second yaw moment based on the steering wheel torque and the actual yaw rate error comprises:
obtaining a target yaw rate error based on the steering wheel torque; and
obtaining the second yaw moment based on the target yaw rate error and the actual yaw rate error.
18 . The computer-readable storage medium according to claim 16 , wherein the obtaining the actual yaw rate error comprises:
obtaining the actual yaw rate error based on a target yaw rate and an actual yaw rate.
19 . The computer-readable storage medium according to claim 16 , wherein the obtaining the first yaw moment based on the steering wheel torque comprises:
determining the first yaw moment as 0 based on the steering wheel torque being less than a first threshold.
20 . The computer-readable storage medium according to claim 16 , wherein the obtaining the first yaw moment based on the steering wheel torque comprises:
obtaining the first yaw moment based on the steering wheel torque and a first function relationship based on the steering wheel torque being greater than a first threshold.