Vehicle control method and vehicle, non-transitory storage medium and chip
A vehicle control method, vehicle and non-transitory computer readable storage medium that enables a current transmission ratio of a vehicle to be decreased prior to a driver turning a steering wheel so that a larger steering angle of a wheel can be obtained when the driver turns the steering wheel at a smaller angle in emergency driving situations.
1. A vehicle control method, comprising:
monitoring an accelerated speed of a target object in front of a vehicle, wherein a moving direction of the target object is in a same direction as the moving direction of the vehicle;
detecting an obstacle in front of the vehicle, wherein the obstacle is a static obstacle, or a dynamic obstacle that is moving in a different direction than the moving direction of the vehicle;
reducing a transmission ratio of the vehicle to a target transmission ratio under a condition that the accelerated speed of the target object in front of the vehicle meets a preset condition and the obstacle is detected in front of the vehicle; and
maintaining the transmission ratio of the vehicle in response to determining that the accelerated speed of the target object meets the preset condition under the condition that a steering angle of a steering wheel of the vehicle is greater than or equal to a first preset angle,
wherein the transmission ratio is a ratio of the steering angle of the steering wheel of the vehicle to a steering angle of a wheel of the vehicle.
2. The vehicle control method according to claim 1 , wherein the accelerated speed comprises a transverse acceleration, and the preset condition comprises a transverse acceleration threshold; and
reducing the transmission ratio of the vehicle to the target transmission ratio under the condition that the accelerated speed of the target object in front of the vehicle meets the preset condition comprises:
reducing the transmission ratio of the vehicle to the target transmission ratio under the condition that the transverse acceleration of the target object is greater than the transverse acceleration threshold.
3. The vehicle control method according to claim 1 , wherein the accelerated speed comprises a longitudinal acceleration, and the preset condition comprises a longitudinal acceleration threshold; and
reducing the transmission ratio of the vehicle to the target transmission ratio under the condition that the accelerated speed of the target object in front of the vehicle meets the preset condition comprises:
reducing the transmission ratio of the vehicle to the target transmission ratio under the condition that the longitudinal acceleration of the target object is smaller than the longitudinal acceleration threshold.
4. The vehicle control method according to claim 1 , wherein reducing the transmission ratio of the vehicle to the target transmission ratio comprises:
determining a transmission ratio compensation value of the vehicle according to an acceleration difference value between the accelerated speed of the target object and a corresponding acceleration threshold as well as a calibration parameter corresponding to a speed of the vehicle; and
reducing the transmission ratio of the vehicle to the target transmission ratio according to the transmission ratio of the vehicle and the transmission ratio compensation value of the vehicle, wherein
the acceleration threshold is a transverse acceleration threshold under the condition that the accelerated speed is a transverse acceleration, and the acceleration threshold is a longitudinal acceleration threshold under the condition that the accelerated speed is a longitudinal acceleration.
5. The vehicle control method according to claim 1 , wherein reducing the transmission ratio of the vehicle to the target transmission ratio under the condition that the accelerated speed of the target object in front of the vehicle meets the preset condition comprises:
reducing the transmission ratio of the vehicle to the target transmission ratio under the condition that the accelerated speed of the vehicle meets the preset condition and a speed of the vehicle is greater than a speed threshold.
6. The vehicle control method according to claim 1 , wherein reducing the transmission ratio of the vehicle to the target transmission ratio under the condition that the accelerated speed of the target object in front of the vehicle meets the preset condition comprises:
reducing the transmission ratio of the vehicle to the target transmission ratio in response to determining that the accelerated speed of the target object meets the preset condition under the condition that the steering angle of the steering wheel of the vehicle is smaller than the first preset angle.
7. The vehicle control method according to claim 1 , wherein after reducing the transmission ratio of the vehicle, the method comprises:
recovering the transmission ratio of the vehicle to a transmission ratio not compensated in a current state under the condition that the steering angle of the steering wheel of the vehicle is smaller than a second preset angle.
8. A vehicle, comprising:
a processor; and
a memory, configured to store instructions executable by the processor, wherein
the processor is configured to:
monitor an accelerated speed of a target object in front of the vehicle, wherein a moving direction of the target object is a same direction as the moving direction of the vehicle;
detect an obstacle in front of the vehicle, wherein the obstacle is a static obstacle, or a dynamic obstacle that is moving in a different direction than the moving direction of the vehicle;
reduce a transmission ratio of the vehicle to a target transmission ratio under a condition that the accelerated speed of the target object in front of the vehicle meets a preset condition and the obstacle is detected in front of the vehicle; and
maintain the transmission ratio of the vehicle in response to determining that the accelerated speed of the target object meets the preset condition under the condition that a steering angle of a steering wheel of the vehicle is greater than or equal to a first preset angle,
wherein the transmission ratio is a ratio of the steering angle of the steering wheel of the vehicle to a steering angle of a wheel of the vehicle.
9. The vehicle according to claim 8 , wherein the accelerated speed comprises a transverse acceleration, and the preset condition comprises a transverse acceleration threshold; and the processor is further configured to:
reduce the transmission ratio of the vehicle to the target transmission ratio under the condition that the transverse acceleration of the target object is greater than the transverse acceleration threshold.
10. The vehicle according to claim 8 , wherein the accelerated speed comprises a longitudinal acceleration, and the preset condition comprises a longitudinal acceleration threshold; and the processor is further configured to:
reduce the transmission ratio of the vehicle to the target transmission ratio under the condition that the longitudinal acceleration of the target object is smaller than the longitudinal acceleration threshold.
11. The vehicle according to claim 8 , wherein the processor is further configured to:
determine a transmission ratio compensation value of the vehicle according to an acceleration difference value between the accelerated speed of the target object and a corresponding acceleration threshold as well as a calibration parameter corresponding to a speed of the vehicle; and
reduce the transmission ratio of the vehicle to the target transmission ratio according to the transmission ratio of the vehicle and the transmission ratio compensation value of the vehicle, wherein
the acceleration threshold is a transverse acceleration threshold under the condition that the accelerated speed is a transverse acceleration, and the acceleration threshold is a longitudinal acceleration threshold under the condition that the accelerated speed is a longitudinal acceleration.
12. The vehicle according to claim 8 , wherein the processor is further configured to:
reduce the transmission ratio of the vehicle to the target transmission ratio under the condition that the accelerated speed of the vehicle meets the preset condition and a speed of the vehicle is greater than a speed threshold.
13. The vehicle according to claim 8 , wherein the processor is further configured to:
reduce the transmission ratio of the vehicle to the target transmission ratio in response to determining that the accelerated speed of the target object meets the preset condition under the condition that the steering angle of the steering wheel of the vehicle is smaller than the first preset angle.
14. The vehicle according to claim 8 , wherein the processor is further configured to:
recover the transmission ratio of the vehicle to a transmission ratio not compensated in a current state under the condition that the steering angle of the steering wheel of the vehicle is smaller than a second preset angle after reducing the current transmission ratio of the vehicle.
15. A non-transitory computer-readable storage medium, storing instructions for controlling steering of a vehicle, the instructions when executed by a processor cause the processor to perform a method comprising:
monitoring an accelerated speed of a target object in front of the vehicle, wherein a moving direction of the target object is a same direction as the moving direction of the vehicle;
detecting an obstacle in front of the vehicle, wherein the obstacle is a static obstacle, or a dynamic obstacle that is moving in a different direction than the moving direction of the vehicle;
reducing a transmission ratio of the vehicle to a target transmission ratio under a condition that the accelerated speed of the target object in front of the vehicle meets a preset condition and the obstacle is detected in front of the vehicle; and
maintaining the transmission ratio of the vehicle in response to determining that the accelerated speed of the target object meets the preset condition under the condition that a steering angle of a steering wheel of the vehicle is greater than or equal to a first preset angle, wherein the transmission ratio is a ratio of the steering angle of the steering wheel of the vehicle to a steering angle of a wheel of the vehicle.
16. A chip, comprising
a processor and an interface,
wherein the processor is configured to read an instruction so as to execute steps of the vehicle control method according to claim 1 .