The invention discloses a vehicle control method, a vehicle control device, a vehicle and a storage medium. The vehicle comprises a plurality of wheels, and the vehicle control method comprises the steps that position parameters and motion state information of the vehicle in the transverse moving process are obtained, whether the vehicle is in a moving state or not is judged according to the position parameters and the motion state information, and under the condition that the moving state occurs, the vehicle is controlled to move. The speed correction trend of each wheel is determined according to the moving state, and finally the wheel speed of the wheels is adjusted through a closed-loop control system according to the speed correction trends. According to the vehicle control method provided by the embodiment of the invention, the wheel speed of the wheel is adjusted in real time according to the moving state under the condition that the vehicle is in the moving states such as front-back movement and yawing movement, so that the slip rate of the wheel is changed, the front-back movement and yawing movement of the vehicle in the transverse movement process are reduced, and the transverse movement experience of the vehicle is improved.

    本申请公开了一种车辆控制方法、车辆控制装置、车辆以及存储介质。车辆包括多个车轮,车辆控制方法包括获取车辆在横向移动过程中的位置参数和运动状态信息,并根据位置参数和运动状态信息判断车辆是否出现移动状态,移动状态包括横摆运动状态和纵向移动状态,以及在出现移动状态的情况下,根据移动状态确定每个车轮的速度修正趋势,最后通过闭环控制系统根据速度修正趋势调节车轮的轮速。本申请实施方式的车辆控制方法中,通过在车辆出现前后移动、横摆运动等移动状态的情况下,根据移动状态对车轮的轮速进行实时调节,使得车轮滑移率改变,从而减少车辆在横向移动过程中的前后移动、横摆运动,提升了车辆横移的体验。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle control method, vehicle control device, vehicle and storage medium


    Additional title:

    车辆控制方法、车辆控制装置、车辆及存储介质


    Contributors:
    YAN HAIJUN (author) / LAI RIFEI (author) / SUN JIUQIANG (author) / HUANG QIQIONG (author)

    Publication date :

    2024-10-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



    Vehicle, vehicle control device, storage medium, and vehicle control method

    ABE NORIYUKI | European Patent Office | 2023

    Free access

    Vehicle control device, vehicle, vehicle control method, and storage medium

    YODA JUNYA / YASHIRO KATSUYA | European Patent Office | 2023

    Free access

    VEHICLE, VEHICLE CONTROL DEVICE, STORAGE MEDIUM, AND VEHICLE CONTROL METHOD

    ABE NORIYUKI | European Patent Office | 2022

    Free access

    Vehicle control method, vehicle control device, vehicle and storage medium

    JIANG ZHIHUA / LIN ZHONGXIU | European Patent Office | 2022

    Free access

    Vehicle control method, vehicle control device, vehicle and storage medium

    LI JIE / SHANG JIONG / WEN WEICHAO et al. | European Patent Office | 2024

    Free access