阅读说明：本技术 一种车辆控制方法、车辆控制装置及车辆 (Vehicle control method, vehicle control device and vehicle ) 是由 王磊 邵军 孟怡平 陈英俊 于 2021-06-01 设计创作，主要内容包括：本申请公开了一种车辆控制方法、车辆控制装置及车辆,涉及车辆控制技术领域。具体实现方案为：车辆获取驾驶模式信息,所述驾驶模式信息用于选定目标驾驶模式；所述车辆采集所述车辆的当前状态信息；在所述当前状态信息与所述目标驾驶模式的预设使能条件匹配的情况下,进入所述目标驾驶模式。本发明帮助车辆以最符合当前行驶路况的运动状态行驶,提高了车辆行驶过程中的安全性。(The application discloses a vehicle control method, a vehicle control device and a vehicle, and relates to the technical field of vehicle control. The specific implementation scheme is as follows: the method comprises the steps that a vehicle acquires driving mode information, and the driving mode information is used for selecting a target driving mode; the vehicle acquires current state information of the vehicle; and entering the target driving mode under the condition that the current state information is matched with the preset enabling conditions of the target driving mode. The invention helps the vehicle to run in a motion state which best accords with the current running road condition, and improves the safety of the vehicle in the running process.)

1. A vehicle control method characterized by comprising:

the method comprises the steps that a vehicle acquires driving mode information, and the driving mode information is used for selecting a target driving mode;

the vehicle acquires current state information of the vehicle;

and entering the target driving mode under the condition that the current state information is matched with the preset enabling conditions of the target driving mode.

2. The method of claim 1, wherein the current state information comprises at least one of:

the method comprises the steps of setting a mode of a real-time transfer case of the vehicle, setting a mode of an adaptive cruise function ACC switch, setting a wheel motion state, setting a gear state corresponding to an engine management system EMS and setting an engine speed.

3. The method according to claims 1-2, characterized in that the current state information matches preset enabling conditions of the target driving pattern, including at least one of:

the mode of the transfer case is matched with a preset transfer case mode of the target driving mode;

the mode of the ACC is matched with a preset AAC mode of the target driving mode;

the wheel motion state is matched with a preset wheel motion state of the target driving mode;

the corresponding gear state of the EMS is matched with a preset gear state of the target driving mode;

the engine speed is matched with a preset engine speed of the target driving mode.

4. A method according to claim 3, wherein the preset transfer mode is a first preset transfer mode in a case where the target mode is a creeping mode, a second preset transfer mode in a case where the target mode is a tank turning mode, and a first preset transfer mode in a case where the target mode is a sand hill mode, wherein a vehicle speed of the first preset transfer mode is greater than a vehicle speed of the second preset transfer mode;

the preset AAC mode is a close mode under the condition that the target mode is a crawling mode, the preset AAC mode is a close mode under the condition that the target mode is a tank turning mode, and the set AAC mode is a close mode under the condition that the target mode is a sand dune mode;

when the target mode is a crawling mode, the preset wheel motion state is a first preset tire motion state, when the target mode is a tank turning mode, the preset wheel motion state is a second preset tire motion state, when the target mode is a dune mode, the preset wheel motion state is a second preset tire motion state, when the preset wheel motion state is the first preset tire motion state, the wheel motion of the vehicle is not locked by an electronic brake, when the preset wheel motion state is the second preset tire motion state, the steering wheel of the vehicle turns, when the preset wheel motion state is the second preset tire motion state, the rear wheel on the turning side is locked by the electronic brake, and the other three wheels are in forward or backward rotation states;

the method comprises the steps that when the target mode is a crawling mode, the preset gear state is a first preset gear mode preset for the crawling mode, when the target mode is a tank turning mode, the preset gear state is a second preset gear mode preset for the tank turning mode, and when the target mode is a sand dune mode, the preset gear state is a third preset gear mode preset for the sand dune mode.

The method comprises the steps that when the target mode is a crawling mode, the preset engine rotating speed is a first preset engine rotating speed, and when the target mode is a tank turning mode, the preset engine rotating speed is a second preset engine rotating speed, wherein the first preset engine rotating speed is smaller than the second preset engine rotating speed.

5. The method of claim 3, wherein the vehicle enters the target driving mode based on a comparison match result of the enabling condition passing, comprising at least one of:

setting a torque response rate of the vehicle to a rate that matches the target driving mode setting pattern;

setting a wheel rotation speed of the vehicle to a rotation speed that matches the target driving mode setting pattern;

setting a wheel motion state of the vehicle to a motion state matching the target driving mode setting pattern.

6. A vehicle control apparatus comprising:

the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring driving mode information which is used for selecting a target driving mode;

the acquisition module is used for acquiring the current state information of the vehicle acquired by the vehicle;

and the matching module is used for entering the target driving mode under the condition that the current state information is matched with the preset enabling condition of the target driving mode.

7. The vehicle control apparatus according to claim 6, characterized in that the current state information includes at least one of:

the method comprises the steps of setting a mode of a real-time transfer case of the vehicle, setting a mode of an adaptive cruise function ACC switch, setting a wheel motion state, setting a gear state corresponding to an engine management system EMS and setting an engine speed.

8. The vehicle control apparatus according to claim 6, characterized in that the current state information matches a preset enabling condition of the target driving pattern, including at least one of:

the mode of the transfer case is matched with a preset transfer case mode of the target driving mode;

the mode of the ACC is matched with a preset AAC mode of the target driving mode;

the wheel motion state is matched with a preset wheel motion state of the target driving mode;

the corresponding gear state of the EMS is matched with a preset gear state of the target driving mode;

the engine speed is matched with a preset engine speed of the target driving mode.

9. A vehicle, comprising:

at least one processor; and

a memory coupled to the at least one processor circuit; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 5.

10. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1 to 5.

Technical Field

The invention relates to the technical field of automobiles, in particular to a vehicle control method, a vehicle control device and a vehicle.

Background

In recent years, the all-terrain mode of the vehicle becomes a great development trend in the field of off-road vehicles and is a necessary condition of the vehicle, and the all-terrain mode can help a driver to use the most appropriate driving mode under different working conditions to help the driver solve the problem of the working conditions. In the existing all terrain mode system, the vehicle directly changes the state parameters of the vehicle components according to the mode switching of the vehicle mode control switch to achieve the optimal motion state of the mode. At present, the vehicle directly enters a driving mode selected by a user, so that the driving performance of the vehicle is poor.

Disclosure of Invention

The invention provides a vehicle control method, a vehicle control device and a vehicle, and solves the problem that the driving performance of the vehicle is poor under different working conditions.

According to an aspect of the present invention, there is provided a vehicle control method characterized by comprising:

the method comprises the steps that a vehicle acquires driving mode information, and the driving mode information is used for selecting a target driving mode;

the vehicle acquires current state information of the vehicle;

and entering the target driving mode under the condition that the current state information is matched with the preset enabling conditions of the target driving mode.

According to another aspect of the present invention, there is provided a vehicle control apparatus including:

a receiving module: the target driving mode command is sent by the driver through a vehicle driving mode control switch;

a processing module: the vehicle component real-time state information acquisition module is used for acquiring vehicle component real-time state information of a vehicle component;

a sending module: for sending the result of the matching comparison process to the vehicle.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory coupled to the at least one processor circuit; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the vehicle control method provided by the embodiment of the application.

According to the technical scheme of the invention, the vehicle receives the target driving mode selected by the driver, so that the current state information collected by the vehicle is matched with the preset enabling condition of the selected target driving mode, and then the switching of the vehicle driving mode is completed, thereby improving the driving performance of the vehicle.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a flow chart of a vehicle control method provided by the present disclosure;

FIG. 2 is a schematic illustration of a vehicle control method provided by the present disclosure;

fig. 3 is a structural diagram of a vehicle control apparatus provided by the present disclosure;

fig. 4 is a block diagram of a vehicle for implementing the vehicle control method of the embodiment of the present disclosure.

Detailed Description

The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

Referring to fig. 1, fig. 1 is a flowchart of a vehicle control method provided by the present disclosure, as shown in fig. 1, including the following steps:

step S101, the vehicle obtains driving mode information, and the driving mode information is used for selecting a target driving mode.

When the driver drives the vehicle to run under different working conditions, the appropriate driving mode can be selected according to the working conditions. The above-mentioned change of the target driving mode may be a driver's selection of a driving mode of the vehicle, for example: the vehicle that the driver will be in normal driving mode is in sand dune mode.

The target driving modes comprise a normal driving mode, a crawling mode, a tank turning mode and a sand dune mode, and the driver can switch the four driving modes. For example: when a vehicle driven by a driver is on the road surface of a normal terrain, the vehicle driving mode is in a state of a normal driving mode, when the driver needs to turn around in front and the road is narrow, the vehicle driving mode can be selected to a tank turning mode to deal with the road condition, and the driver can be switched back to the normal driving mode after driving the vehicle away from the road condition.

The vehicle can be carried with vehicle-mounted equipment and is connected with the vehicle through a wire line, so that the response time of the vehicle for receiving the vehicle-mounted equipment is shortened, the rapid transmission of data is ensured, and the driving safety is improved. The device comprises a display device for displaying the state information of each part of the vehicle, so that a driver using the vehicle-mounted device can better judge the driving mode of the vehicle and select the driving mode of the vehicle more suitable for the current road section. The driving mode of the vehicle is operated by the driver through the vehicle-mounted device, and the change of the driving mode of the vehicle can be the change of the mode of the vehicle component and also can be the change of the state of the vehicle component, namely the vehicle can receive the control operation of the vehicle-mounted device.

And S102, the vehicle collects the current state information of the vehicle.

The vehicle receives the driving mode information sent by the driver through the vehicle-mounted equipment and is used for selecting a target driving mode, the vehicle feeds back the component state information and the component mode information to the vehicle-mounted equipment in real time, and the driver can complete the collection of the current state information of the vehicle through the vehicle-mounted equipment.

And step S103, entering the target driving mode under the condition that the current state information is matched with the preset enabling conditions of the target driving mode.

The matching of the preset enabling conditions may be that the vehicle-mounted device matches the fed back vehicle component state data with component state information set in a vehicle driving mode selected by a driver, and the real-time state information of the vehicle component is required to meet the enabling conditions of a target driving mode.

The vehicle-mounted equipment can be the component state information of the road condition where the current vehicle is located, which meets the requirement of the selected vehicle driving mode, or can not meet the requirement based on the matching result. For example: the vehicle-mounted equipment carries out data processing on vehicle component state information of the terrain, the vehicle changes motion parameters of each component after enabling conditions are met, and the vehicle enters the sand dune mode.

When the comparison and matching result of the vehicle control device of the vehicle does not meet the enabling condition, the vehicle-mounted equipment does not process the operation request of the driver for switching the driving mode.

The method comprises the steps that a driver selects a proper target driving mode through judgment of the current working condition, vehicle control equipment receives driving mode information, compares and matches real-time state information of all components collected by a vehicle with state information of all components set by the target driving mode, and the vehicle enters the target driving mode and runs in the best motion state under the condition that the current state information is matched with preset enabling conditions of the target driving mode. When the current state information does not match the preset enabling condition of the target driving mode, the driving mode of the vehicle is not switched to the target driving mode set by the driver.

It should be noted that the vehicle in the present invention may be a car, an off-road vehicle, a truck, a bus, or the like, and these vehicles may be equipped with a vehicle control device. The vehicle control device is used for controlling the vehicle control device to switch the vehicle driving modes, and the driver can select the appropriate target driving mode according to different terrain conditions.

As an optional implementation manner, the current state information includes at least one of the following:

the method comprises the steps of setting a mode of a real-time transfer case of the vehicle, setting a mode of an adaptive cruise function ACC switch, setting a wheel motion state, setting a gear state corresponding to an engine management system EMS and setting an engine speed.

And according to the driving mode information sent by the driver through the vehicle-mounted equipment, the vehicle feeds the current state information of the vehicle back to the vehicle control equipment in real time through electric connection, and the vehicle control equipment carries out next matching processing after acquiring the current state information of the vehicle.

The current state information may be state information of the vehicle component or state information of the entire vehicle. The state information of the vehicle components comprises the mode of the transfer case, an adaptive cruise function ACC switch, the motion state of wheels, the gear state corresponding to an engine management system EMS, the torque response rate, the engine speed and the like. The information state of the vehicle as a whole includes a vehicle speed.

In this embodiment, the feasibility of changing the vehicle into the motion state after the driving mode is switched is ensured by requesting the state information of each component of the vehicle, thereby improving the driving performance of the vehicle.

As an optional implementation manner, the matching of the current state information and the preset enabling condition of the target driving mode includes at least one of the following:

the mode of the transfer case is matched with a preset transfer case mode of the target driving mode;

the mode of the ACC is matched with a preset AAC mode of the target driving mode;

the wheel motion state is matched with a preset wheel motion state of the target driving mode;

the corresponding gear state of the EMS is matched with a preset gear state of the target driving mode;

the engine speed is matched with a preset engine speed of the target driving mode.

And comparing and matching the current state information collected by the vehicle with the state information set by the target driving mode, wherein the next step of changing the driving mode of the vehicle can be carried out only when all enabling conditions are required to be met.

It should be noted that the enabling conditions to be satisfied by the crawling mode include: the transfer case is in a 4L mode, the adaptive cruise function ACC is forbidden, the engine management system EMS enters a gear corresponding to a crawling mode, the engine management system EMS controls the torque response rate according to 200ms filtering, the engine rotating speed is controlled at 1200 revolutions, and the vehicle speed limit value is less than or equal to 5 km/h.

Enabling conditions to be satisfied by the tank turning mode include: the transfer case is in a 4H mode, an adaptive cruise function ACC is forbidden, a rear wheel at one side of a turn is locked by an electronic brake, an engine management system EMS enters a gear corresponding to a tank turning mode, the engine management system EMS controls the torque response rate according to 100ms filtering, and the rotating speed of an engine is controlled at 3000 revolutions.

Enabling conditions to be met by the sand dune mode comprise: the transfer case is in a 4L mode, the adaptive cruise function ACC is forbidden, the rear wheel on the turning side is locked by an electronic brake, the engine management system EMS enters a gear corresponding to a sand hill mode, the engine management system EMS controls the torque response rate according to 150ms filtering of stepping on the accelerator, and the engine management system EMS controls the torque response rate according to 300ms filtering of releasing the accelerator.

In this embodiment, the vehicle can complete the switching of the driving mode of the vehicle only when the vehicle satisfies the enabling condition corresponding to the driving mode, so that the stability and the safety of the vehicle during driving can be ensured, and the driving performance of the vehicle can be improved.

As an alternative embodiment, in the case that the target mode is a crawling mode, the preset transfer case mode is a first preset transfer case mode, in the case that the target mode is a tank turning mode, the preset transfer case mode is a second preset transfer case mode, in the case that the target mode is a sand hill mode, the preset transfer case mode is a first preset transfer case mode, wherein the vehicle speed of the first preset transfer case mode is greater than the vehicle speed of the second preset transfer case mode;

the preset AAC mode is a close mode under the condition that the target mode is a crawling mode, the preset AAC mode is a close mode under the condition that the target mode is a tank turning mode, and the set AAC mode is a close mode under the condition that the target mode is a sand dune mode;

when the target mode is a crawling mode, the preset wheel motion state is a first preset tire motion state, when the target mode is a tank turning mode, the preset wheel motion state is a second preset tire motion state, when the target mode is a dune mode, the preset wheel motion state is a second preset tire motion state, when the preset wheel motion state is the first preset tire state, the wheel motion of the vehicle is not locked by an electronic brake, when the preset wheel motion state is the second preset tire motion state, the steering wheel of the vehicle turns, the rear wheel on the turning side is locked by the electronic brake, and other three wheels are in a forward or backward rotation state;

the method comprises the following steps that when the target mode is a crawling mode, the preset gear state is a first preset gear mode preset for the crawling mode, when the target mode is a tank turning mode, the preset gear state is a second preset gear mode preset for the tank turning mode, and when the target mode is a sand dune mode, the preset gear state is a third preset gear mode preset for the sand dune mode;

the method comprises the steps that when the target mode is a crawling mode, the preset engine rotating speed is a first preset engine rotating speed, and when the target mode is a tank turning mode, the preset engine rotating speed is a second preset engine rotating speed, wherein the first preset engine rotating speed is smaller than the second preset engine rotating speed.

The preset transfer case modes are divided into a first preset transfer case mode and a second preset transfer case mode, wherein the vehicle speed of the first preset transfer case mode is greater than the vehicle speed of the second preset transfer case mode, for example: the first preset transfer case mode is a 4L mode and a four-wheel drive low-speed mode; the second predetermined transfer case mode is a 4H mode and a four-wheel drive high speed mode.

The preset ACC mode is divided into an on mode and an off mode, wherein when the driving mode is switched, the ACC mode is switched off, and the ACC control unit actively takes a braking operation to influence the switching operation of the driving mode of the vehicle by a driver.

The preset wheel motion state is divided into a first preset wheel motion state and a second preset wheel motion state, wherein the first preset wheel motion state is a forward or backward motion state of the wheel in a normal driving mode, for example: the target driving mode of the vehicle is a creeping mode, and the moving state of the wheels is in a forward or backward state in a normal driving mode. The second preset wheel movement state is that the front tire on the turning side is in a locked state, and other tires move around the locked tire, for example: the target driving mode of the vehicle is a tank turning mode and turns left, the left front tire of the vehicle is locked, other tires normally move forward, and the tank turning left is completed.

The aforesaid is predetermine the gear state and is divided into first predetermined gear state, the gear state is predetermine to the second and the gear state is predetermine to the third, wherein, when the aforesaid is predetermine the gear state and is the first gear mode of predetermineeing, the vehicle low-speed is at the uniform velocity and is gone and liberate the driver to the control of throttle and brake, when predetermineeing the gear state and predetermine the gear mode for the second, the vehicle low-speed is gone and is mastered by the driver the vehicle overall speed, when predetermineeing the gear state and predetermine the state for the third, the vehicle wheel rotational speed reduces, and the throttle delays with higher speed, and the speed of a motor vehicle improves slowly.

The preset engine speed may be divided into a first preset engine speed and a second preset engine speed, wherein the preset engine speed is faster than the second preset engine speed when the preset engine speed is the first preset engine speed, for example: the driving mode of the vehicle is a creeping mode, and the required power is larger than that of a vehicle with a tank-shaped turning mode.

It should be noted that the creep mode motion principle includes: when the vehicle is switched to a creeping mode, the torque response is slow, the rotating speed rises slowly, and after the rotating speed reaches a limit value, the rotating speed is stable, so that the speed of transmitting the vehicle power to the tire is reduced, and finally, reasonable low-speed running is achieved, the creeping running function is optimized, and the vehicle is stably released from trouble.

The motion principle of the tank turning mode comprises the following steps: work as the vehicle switches over to the tank mode of turning round, and the steering wheel turns to, and the rear wheel of turning round one side can be locked by the electron brake, and the whole car of other three wheels rotates, and the moment of torsion response is according to 100ms speed filtering, and engine speed rises according to this speed, and the rotational speed is stable, makes the speed that vehicle power transmitted other three tires stable, optimizes the driving function that the tank turned round for the vehicle realizes turning round from relatively narrow road.

The sand dune mode motion principle comprises the following steps: when the vehicle switches to the dune mode, at accelerator and pine accelerator operating mode, through the control of different moment of torsion response speed, reach the stable switching of engine speed, keep the speed of a motor vehicle stable, optimize the driving function of dune environment for the vehicle is stably walked in the dune.

In the embodiment, each driving mode corresponds to different parameter settings of different components, so that the optimal driving mode processing of a driver for different working conditions is ensured, and the driving safety and reliability are improved.

As an optional implementation, the vehicle enters the target driving mode based on the comparison matching result of the enabling condition, and the comparison matching result comprises at least one of the following:

setting a torque response rate of the vehicle to a rate that matches the target driving mode setting pattern;

setting a wheel rotation speed of the vehicle to a rotation speed that matches the target driving mode setting pattern;

setting a wheel motion state of the vehicle to a motion state matching the target driving mode setting pattern.

And the vehicle-mounted equipment completes the switching of the target driving mode of the vehicle based on the matching result and transmits the information of the change of the motion state of the vehicle component to the vehicle in real time. The change in the torque response rate may adjust the rate at which the vehicle engine speed increases, for example: when the vehicle torque response rate is slow, the engine speed rise is also slowed. The change in the wheel speed may adjust the overall operating speed of the vehicle, for example: the increase in the wheel rotation speed increases the overall traveling speed of the vehicle. The change of the motion state of the wheel can adjust the track of the vehicle during running, such as: when the vehicle turns, the front tires on the turning side are locked, and the running track of the vehicle turns around in situ.

It should be noted that, after the selected target driving mode is successfully switched, the moving body of the vehicle component is changed, so that the vehicle reaches a moving state according with the road condition. The power output of the engine and the overall speed of the vehicle can overcome difficult working conditions, such as: when the vehicle is trapped in sand and cannot be driven due to tire slip, the driver changes the driving mode of the vehicle, so that the vehicle controls the stable switching of the rotating speed of the engine through different torque response rates, the rotating speed of wheels of the vehicle stably rises, and the vehicle has strong power support. So that the motion state of the vehicle can normally run for the working condition.

In this embodiment, the vehicle better copes with a variety of different road conditions due to changes in the torque response rate, wheel speeds, and wheel motion states of the vehicle. The motion state of each driving mode of the vehicle has excellent driving performance for the corresponding terrain, so that the probability of accidents of the vehicle for the terrain dangerous working condition is reduced, and the driving performance of the vehicle is improved.

Referring to fig. 2, the following describes an example of steps and principles of driving mode switching in the present disclosure, as shown in fig. 2, a driver selects a target driving mode through a mode switch, the ECU vehicle-mounted device module receives information from the mode switch and performs data processing of comparison and matching on the collected current state information, and after the current state information satisfies the enabling condition, the response rate of the vehicle is changed through software control, so as to complete a control strategy of the driving mode of the vehicle. For example: the driver presses down the all-terrain mode switch and switches to the crawling mode, the vehicle acquires the current state information, and the following requirements are met:

1. the transfer case is in 4L four-wheel drive low speed mode.

2. The ACC adaptive cruise function is disabled.

3. The vehicle speed limit is not more than 5 km/h.

4. And the EMS engine management system carries out a first preset gear mode preset by the crawling mode.

5. The EMS engine management system controls the torque response rate with 200ms filtering.

6. The EMS engine management system controls the air intake load to be 30% under the condition of not stepping on an accelerator and a pedal.

7. The engine speed is controlled at 1200.

When the conditions are met, the torque response of the vehicle is slowed, the rotating speed is slowly increased, and when the rotating speed reaches a limit value, the rotating speed is stable, so that the speed of transmitting the power of the vehicle to the tire is slowed, and finally, the reasonable low-speed running is achieved, the creeping running function is optimized, and the vehicle is stably released from the trouble.

Optionally, the driver presses the all-terrain mode switch and switches to the tank turning mode, and the vehicle acquires current state information and needs to satisfy:

1. the transfer case is in 4H four-wheel drive high speed mode.

2. The ACC adaptive cruise function is disabled.

3. The vehicle speed limit is not more than 5 km/h.

4. And the EMS engine management system carries out a second preset gear mode preset by the tank turning mode.

5. The EMS engine management system controls the torque response rate with 100ms filtering.

6. The engine speed is controlled at 3000.

7. Only the rear wheel at the turning side is locked by the electronic brake, and other wheels normally move forwards or backwards.

After satisfying above condition the vehicle steering wheel turns to, and the rear wheel of turning one side can be locked by the electron brake, and the whole car of other three wheels rotates, and the torque response is according to 100ms speed filtering, and the engine speed rises according to this speed, and the rotational speed is stable, makes the speed that vehicle power transmitted other three tires stable, optimizes the driving function that the tank was turned round for the vehicle realizes turning round from relatively narrow road.

Optional driver presses all topography mode switch and switches to the sand dune mode, current state information is gathered to the vehicle, needs to satisfy:

1. the transfer case is in 4L four-wheel drive low speed mode.

2. The ACC adaptive cruise function is disabled.

3. And the EMS engine management system carries out a third preset gear mode preset in the sand dune mode.

4. The EMS engine management system controls the torque change according to 150ms filtering when stepping on the accelerator.

5. The EMS engine management system controls torque change according to 300ms filtering when the throttle is released.

6. The rear wheel at the turning side is locked by an electronic brake, and other wheels normally move forwards or backwards.

When the conditions are met, the vehicle achieves stable switching of the rotating speed of the engine, the speed of the vehicle is kept stable, the driving function of a sand dune environment is optimized, and the vehicle can stably pass through the sand dune.

Referring to fig. 3, fig. 3 is a vehicle control device provided by the present disclosure, and as shown in fig. 3, a vehicle control apparatus 300 includes:

an obtaining module 301, configured to obtain driving mode information, where the driving mode information is used to select a target driving mode;

an acquisition module 302, configured to acquire current state information of the vehicle acquired by the vehicle;

a matching module 303, configured to enter the target driving mode when the current state information matches a preset enabling condition of the target driving mode.

As an optional embodiment, the current state information in the vehicle control apparatus includes at least one of:

the method comprises the steps of setting a mode of a real-time transfer case of the vehicle, setting a mode of an adaptive cruise function ACC switch, setting a wheel motion state, setting a gear state corresponding to an engine management system EMS and setting an engine speed.

As an optional implementation manner, the matching of the current state information and the preset enabling condition of the target driving mode in the vehicle control device includes at least one of the following:

the mode of the transfer case is matched with a preset transfer case mode of the target driving mode;

the mode of the ACC is matched with a preset AAC mode of the target driving mode;

the wheel motion state is matched with a preset wheel motion state of the target driving mode;

the corresponding gear state of the EMS is matched with a preset gear state of the target driving mode;

the engine speed is matched with a preset engine speed of the target driving mode. Optionally, the matching of the current state information in the vehicle control device and the preset enabling condition of the target driving mode includes:

the method comprises the following steps that when the target mode is a crawling mode, the preset transfer case mode is a first preset transfer case mode, when the target mode is a tank turning mode, the preset transfer case mode is a second preset transfer case mode, when the target mode is a sand dune mode, the preset transfer case mode is the first preset transfer case mode, and the vehicle speed of the first preset transfer case mode is larger than that of the second preset transfer case mode;

the preset AAC mode is a close mode under the condition that the target mode is a crawling mode, the preset AAC mode is a close mode under the condition that the target mode is a tank turning mode, and the set AAC mode is a close mode under the condition that the target mode is a sand dune mode;

when the target mode is a crawling mode, the preset wheel motion state is a first preset tire motion state, when the target mode is a tank turning mode, the preset wheel motion state is a second preset tire motion state, when the target mode is a sand dune mode, the preset wheel motion state is a second preset tire motion state, when the preset wheel motion state is the first preset tire motion state, the wheel motion of the vehicle normally moves forwards and backwards and is not locked by an electronic brake, when the preset wheel motion state is the second preset tire motion state, the steering wheel of the vehicle turns, the rear wheel on the turning side is locked by the electronic brake, and other three wheels are normally in forward or backward rotation states;

the method comprises the steps that when the target mode is a crawling mode, a preset gear state is a first preset gear mode preset for the crawling mode, when the target mode is a tank turning mode, the preset gear state is a second preset gear mode preset for the tank turning mode, and when the target mode is a sand dune mode, the preset gear state is a third preset gear mode preset for the sand dune mode.

The method comprises the steps that when the target mode is a crawling mode, the preset engine rotating speed is a first preset engine rotating speed, and when the target mode is a tank turning mode, the preset engine rotating speed is a second preset engine rotating speed, wherein the first preset engine rotating speed is smaller than the second preset engine rotating speed.

Optionally, the entering of the target driving mode in the vehicle control device based on the comparison and matching result that the enabling condition passes includes at least one of:

setting a torque response rate of the vehicle to a rate that matches the target driving mode setting pattern;

setting a wheel rotation speed of the vehicle to a rotation speed that matches the target driving mode setting pattern;

setting a wheel motion state of the vehicle to a motion state matching the target driving mode setting pattern.

The apparatus provided in this embodiment can implement each process implemented in the method embodiment shown in fig. 1, and can achieve the same beneficial effects, and is not described here again to avoid repetition.

The embodiment of the application provides a vehicle, which comprises at least one processor; and a memory in line with the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a vehicle control method.

As shown in fig. 4, the vehicle 400 has at least one processor 401; and a memory 402 in line with the at least one processor; the processor is used for executing commands, and the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so as to enable the at least one processor to execute the vehicle control method provided by the embodiment of the application.

The embodiment of the present application further provides a non-transitory computer-readable storage medium, namely, the memory 402 in fig. 4, which stores computer instructions for causing the computer to execute the vehicle control method provided by the embodiment of the present application.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.