CN113619584B - Electronic control rear wheel steering method and device, electronic equipment and storage medium - Google Patents
Electronic control rear wheel steering method and device, electronic equipment and storage medium Download PDFInfo
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- CN113619584B CN113619584B CN202110993305.7A CN202110993305A CN113619584B CN 113619584 B CN113619584 B CN 113619584B CN 202110993305 A CN202110993305 A CN 202110993305A CN 113619584 B CN113619584 B CN 113619584B
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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
- 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
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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
- 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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The embodiment of the invention discloses an electronic control rear wheel steering method, an electronic device and a storage medium. According to the method, through the acquired steering wheel angle and steering wheel rotating speed of the target vehicle, the target driving mode of the target vehicle is determined to be the in-turn mode or the out-turn mode, the recognition of the driving intention of the vehicle is realized, further, when the target driving mode of the target vehicle is the in-turn mode, the reverse steering of the rear wheels of the target vehicle is controlled, the obstacle avoidance is facilitated when the vehicle is in emergency avoidance, and when the target driving mode of the target vehicle is the out-turn mode, the same-direction steering of the rear wheels of the target vehicle is controlled, the original route is facilitated to be quickly restored after the obstacle avoidance, the rear wheel steering control of the vehicle entering the curve and exiting the curve is realized, the vehicle is enabled to enter the curve and exit the curve to be more agile, and the safety and the driving experience of the vehicle are improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to an electronic control rear wheel steering method, an electronic device and a storage medium.
Background
With the development of electronic technology, more and more luxury sport cars are equipped with an electric control rear wheel steering system so as to facilitate drivers to change the running direction of the car according to will. The general purpose is to make the front and rear wheel turning angles opposite at low speed and the front and rear wheel turning angles same direction at high speed, so as to improve the flexibility and stability of the vehicle.
However, none of the prior art relates to a strategic description of when entering a curve (avoiding obstacles) and when exiting a curve (restoring the route).
Disclosure of Invention
The embodiment of the invention provides an electric control rear wheel steering method, an electric control rear wheel steering device, electronic equipment and a storage medium, which are used for realizing rear wheel steering control of a vehicle entering a curve and exiting the curve and improving the agility and maneuverability of the vehicle.
In a first aspect, an embodiment of the present invention provides an electrically controlled rear wheel steering method, including:
Acquiring vehicle running information of a target vehicle, wherein the vehicle running information comprises steering wheel rotation angles and steering wheel rotation speeds;
determining a target driving mode of the target vehicle based on the steering wheel angle and the steering wheel rotating speed, wherein the target driving mode is an in-bending mode or an out-bending mode;
And if the target driving mode is a bending-in mode, controlling the rear wheels of the target vehicle to steer reversely, and if the target driving mode is a bending-out mode, controlling the rear wheels of the target vehicle to steer in the same direction.
Optionally, the determining the target driving mode of the target vehicle based on the steering wheel angle and the steering wheel rotation speed includes:
comparing the steering wheel angle with a preset angle threshold;
And if the steering wheel angle is larger than the preset angle threshold, determining a target driving mode of the target vehicle based on the direction of the steering wheel angle and the direction of the steering wheel rotating speed.
Optionally, the determining the target driving mode of the target vehicle based on the direction of the steering wheel angle and the direction of the steering wheel rotation speed includes:
If the steering wheel angle and the steering wheel rotating speed are not zero and the steering wheel angle direction is inconsistent with the steering wheel rotating speed direction, determining that the target driving mode of the target vehicle is a bending-out mode;
And if the steering wheel angle and the steering wheel rotating speed are not zero and the steering wheel angle direction is consistent with the steering wheel rotating speed direction, determining that the target driving mode of the target vehicle is a bending-in mode.
Optionally, the vehicle driving information further includes a current lateral acceleration, and if the target driving mode is a curve entering mode, controlling the rear wheels of the target vehicle to steer reversely, including:
if the target driving mode is a turning-in mode, determining a turning-in front-rear wheel steering angle proportionality coefficient corresponding to the target vehicle based on the current lateral acceleration and a pre-constructed turning-in proportionality coefficient mapping table;
determining a rear wheel steering angle of the target vehicle based on the in-turn front-rear wheel steering angle proportionality coefficient and a front wheel steering angle of the target vehicle;
Controlling rear-wheel reverse steering of the target vehicle based on the rear-wheel steering angle;
the bending-in proportion coefficient mapping table comprises each measured lateral acceleration and a bending-in rotation angle proportion coefficient corresponding to each measured lateral acceleration.
Optionally, the vehicle driving information further includes a current lateral acceleration, and if the target driving mode is a curve-out mode, controlling the rear wheels of the target vehicle to steer in the same direction, including:
If the target driving mode is a bending-out mode, determining a bending-out front-rear wheel steering angle proportionality coefficient corresponding to the target vehicle based on the current lateral acceleration and a pre-constructed bending-out proportionality coefficient mapping table;
determining a rear wheel steering angle of the target vehicle based on the out-turned front-rear wheel steering angle proportionality coefficient and a front wheel steering angle of the target vehicle;
Controlling rear-wheel co-steering of the target vehicle based on the rear-wheel steering angle;
the bending-out proportional coefficient mapping table comprises each measured lateral acceleration and bending-out angular proportional coefficients corresponding to each measured lateral acceleration.
Optionally, the method further comprises:
Calculating a proportion coefficient of the bending angle corresponding to each measured lateral acceleration based on each measured lateral acceleration and the rear wheel rotation angle corresponding to each measured lateral acceleration in the bending mode;
and constructing a bending proportion coefficient mapping table based on each measured lateral acceleration and the bending proportion coefficient corresponding to each measured lateral acceleration.
Optionally, the ratio coefficient of the turning angle of the rear wheel corresponding to each measured lateral acceleration is calculated based on each measured lateral acceleration and the turning angle of the rear wheel corresponding to each measured lateral acceleration in the turning mode, so as to satisfy the following formula:
Wherein L is the vehicle wheelbase, R is the vehicle turning radius, W f is the front wheel static load, W r is the rear wheel static load, C af is the front wheel cornering stiffness, C ar is the rear wheel cornering stiffness, a y is the actual measured lateral acceleration, k is the in-turn angle scaling factor, and delta r is the rear wheel turning angle.
In a second aspect, an embodiment of the present invention further provides an electronically controlled rear wheel steering apparatus, including:
The information acquisition module is used for acquiring vehicle running information of a target vehicle, wherein the vehicle running information comprises steering wheel rotation angles and steering wheel rotation speeds;
The driving mode determining module is used for determining a target driving mode of the target vehicle based on the steering wheel angle and the steering wheel rotating speed, wherein the target driving mode is an in-bending mode or an out-bending mode;
And the rear wheel control module is used for controlling the rear wheels of the target vehicle to steer reversely if the target driving mode is a bending-in mode, and controlling the rear wheels of the target vehicle to steer in the same direction if the target driving mode is a bending-out mode.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processors;
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 implement an electronically controlled rear-wheel steering method as provided by any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements an electronically controlled rear-wheel steering method as provided in any embodiment of the present invention.
In a fifth aspect, an embodiment of the present invention further provides an electronically controlled rear-wheel steering system, the system including a front-wheel steering device, a rear-wheel steering device, and an acceleration sensor; wherein,
The front wheel steering device is used for sending a steering wheel angle and a steering wheel rotating speed to the rear wheel steering device;
The acceleration sensor is used for detecting the current lateral acceleration of the target vehicle and sending the current lateral acceleration to the rear wheel steering device;
the rear wheel steering device is used for controlling the rear wheel steering of the target vehicle based on the electric control rear wheel steering method provided by any embodiment of the invention.
The embodiments of the above invention have the following advantages or benefits:
The method comprises the steps of determining that the target driving mode of the target vehicle is the in-bending mode or the out-bending mode through the acquired steering wheel rotation angle and the steering wheel rotation speed of the target vehicle, and further controlling the rear wheel of the target vehicle to reversely steer when the target driving mode of the target vehicle is the in-bending mode, so that the vehicle can avoid obstacles quickly when the vehicle is in emergency avoidance, and controlling the rear wheel of the target vehicle to steer in the same direction when the target driving mode of the target vehicle is the out-bending mode, so that the vehicle can recover the original route quickly after avoiding obstacles, and the rear wheel steering control of the vehicle entering and exiting the curve is realized, so that the vehicle enters the curve and exits the curve more agilely, and the safety and the driving experience of the vehicle are improved.
Drawings
In order to more clearly illustrate the technical solution of the exemplary embodiments of the present invention, a brief description is given below of the drawings required for describing the embodiments. It is obvious that the drawings presented are only drawings of some of the embodiments of the invention to be described, and not all the drawings, and that other drawings can be made according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of an electrically controlled rear wheel steering method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an electrically controlled rear wheel steering method according to a second embodiment of the present invention;
Fig. 3A is a schematic flow chart of an electrically controlled rear wheel steering method according to a third embodiment of the present invention;
fig. 3B is a schematic view of a front wheel and a rear wheel of a vehicle when the vehicle is turned according to a third embodiment of the present invention;
Fig. 3C is a schematic flow chart of an alternative electrically controlled rear wheel steering method according to the third embodiment of the present invention;
fig. 4A is a schematic structural diagram of an electronically controlled rear-wheel steering system according to a fourth embodiment of the present invention;
fig. 4B is a functional schematic diagram of a control unit according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electrically controlled rear wheel steering device according to a fifth embodiment of the present invention;
Fig. 6 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flow chart of an electrically controlled rear wheel steering method according to an embodiment of the present invention, where the method may be implemented by an electrically controlled rear wheel steering device, and the device may be implemented by hardware and/or software, and the method specifically includes the following steps:
s110, acquiring vehicle running information of a target vehicle.
The vehicle driving information comprises steering wheel rotation angle and steering wheel rotating speed. In this embodiment, the steering wheel speed and steering wheel angle may be provided by a conventional steering device on the front axle of the target vehicle. Specifically, the steering wheel angle may be angle information of a steering wheel of the target vehicle; the steering wheel rotational speed may be rotational speed information of a steering wheel of the target vehicle.
S120, determining a target driving mode of the target vehicle based on the steering wheel angle and the steering wheel rotating speed.
The target driving mode is an in-bending mode or an out-bending mode. Specifically, the entering bend mode may be when the vehicle enters a bend for emergency avoidance, i.e., avoid an obstacle; the out-of-curve mode may be when the vehicle exits the curve after avoiding the obstacle, i.e., resumes the original driving route.
In the present embodiment, the target driving mode of the target vehicle may be determined according to the direction of the steering wheel angle and the direction of the steering wheel rotation speed. For example, the right direction may be defined as the positive direction and the left direction with reference to the driving position of the target vehicle; if the direction of the steering wheel rotation angle is consistent with the sign of the direction of the steering wheel rotation speed, judging that the target vehicle enters a curve or an emergency obstacle avoidance mode, namely, entering a curve mode; if the sign of the direction of the steering wheel rotation angle is inconsistent with the sign of the direction of the steering wheel rotation speed, the target vehicle is judged to return to the lane center line after avoiding the obstacle, namely, the curve mode is adopted.
The target vehicle is suddenly prevented from obstacle left, at this time, the steering wheel rotates left, the direction of the steering wheel rotation angle is positive, the direction of the steering wheel rotation speed is positive, the sign of the direction of the steering wheel rotation angle is consistent with the sign of the direction of the steering wheel rotation speed, and the target driving mode of the target vehicle is a bending-in mode; after the target vehicle finishes the obstacle avoidance leftwards, returning to the original route (for example, returning to the center line of a lane), at the moment, the steering wheel rotates rightwards, the steering wheel angle is still at the left side, the direction of the steering wheel rotating speed is still positive, the direction of the steering wheel rotating speed is negative, the sign of the direction of the steering wheel angle is inconsistent with the sign of the direction of the steering wheel rotating speed, and the target driving mode of the target vehicle is a bending-out mode.
And S130, if the target driving mode is the in-bending mode, controlling the rear wheels of the target vehicle to steer reversely, and if the target driving mode is the out-bending mode, controlling the rear wheels of the target vehicle to steer in the same direction.
The reverse steering of the rear wheels can be that the rear wheels steer in a direction opposite to the steering direction of the front wheels; the rear-wheel co-steering may be such that the rear wheels are steered in the same direction as the steering direction of the front wheels.
In this embodiment, when the target driving mode is the in-bend mode, the rear wheels of the target vehicle may be controlled to reverse steering; and when the target driving mode is the out-bending mode, controlling the rear wheels of the target vehicle to steer in the same direction.
Specifically, when the target driving mode is the in-bend mode, the rear wheels of the target vehicle are controlled to reverse steering for the purpose of: the rear wheels are controlled to steer in the direction opposite to the steering direction of the front wheels, so that oversteer of the vehicle is increased, the vehicle is facilitated to avoid obstacles, the obstacles can be quickly avoided, and the safety of the vehicle is improved. When the target driving mode is the out-bending mode, the aim of controlling the rear wheels of the target vehicle to steer in the same direction is to: the rear wheels are controlled to steer in the same direction as the steering direction of the front wheels, so that the understeer of the vehicle is increased, the turning radius of the vehicle is further increased, the vehicle can recover the original route as soon as possible, and the driving comfort of the vehicle is improved.
Of course, when the rear wheels of the control target vehicle steer in the same direction or reverse direction, the steering angle of the rear wheels of the control target vehicle and the steering angle of the front wheels of the control target vehicle are kept in a certain proportion, so that the agility and the maneuverability of the vehicle are further improved, and the safety and the comfort of the vehicle are improved.
Specifically, in an alternative embodiment, the vehicle driving information further includes a current lateral acceleration, and if the target driving mode is a curve-in mode, the method includes controlling reverse steering of rear wheels of the target vehicle, including: if the target driving mode is a turning mode, determining a turning front-rear wheel steering angle proportionality coefficient corresponding to the target vehicle based on the current lateral acceleration and a preset turning proportionality coefficient mapping table; determining a rear wheel turning angle of the target vehicle based on the front and rear wheel turning angle proportionality coefficient of the in-turn and the front wheel turning angle of the target vehicle; the rear wheels of the target vehicle are controlled to reverse steering based on the rear wheel steering angle.
The bending proportion coefficient mapping table comprises each measured lateral acceleration and a bending angle proportion coefficient corresponding to each measured lateral acceleration. Specifically, the steering proportion coefficient of the front and rear wheels corresponding to the actual lateral acceleration can be calculated in advance by measuring the actual rear wheel angles corresponding to the actual vehicle under different actual lateral accelerations according to the actual lateral acceleration and the actual rear wheel angles corresponding to the actual lateral acceleration, and then the steering proportion coefficient mapping table is built based on the steering proportion coefficient of the front and rear wheels corresponding to the actual lateral acceleration and the actual lateral acceleration. Further, after determining the front wheel corner of the target vehicle, the corresponding front and rear wheel corner ratio coefficients for entering the curve can be queried in the curve ratio coefficient mapping table according to the current lateral acceleration of the target vehicle, so as to calculate the rear wheel corner based on the front wheel corner and the front and rear wheel corner ratio coefficients for entering the curve.
In this alternative embodiment, the rear wheels of the control target vehicle are steered in the reverse direction based on the rear wheel turning angle, and the rear wheels of the control target vehicle may be steered in the steering direction with the direction corresponding to the rear wheel turning angle, that is, the rear wheels of the control target vehicle are steered in the direction corresponding to the rear wheel turning angle. The rear wheel steering angle of the target vehicle is calculated through the current lateral acceleration of the target vehicle and a pre-built steering proportion coefficient mapping table, so that the rear wheel reverse steering of the target vehicle is controlled based on the rear wheel steering angle, the steering angle of the rear wheel steering of the vehicle and the steering angle of the front wheel steering are kept in a certain proportion, the follow-up steering of the rear wheel according to the steering angle of the front wheel is realized, the agility and the maneuverability of the vehicle are further improved, and the safety and the comfort of the vehicle are improved.
Accordingly, the rear wheel steering angle of the target vehicle may also be determined based on the scaling factor map when the target vehicle is in the out-of-curve mode. That is, optionally, the vehicle driving information further includes a current lateral acceleration, and if the target driving mode is the out-bending mode, the method for controlling the rear wheels of the target vehicle to steer in the same direction includes: if the target driving mode is the out-bending mode, determining the out-bending front-rear wheel steering angle proportionality coefficient corresponding to the target vehicle based on the current lateral acceleration and a pre-constructed out-bending proportionality coefficient mapping table; determining a rear wheel turning angle of the target vehicle based on the out-turned front-rear wheel turning angle proportionality coefficient and the front wheel turning angle of the target vehicle; controlling rear-wheel co-steering of the target vehicle based on the rear-wheel steering angle; the bending-out proportional coefficient mapping table comprises each measured lateral acceleration and bending-out angular proportional coefficients corresponding to each measured lateral acceleration.
Specifically, the current lateral acceleration may be compared with each measured lateral acceleration in the out-bending proportionality coefficient mapping table, so as to determine the measured lateral acceleration closest to the current lateral acceleration, and determine the out-bending angle proportionality coefficient corresponding to the measured lateral acceleration as the out-bending front-rear wheel steering angle proportionality coefficient corresponding to the target vehicle. After the out-turned front-rear wheel steering angle proportionality coefficient is obtained, the front wheel steering angle of the target vehicle can be divided by the out-turned front-rear wheel steering angle proportionality coefficient to obtain the rear wheel steering angle of the target vehicle.
The rear wheel steering angle of the target vehicle is calculated through the current lateral acceleration of the target vehicle and a pre-constructed out-of-turn proportion coefficient mapping table, so that the rear wheel steering angle of the target vehicle is controlled based on the rear wheel steering angle, the steering angle of the rear wheel steering of the vehicle and the steering angle of the front wheel steering are kept in a certain proportion, the follow-up steering of the rear wheel according to the steering angle of the front wheel is realized, the agility and the maneuverability of the vehicle are further improved, and the safety and the comfort of the vehicle are improved.
According to the technical scheme, through the acquired steering wheel angle and steering wheel rotating speed of the target vehicle, the target driving mode of the target vehicle is determined to be the in-bending mode or the out-bending mode, the recognition of the driving intention of the vehicle is achieved, further, when the target driving mode of the target vehicle is in the in-bending mode, the reverse steering of the rear wheels of the target vehicle is controlled, the obstacle avoidance is facilitated when the vehicle is in emergency avoidance, and when the target driving mode of the target vehicle is in the out-bending mode, the same-direction steering of the rear wheels of the target vehicle is controlled, the original route is facilitated to be restored quickly after the obstacle avoidance, the rear wheel steering control of the vehicle entering the curve and exiting the curve is achieved, the vehicle enters the curve and exits the curve to be more agile, and the safety and driving experience of the vehicle are improved.
Example two
Fig. 2 is a schematic flow chart of an electrically controlled rear wheel steering method according to a second embodiment of the present invention, where, based on the foregoing embodiments, the determining, based on the steering wheel angle and the steering wheel rotational speed, a target driving mode of the target vehicle includes: comparing the steering wheel angle with a preset angle threshold; and if the steering wheel angle is larger than the preset angle threshold, determining a target driving mode of the target vehicle based on the direction of the steering wheel angle and the direction of the steering wheel rotating speed.
Wherein the explanation of the same or corresponding terms as those of the above embodiments is not repeated herein. Referring to fig. 2, the present embodiment provides the steps including:
S210, acquiring vehicle running information of a target vehicle, wherein the vehicle running information comprises steering wheel rotation angle and steering wheel rotation speed.
S220, comparing the steering wheel angle with a preset angle threshold, and if the steering wheel angle is larger than the preset angle threshold, determining a target driving mode of the target vehicle based on the steering wheel angle direction and the steering wheel rotating speed direction.
The preset rotation angle threshold may be a preset value for determining whether there is steering behavior. For example, an unintentional operation of the driver or vibration from the road surface may also cause a minute rotation of the steering wheel, at which time, by comparing the steering wheel angle with a preset steering angle threshold value, when the steering wheel angle is greater than the preset steering angle threshold value, it may be determined that the target vehicle has steering behavior, so that the target driving mode of the target vehicle is determined further based on the direction of the steering wheel angle and the direction of the steering wheel rotation speed of the target vehicle. For example, the preset rotation angle threshold may be 3 °; of course, the preset rotation angle threshold may be set according to actual requirements (such as vehicle weight), which is not limited by the present application.
Optionally, determining the target driving mode of the target vehicle based on the direction of the steering wheel angle and the direction of the steering wheel rotation speed includes: if the steering wheel angle and the steering wheel rotating speed are not zero and the steering wheel angle direction is inconsistent with the steering wheel rotating speed direction, determining that the target driving mode of the target vehicle is a bending mode; if the steering wheel angle and the steering wheel rotating speed are not zero, and the steering wheel angle direction is consistent with the steering wheel rotating speed direction, determining that the target driving mode of the target vehicle is the in-bending mode.
If the steering wheel angle is zero or the steering wheel rotation speed is zero, it may be determined that the target vehicle is in a straight state or the target vehicle is in a certain stable steering state, that is, the target driving mode of the target vehicle is the maintenance mode. When the steering wheel angle and the steering wheel rotating speed are not zero and the steering wheel angle direction is consistent with the steering wheel rotating speed direction, the target driving mode of the target vehicle is a bending mode. When the steering wheel angle and the steering wheel rotating speed are not zero and the steering wheel angle direction is inconsistent with the steering wheel rotating speed direction, the target driving mode of the target vehicle is a bending mode.
Illustratively, determining the target driving mode of the target vehicle based on the direction of the steering wheel angle and the direction of the steering wheel rotational speed may satisfy the following formula:
wherein w is the steering wheel angle, Is the steering wheel speed. /(I)When the value is-1, the direction of the steering wheel rotation angle is inconsistent with the direction of the steering wheel rotation speed; /(I)When the value is 1, the direction of the steering wheel rotation angle is consistent with the direction of the steering wheel rotation speed; /(I)When 0, it means that the steering angle or the steering wheel rotation speed is 0.
And S230, if the target driving mode is the in-bending mode, controlling the rear wheels of the target vehicle to steer reversely, and if the target driving mode is the out-bending mode, controlling the rear wheels of the target vehicle to steer in the same direction.
According to the technical scheme, before the driving mode of the target vehicle is determined according to the direction of the steering wheel angle and the direction of the steering wheel rotating speed, the steering wheel angle is compared with the preset angle threshold value to determine whether the target vehicle has steering behavior, so that the control of rear wheel steering under the condition that a driver does not operate or the road surface vibrates is avoided, and the safety and driving experience of the vehicle are further improved.
Example III
Fig. 3A is a schematic flow chart of an electrically controlled rear wheel steering method according to a third embodiment of the present invention, where the method further includes: calculating a proportion coefficient of the bending angle corresponding to each measured lateral acceleration based on each measured lateral acceleration and the rear wheel rotation angle corresponding to each measured lateral acceleration in the bending mode; and constructing a bending proportion coefficient mapping table based on each measured lateral acceleration and the bending proportion coefficient corresponding to each measured lateral acceleration.
Wherein the explanation of the same or corresponding terms as those of the above embodiments is not repeated herein. Referring to fig. 3A, the method for steering an electronically controlled rear wheel according to the present embodiment includes the following steps:
S310, calculating the proportion coefficient of the bending angle corresponding to each measured lateral acceleration based on each measured lateral acceleration and the rear wheel rotation angle corresponding to each measured lateral acceleration in the bending mode.
Specifically, the angle of the rear wheel corresponding to various actual lateral accelerations of the real vehicle in the in-turn mode can be measured, the in-turn angle proportionality coefficient corresponding to the actual lateral acceleration is calculated based on the actual lateral acceleration and the angle of the rear wheel corresponding to the actual lateral acceleration, and then the in-turn angle proportionality coefficient corresponding relation between the actual lateral acceleration and the actual lateral acceleration is established.
Optionally, based on each measured lateral acceleration and a rear wheel rotation angle corresponding to each measured lateral acceleration in the in-bending mode, an in-bending rotation angle proportionality coefficient corresponding to each measured lateral acceleration is calculated, and the following formula is satisfied:
Wherein L is the vehicle wheelbase, R is the vehicle turning radius, W f is the front wheel static load, W r is the rear wheel static load, C af is the front wheel cornering stiffness, C ar is the rear wheel cornering stiffness, a y is the actual measured lateral acceleration, k is the in-turn angle scaling factor, and delta r is the rear wheel turning angle.
Specifically, the measured lateral acceleration and the rear wheel rotation angle corresponding to each measured lateral acceleration may be substituted into the above formula, and k may be solved as the in-turn angle scaling factor corresponding to the measured lateral acceleration. Through different actual measurement lateral accelerations and the rear wheel turning angles corresponding to the actual measurement lateral accelerations, the proportion coefficient of the bending-in turning angle corresponding to the actual measurement lateral accelerations can be solved for many times.
For example, as shown in fig. 3B, a schematic diagram illustrating a state of front wheels and rear wheels when the vehicle turns is shown, and as shown in fig. 3B, the relationship between the front wheel rotation angle δ f and the rear wheel rotation angle δ r may satisfy the following formula:
Wherein, alpha r is the slip angle of the rear wheel, alpha f is the slip angle of the front wheel, delta f＝kδr and k are assumed to be the proportion coefficient of the in-turn angle, and the formula of the proportion coefficient of the actually measured lateral acceleration and the in-turn angle can be obtained by combining the traditional corner formula of the vehicle which is only turned by the front wheel. The conventional front-wheel-steering-only vehicle has the following angle formula:
It should be noted that, in this embodiment, the proportion coefficient of the outgoing bending angle corresponding to each measured lateral acceleration may also be calculated based on the above formula based on each measured lateral acceleration and the rear wheel rotation angle corresponding to each measured lateral acceleration in the outgoing bending mode.
S320, constructing a bending proportion coefficient mapping table based on each measured lateral acceleration and the bending proportion coefficient corresponding to each measured lateral acceleration.
After calculating the proportion coefficient of the bending angle corresponding to each measured lateral acceleration, a corresponding relation between each measured lateral acceleration and the proportion coefficient of the bending angle can be established, and then a mapping table of the bending proportion coefficient is constructed.
Of course, in this embodiment, after calculating the bending angle scaling factor corresponding to each measured lateral acceleration, a corresponding relationship between each measured lateral acceleration and the bending angle scaling factor may be established, so as to construct a bending scaling factor mapping table.
S330, acquiring vehicle running information of the target vehicle, wherein the vehicle running information comprises steering wheel rotation angle, steering wheel rotating speed and current lateral acceleration.
S340, determining a target driving mode of the target vehicle based on the steering wheel angle and the steering wheel rotating speed, wherein the target driving mode is an in-bending mode or an out-bending mode.
S350, if the target driving mode is a turning-in mode, determining a turning-in front-rear wheel steering angle proportionality coefficient corresponding to the target vehicle based on the current lateral acceleration and a pre-built turning-in proportionality coefficient mapping table.
Of course, it may also include: if the target driving mode is the out-bending mode, determining the rear wheel steering angle of the target vehicle based on the current lateral acceleration and a pre-constructed out-bending proportional coefficient mapping table, and controlling the rear wheel steering of the target vehicle based on the rear wheel steering angle.
According to the technical scheme, the corresponding steering angle proportion coefficient of the steering wheel can be calculated in advance according to each actual measurement lateral acceleration of the real vehicle and the corresponding rear wheel steering angle of each actual measurement lateral acceleration in the steering mode, and then the steering proportion coefficient mapping table is built based on each actual measurement lateral acceleration and the steering proportion coefficient, so that when the target driving mode of the target vehicle is determined to be the steering mode, the steering angle proportion coefficient of the steering wheel is directly determined according to the built steering proportion coefficient mapping table and the current lateral acceleration, and then the rear wheel steering angle is calculated according to the steering angle proportion coefficient of the steering wheel and the steering angle of the front wheel, so that the steering angle of the rear wheel of the vehicle is kept in a certain proportion with the steering angle of the front wheel, the follow-up steering of the rear wheel according to the steering angle of the front wheel is realized, the agility and the mobility of the vehicle are further improved, and the safety and the comfort of the vehicle are improved.
The embodiment also provides an optional electric control rear wheel steering method, and as shown in fig. 3C, a flow schematic diagram of the optional electric control rear wheel steering method is shown. The method comprises the following steps:
S10, acquiring vehicle running information;
S20, judging whether the steering wheel angle is larger than 3 degrees, if so, executing the step S30, and if not, returning to execute the step S10;
S30, determining a target driving mode of the target vehicle according to the direction of the steering wheel angle and the direction of the steering wheel rotating speed, executing S40 if the target driving mode is an in-bending mode, executing S50 if the target driving mode is an out-bending mode, and executing S60 if the target driving mode is a maintaining mode;
S40, determining a turning angle proportion coefficient based on the current lateral acceleration, calculating a rear wheel turning angle according to the turning angle proportion coefficient, and controlling the rear wheel of the target vehicle to turn reversely based on the rear wheel turning angle;
s50, determining a camber angle proportionality coefficient based on the current lateral acceleration, calculating a rear wheel turning angle according to the camber angle proportionality coefficient, and controlling the rear wheel of the target vehicle to turn in the same direction based on the rear wheel turning angle;
s60, maintaining the state of the target vehicle at the previous time.
In the alternative embodiment, the identification of the driving intention of the vehicle is realized, and further when the target driving mode of the target vehicle is the in-turn mode, the rear wheels of the target vehicle are controlled to steer reversely, so that the obstacle can be quickly avoided when the vehicle is in emergency avoidance, and when the target driving mode of the target vehicle is in the out-turn mode, the rear wheels of the target vehicle are controlled to steer in the same direction, so that the vehicle can quickly recover the original route after the obstacle is avoided, the rear wheel steering control of the vehicle entering the curve and exiting the curve is realized, the vehicle entering the curve and exiting the curve can be more agilely maneuvered, and the safety and driving experience of the vehicle are improved.
Example IV
Fig. 4A is a schematic structural diagram of an electronically controlled rear-wheel steering system according to a fourth embodiment of the present invention, which includes a front-wheel steering apparatus 10, a rear-wheel steering apparatus 20, and an acceleration sensor 30; wherein,
The front wheel steering device 10 is configured to send a steering wheel angle and a steering wheel rotational speed to the rear wheel steering device 20;
the acceleration sensor 30 is configured to detect a current lateral acceleration of a target vehicle and transmit the current lateral acceleration to the rear wheel steering device 20;
the rear-wheel steering device 20 is configured to control rear-wheel steering of the target vehicle based on the electronically controlled rear-wheel steering method provided in any embodiment of the present invention.
The front-wheel steering device 10 is communicatively connected to the rear-wheel steering device 20, for example, a CAN bus connection or an ethernet connection, and the rear-wheel steering device 20 is communicatively connected to the acceleration sensor 30, for example, a CAN bus connection or an ethernet connection. The front-wheel steering device 10 may be a conventional steering device. Optionally, the electrically controlled rear wheel steering system further comprises a vehicle speed sensor and a yaw rate sensor. The rear wheel steering device 20 may be mounted on a rear axle for follow-up steering according to the front wheel steering angle.
In one embodiment, the rear wheel steering device 20 includes a control unit and an execution unit, wherein:
The control unit is used for acquiring the steering wheel angle and the steering wheel rotating speed of the target vehicle, determining a target driving mode of the target vehicle based on the steering wheel angle and the steering wheel rotating speed of the target vehicle, generating a reverse control signal to be sent to the execution unit if the target driving mode is a bending-in mode, and generating a same-direction control signal to be sent to the execution unit if the target driving mode is a bending-out mode;
And the execution unit is used for controlling the rear wheels of the target vehicle to steer reversely based on the reverse control signal and controlling the rear wheels of the target vehicle to steer in the same direction based on the same-direction control signal.
Exemplary, as shown in fig. 4B, a functional schematic of a control unit is shown. The control unit may be a rear wheel steering control ECU (Electronic Control Unit ), and the control unit may be configured to determine a target running mode of the target vehicle, determine a ratio coefficient (k 1) of a front wheel steering angle and a rear wheel steering angle after the target running mode is determined to be a bending-in mode, calculate a rear wheel steering angle according to k1 and the front wheel steering angle, and transmit a bending control signal to the execution unit based on the rear wheel steering angle; if the target running mode is a bending mode, determining a bending front-rear wheel steering angle proportionality coefficient (k 2), calculating a rear wheel steering angle according to the k2 and the front wheel steering angle, and sending a bending control signal to an execution unit based on the rear wheel steering angle; and if the target running mode is the maintenance mode, sending a maintenance control signal to the execution unit.
The electronic control rear wheel steering system provided by the embodiment comprises a front wheel steering device, a rear wheel steering device and an acceleration sensor, wherein the steering wheel angle, the steering wheel rotating speed and the current lateral acceleration of a target vehicle are acquired through the front wheel steering device and the acceleration sensor, the recognition of the driving intention of the vehicle is realized through the rear wheel steering device, and then when the target driving mode of the target vehicle is a turning-in mode, the rear wheel reverse steering of the target vehicle is controlled, so that the vehicle is helped to avoid obstacles rapidly when the vehicle is in an emergency avoidance mode, and when the target driving mode of the target vehicle is a turning-out mode, the rear wheel of the target vehicle is controlled to steer in the same direction, the vehicle is helped to recover the original route rapidly after avoiding obstacles, the rear wheel steering control of the vehicle entering and exiting from the curve is realized, the vehicle enters the curve and exits from the curve more agilely, and the safety and driving experience of the vehicle are improved.
Example five
Fig. 5 is a schematic structural diagram of an electronically controlled rear wheel steering device according to a fifth embodiment of the present invention, where the embodiment is applicable to a situation of determining a driving intention of a vehicle and controlling a rear wheel steering of the vehicle according to acquired vehicle driving information, and the device specifically includes: an information acquisition module 510, a driving mode determination module 520, and a rear wheel control module 530.
An information obtaining module 510, configured to obtain vehicle running information of a target vehicle, where the vehicle running information includes a steering wheel angle and a steering wheel rotational speed;
A driving mode determining module 520, configured to determine a target driving mode of the target vehicle based on the steering wheel angle and the steering wheel rotational speed, where the target driving mode is an in-bending mode or an out-bending mode;
The rear wheel control module 530 is configured to control the rear wheels of the target vehicle to steer in the reverse direction if the target driving mode is the in-bending mode, and control the rear wheels of the target vehicle to steer in the same direction if the target driving mode is the out-bending mode.
Optionally, the driving mode determining module 520 includes a rotation angle comparing unit and a mode determining unit, where the rotation angle comparing unit is configured to compare the rotation angle of the steering wheel with a preset rotation angle threshold; and the mode determining unit is used for determining a target driving mode of the target vehicle based on the direction of the steering wheel angle and the direction of the steering wheel rotating speed if the steering wheel angle is larger than the preset angle threshold value.
Optionally, the mode determining unit is specifically configured to:
If the steering wheel angle and the steering wheel rotating speed are not zero and the steering wheel angle direction is inconsistent with the steering wheel rotating speed direction, determining that the target driving mode of the target vehicle is a bending-out mode; and if the steering wheel angle and the steering wheel rotating speed are not zero and the steering wheel angle direction is consistent with the steering wheel rotating speed direction, determining that the target driving mode of the target vehicle is a bending-in mode.
Optionally, the vehicle driving information further includes a current lateral acceleration, and the rear wheel control module 530 includes a curve entering control unit, configured to determine, if the target driving mode is a curve entering mode, a curve entering front-rear wheel steering angle scaling factor corresponding to the target vehicle based on the current lateral acceleration and a curve entering scaling factor mapping table constructed in advance; determining a rear wheel steering angle of the target vehicle based on the in-turn front-rear wheel steering angle proportionality coefficient and a front wheel steering angle of the target vehicle; controlling rear-wheel reverse steering of the target vehicle based on the rear-wheel steering angle; the bending-in proportion coefficient mapping table comprises each measured lateral acceleration and a bending-in rotation angle proportion coefficient corresponding to each measured lateral acceleration.
Optionally, the vehicle driving information further includes a current lateral acceleration, and the rear wheel control module 530 includes a curve-out control unit, configured to determine, if the target driving mode is a curve-out mode, a curve-out front-rear wheel steering angle scaling factor corresponding to the target vehicle based on the current lateral acceleration and a curve-out scaling factor mapping table constructed in advance; determining a rear wheel steering angle of the target vehicle based on the out-turned front-rear wheel steering angle proportionality coefficient and a front wheel steering angle of the target vehicle; controlling rear-wheel co-steering of the target vehicle based on the rear-wheel steering angle; the bending-out proportional coefficient mapping table comprises each measured lateral acceleration and bending-out angular proportional coefficients corresponding to each measured lateral acceleration.
Optionally, the electronically controlled rear wheel steering device further includes a coefficient calculation module and a mapping table construction module, where the coefficient calculation module is configured to calculate a proportion coefficient of the in-bending turning angle corresponding to each of the actually measured lateral accelerations based on each of the actually measured lateral accelerations in the in-bending mode and the rear wheel steering angle corresponding to each of the actually measured lateral accelerations; the mapping table construction module is used for constructing a bending proportion coefficient mapping table based on each measured lateral acceleration and the bending proportion coefficient corresponding to each measured lateral acceleration.
Optionally, the coefficient calculating module is specifically configured to calculate the proportion coefficient of the bending angle corresponding to each measured lateral acceleration according to the following formula:
Wherein L is the vehicle wheelbase, R is the vehicle turning radius, W f is the front wheel static load, W r is the rear wheel static load, C af is the front wheel cornering stiffness, C ar is the rear wheel cornering stiffness, a y is the actual measured lateral acceleration, k is the in-turn angle scaling factor, and delta r is the rear wheel turning angle.
In this embodiment, the information acquisition module acquires the steering wheel angle and the steering wheel rotational speed of the target vehicle, and the driving mode determination module determines that the target driving mode of the target vehicle is the in-turn mode or the out-turn mode, so as to realize the recognition of the driving intention of the vehicle.
The electric control rear wheel steering device provided by the embodiment of the invention can execute the electric control rear wheel steering method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
It should be noted that, the units and modules included in the above system are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the embodiments of the present invention.
Example six
Fig. 6 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present invention. Fig. 6 illustrates a block diagram of an exemplary electronic device 12 suitable for use in implementing embodiments of the present invention. The electronic device 12 shown in fig. 6 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention. The device 12 is typically an electronic device that assumes rear-wheel steering control functions.
As shown in fig. 6, the electronic device 12 is in the form of a general purpose computing device. Components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a memory 28, and a bus 18 connecting the different components, including the memory 28 and the processing unit 16.
Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include industry standard architecture (Industry Standard Architecture, ISA) bus, micro channel architecture (Micro Channel Architecture, MCA) bus, enhanced ISA bus, video electronics standards association (Video Electronics Standards Association, VESA) local bus, and peripheral component interconnect (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus.
Electronic device 12 typically includes a variety of computer-readable media. Such media can be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
Memory 28 may include computer device readable media in the form of volatile memory, such as random access memory (Random Access Memory, RAM) 30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer storage media. By way of example only, storage device 34 may be used to read from or write to a non-removable, non-volatile magnetic media (not shown in FIG. 6, commonly referred to as a "hard disk drive"). Although not shown in fig. 6, a disk drive for reading from and writing to a removable nonvolatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from and writing to a removable nonvolatile optical disk (e.g., a Compact Disc-Read Only Memory (CD-ROM), digital versatile Disc (Digital Video Disc-Read Only Memory, DVD-ROM), or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. Memory 28 may include at least one program product 40, with program product 40 having a set of program modules 42 configured to perform the functions of embodiments of the present invention. Program product 40 may be stored, for example, in memory 28, such program modules 42 include, but are not limited to, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.
The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, mouse, camera, etc., and display), with one or more devices that enable a user to interact with the electronic device 12, and/or with any device (e.g., network card, modem, etc.) that enables the electronic device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Also, electronic device 12 may communicate with one or more networks such as a local area network (Local Area Network, LAN), a wide area network Wide Area Network, a WAN, and/or a public network such as the internet via network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 over the bus 18. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk array (Redundant Arrays of INDEPENDENT DISKS, RAID) devices, tape drives, data backup storage, and the like.
The processor 16 executes various functional applications and data processing by running programs stored in the memory 28, for example, implementing the electronically controlled rear wheel steering method provided by the above embodiment of the present invention, including:
Acquiring vehicle running information of a target vehicle, wherein the vehicle running information comprises steering wheel rotation angles and steering wheel rotation speeds;
determining a target driving mode of the target vehicle based on the steering wheel angle and the steering wheel rotating speed, wherein the target driving mode is an in-bending mode or an out-bending mode;
And if the target driving mode is a bending-in mode, controlling the rear wheels of the target vehicle to steer reversely, and if the target driving mode is a bending-out mode, controlling the rear wheels of the target vehicle to steer in the same direction.
Of course, those skilled in the art will understand that the processor may also implement the technical solution of the electric control rear wheel steering method provided by any embodiment of the present invention.
Example seven
The seventh embodiment of the present invention further provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the electrically controlled rear wheel steering method as provided in any embodiment of the present invention, the method comprising:
Acquiring vehicle running information of a target vehicle, wherein the vehicle running information comprises steering wheel rotation angles and steering wheel rotation speeds;
determining a target driving mode of the target vehicle based on the steering wheel angle and the steering wheel rotating speed, wherein the target driving mode is an in-bending mode or an out-bending mode;
And if the target driving mode is a bending-in mode, controlling the rear wheels of the target vehicle to steer reversely, and if the target driving mode is a bending-out mode, controlling the rear wheels of the target vehicle to steer in the same direction.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, 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. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (8)
1. An electronically controlled rear-wheel steering method, the method comprising:
Acquiring vehicle running information of a target vehicle, wherein the vehicle running information comprises steering wheel rotation angles and steering wheel rotation speeds;
determining a target driving mode of the target vehicle based on the steering wheel angle and the steering wheel rotating speed, wherein the target driving mode is an in-bending mode or an out-bending mode;
If the target driving mode is a bending-in mode, controlling the rear wheels of the target vehicle to steer reversely, and if the target driving mode is a bending-out mode, controlling the rear wheels of the target vehicle to steer in the same direction;
The vehicle driving information further includes a current lateral acceleration, and if the target driving mode is a curve entering mode, controlling the rear wheels of the target vehicle to steer reversely, including:
if the target driving mode is a turning-in mode, determining a turning-in front-rear wheel steering angle proportionality coefficient corresponding to the target vehicle based on the current lateral acceleration and a pre-constructed turning-in proportionality coefficient mapping table;
determining a rear wheel steering angle of the target vehicle based on the in-turn front-rear wheel steering angle proportionality coefficient and a front wheel steering angle of the target vehicle;
Controlling rear-wheel reverse steering of the target vehicle based on the rear-wheel steering angle;
the bending-in proportion coefficient mapping table comprises each measured lateral acceleration and a bending-in rotation angle proportion coefficient corresponding to each measured lateral acceleration;
the method further comprises the steps of:
Calculating a proportion coefficient of the bending angle corresponding to each measured lateral acceleration based on each measured lateral acceleration and the rear wheel rotation angle corresponding to each measured lateral acceleration in the bending mode;
and constructing a bending proportion coefficient mapping table based on each measured lateral acceleration and the bending proportion coefficient corresponding to each measured lateral acceleration.
2. The method of claim 1, wherein the determining the target driving mode of the target vehicle based on the steering wheel angle and the steering wheel speed comprises:
comparing the steering wheel angle with a preset angle threshold;
And if the steering wheel angle is larger than the preset angle threshold, determining a target driving mode of the target vehicle based on the direction of the steering wheel angle and the direction of the steering wheel rotating speed.
3. The method of claim 2, wherein the determining the target driving mode of the target vehicle based on the direction of the steering wheel angle and the direction of the steering wheel speed comprises:
If the steering wheel angle and the steering wheel rotating speed are not zero and the steering wheel angle direction is inconsistent with the steering wheel rotating speed direction, determining that the target driving mode of the target vehicle is a bending-out mode;
And if the steering wheel angle and the steering wheel rotating speed are not zero and the steering wheel angle direction is consistent with the steering wheel rotating speed direction, determining that the target driving mode of the target vehicle is a bending-in mode.
4. The method of claim 1, wherein the vehicle travel information further includes a current lateral acceleration, and wherein controlling the rear wheels of the target vehicle to steer in the same direction if the target driving mode is a cornering mode comprises:
If the target driving mode is a bending-out mode, determining a bending-out front-rear wheel steering angle proportionality coefficient corresponding to the target vehicle based on the current lateral acceleration and a pre-constructed bending-out proportionality coefficient mapping table;
determining a rear wheel steering angle of the target vehicle based on the out-turned front-rear wheel steering angle proportionality coefficient and a front wheel steering angle of the target vehicle;
Controlling rear-wheel co-steering of the target vehicle based on the rear-wheel steering angle;
the bending-out proportional coefficient mapping table comprises each measured lateral acceleration and bending-out angular proportional coefficients corresponding to each measured lateral acceleration.
5. The method according to claim 1, wherein the calculating the ratio coefficient of the in-turn angle corresponding to each measured lateral acceleration based on each measured lateral acceleration in the in-turn mode and the rear wheel rotation angle corresponding to each measured lateral acceleration satisfies the following formula:
Wherein L is the vehicle wheelbase, R is the vehicle turning radius, W f is the front wheel static load, W r is the rear wheel static load, C af is the front wheel cornering stiffness, C ar is the rear wheel cornering stiffness, a y is the actual measured lateral acceleration, k is the in-turn angle scaling factor, and delta r is the rear wheel turning angle.
6. An electronically controlled rear wheel steering apparatus, the apparatus comprising:
The information acquisition module is used for acquiring vehicle running information of a target vehicle, wherein the vehicle running information comprises steering wheel rotation angles and steering wheel rotation speeds;
The driving mode determining module is used for determining a target driving mode of the target vehicle based on the steering wheel angle and the steering wheel rotating speed, wherein the target driving mode is an in-bending mode or an out-bending mode;
the rear wheel control module is used for controlling the rear wheels of the target vehicle to steer reversely if the target driving mode is a bending-in mode, and controlling the rear wheels of the target vehicle to steer in the same direction if the target driving mode is a bending-out mode;
the vehicle travel information further includes a current lateral acceleration;
The rear wheel control module comprises a bending control unit; the bending control unit is used for: if the target driving mode is a turning-in mode, determining a turning-in front-rear wheel steering angle proportionality coefficient corresponding to the target vehicle based on the current lateral acceleration and a pre-constructed turning-in proportionality coefficient mapping table; determining a rear wheel steering angle of the target vehicle based on the in-turn front-rear wheel steering angle proportionality coefficient and a front wheel steering angle of the target vehicle; controlling rear-wheel reverse steering of the target vehicle based on the rear-wheel steering angle; the bending-in proportion coefficient mapping table comprises each measured lateral acceleration and a bending-in rotation angle proportion coefficient corresponding to each measured lateral acceleration;
The device also comprises a coefficient calculation module and a mapping table construction module;
the coefficient calculation module is used for calculating the proportion coefficient of the bending-in turning angle corresponding to each measured lateral acceleration based on each measured lateral acceleration and the corresponding rear wheel turning angle of each measured lateral acceleration in the bending-in mode;
the mapping table construction module is configured to construct a bending scaling factor mapping table based on each measured lateral acceleration and a bending turning angle scaling factor corresponding to each measured lateral acceleration.
7. An electronic device, the electronic device comprising:
one or more processors;
storage means for storing one or more programs,
When executed by the one or more processors, causes the one or more processors to implement the electronically controlled rear-wheel steering method of any of claims 1-5.
8. A computer readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the electrically controlled rear wheel steering method as claimed in any one of claims 1-5.
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| CN202110993305.7A CN113619584B (en) | 2021-08-27 | 2021-08-27 | Electronic control rear wheel steering method and device, electronic equipment and storage medium |
| PCT/CN2022/110790 WO2023024879A1 (en) | 2021-08-27 | 2022-08-08 | Electric control rear wheel steering method and apparatus, electronic device, and storage medium |
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| CN113619584B (en) * | 2021-08-27 | 2024-06-14 | 中国第一汽车股份有限公司 | Electronic control rear wheel steering method and device, electronic equipment and storage medium |
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2021
- 2021-08-27 CN CN202110993305.7A patent/CN113619584B/en active Active
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2022
- 2022-08-08 WO PCT/CN2022/110790 patent/WO2023024879A1/en not_active Ceased
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| CN113071332A (en) * | 2021-04-28 | 2021-07-06 | 中国第一汽车股份有限公司 | Torque control method for dual-motor electric vehicle, electric vehicle and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113619584A (en) | 2021-11-09 |
| WO2023024879A1 (en) | 2023-03-02 |
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