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

Abstract

The invention provides a vehicle turning control method and device, a controller, a vehicle and a storage medium. Relates to the technical field of vehicle control. The method comprises the steps that a torque vector control system can generate a torque control instruction according to the turning radius of the vehicle when a steer-by-wire system of the vehicle fails, and the torque control instruction is sent to a motor controller of wheels so as to control turning of the vehicle. According to the method, when the steer-by-wire system fails, the torque control instruction can be generated to control the output torque of the motor controller, vehicle turning is achieved, the response time needed by original hydraulic power steering control is shortened, and the vehicle turning safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle turning control method, device, controller, vehicle and storage medium. Background Art

[0002] With the rapid development of driver assistance technology, the steering system of vehicles has also ushered in electronic and intelligent changes, and has gradually transitioned from hydraulic power steering systems to wire-controlled steering systems. However, with the continuous improvement of vehicle performance and safety standards, wire-controlled steering systems face more stringent requirements. In order to meet the highest functional safety level (ASIL-D) requirements and ensure that the vehicle can still turn safely when the wire-controlled steering system fails, the existing wire-controlled steering system must have a complete and reliable redundancy solution.

[0003] In the prior art, this redundant solution is to adjust the steering angle of the wheels by hydraulic power steering control to ensure that the vehicle can still maintain a certain degree of controllability when the wire control steering system fails. However, the response time of hydraulic power steering control is long, which will increase the driving distance of the vehicle when turning, thereby reducing the safety of turning. Summary of the invention

[0004] The present application provides a vehicle turning control method, device, controller, vehicle and storage medium, which are used to solve the problem that the response time of hydraulic power steering control is long, resulting in reduced turning safety.

[0005] In a first aspect, the present application provides a vehicle turning control method, which is applied to a torque vectoring control system, and the method comprises:

[0006] When a steer-by-wire system of the vehicle fails, generating a torque control instruction according to a turning radius of the vehicle, the torque control instruction including a yaw torque for controlling wheels of the vehicle;

[0007] The torque control instruction is sent to the motor controller of the wheel to control the vehicle to turn.

[0008] In a possible implementation manner, when the steer-by-wire system of the vehicle fails, generating a torque control instruction according to the turning radius of the vehicle includes:

[0009] When the driving assistance function of the vehicle is turned on and the steer-by-wire system fails, the torque control instruction is generated according to the turning radius of the vehicle.

[0010] In a possible implementation manner, generating a torque control instruction according to a turning radius of the vehicle includes:

[0011] Acquiring a vehicle speed of the vehicle, and determining a target yaw rate according to the vehicle speed and the turning radius;

[0012] determining a total yaw torque according to an angular velocity difference between a current yaw angular velocity and the target yaw angular velocity;

[0013] The torque control instruction is determined according to a preset torque distribution strategy and the total yaw torque, wherein the torque control instruction includes distributing the total yaw torque according to the torque distribution strategy.

[0014] In a possible implementation manner, determining the total yaw torque according to the angular velocity difference between the current yaw angular velocity and the target yaw angular velocity includes:

[0015] The total yaw torque corresponding to the vehicle speed is determined according to the vehicle speed, the angular velocity difference and the yaw torque mapping relationship, wherein the yaw torque mapping relationship includes a plurality of vehicle speeds and the angular velocity difference and the total yaw torque corresponding to each vehicle speed.

[0016] In one possible implementation, the method further includes:

[0017] The turning radius is obtained based on the collected image data.

[0018] In a possible implementation manner, obtaining the turning radius based on the collected image data includes:

[0019] Performing recognition processing on the collected image data to obtain lane line information of the road ahead of the vehicle;

[0020] Acquire a lane centerline according to the lane line information;

[0021] Based on the lane centerline, the turning radius is obtained.

[0022] In one possible implementation, the method further includes:

[0023] Determining a driving trajectory of the vehicle according to navigation information of the vehicle;

[0024] Based on the driving trajectory, the turning radius is obtained.

[0025] In a second aspect, the present application provides a vehicle turning control device, the device comprising:

[0026] a processing module, configured to generate a torque control instruction according to a turning radius of the vehicle when a steer-by-wire system of the vehicle fails, wherein the torque control instruction includes a yaw torque for controlling wheels of the vehicle;

[0027] The sending module is used to send the torque control instruction to the motor controller of the wheel to control the vehicle to turn.

[0028] In a third aspect, the present application provides a controller, comprising: a processor, a memory, and a communication interface;

[0029] The memory stores computer-executable instructions;

[0030] The processor executes the computer-executable instructions stored in the memory to implement the vehicle turning control method as described in any one of the first aspects.

[0031] In a fourth aspect, the present application provides a vehicle, comprising: a vehicle body, and a controller as described in the third aspect.

[0032] In a fifth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the vehicle turning control method described in any one of the first aspects.

[0033] In a sixth aspect, the present application provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it is used to implement the vehicle turning control method described in any one of the first aspects.

[0034] The present application provides a control method, device, controller, vehicle and storage medium for vehicle turning. When the vehicle's steer-by-wire system fails, the torque vector control system can generate a torque control instruction based on the vehicle's turning radius, and the instruction includes a yaw torque for controlling the vehicle's wheels. The torque control instruction can then be sent to the motor controller of the wheel to achieve control of the vehicle's turning. In the above process, since the torque vector control system can generate a torque control instruction and control the output torque of the motor controller when the steer-by-wire system fails, compared with the prior art, in which the vehicle's wheels are hydraulically powered to control the steering angle of the wheels to turn, the system response time is reduced and the safety of vehicle turning is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0036] Figure 1 A schematic diagram of an application scenario is provided for the embodiment of the present application;

[0037] Figure 2 A schematic diagram of a flow chart of a first embodiment of a vehicle turning control method provided by the present application;

[0038] Figure 3 A schematic diagram of a flow chart of a second embodiment of a vehicle turning control method provided in the present application;

[0039] Figure 4 A schematic diagram of a turning radius example 1 provided in an embodiment of the present application;

[0040] Figure 5 A schematic diagram of a second turning radius example provided in an embodiment of the present application;

[0041] Figure 6 A schematic diagram of the principle of vehicle turning provided in an embodiment of the present application;

[0042] Figure 7 A schematic diagram of a flow chart of a third embodiment of a vehicle turning control method provided in the present application;

[0043] Figure 8 A schematic diagram of the structure of a first embodiment of a vehicle turning control device provided by the present application;

[0044] Fig. 9 A schematic diagram of the structure of a second embodiment of a vehicle turning control device provided by the present application;

[0045] Fig.10 A schematic diagram of the structure of a controller provided in an embodiment of the present application;

[0046] Fig.11 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application.

[0047] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0048] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0049] Below, in order to facilitate understanding of the technical solution of the present application, the concepts involved in the present application are first explained:

[0050] Yaw torque: refers to the torque generated by the asymmetric distribution of driving force or braking force on the wheels during vehicle driving, causing the vehicle to rotate laterally. The unit is Newton meter (N m).

[0051] Steer-by-wire: The steering of the vehicle can be controlled by electronic signals and electric actuators. Specifically, the steering angle command can be used to drive the electric actuator to adjust the steering mechanism, thereby achieving the steering control of the vehicle.

[0052] Yaw rate: refers to the rate at which the vehicle rotates around its vertical axis, usually expressed in radians per second (rad / s) or degrees per second (° / s).

[0053] The vehicle's steering system has evolved from an early mechanical steering system to a hydraulic power steering system, then to an electronic power steering system, and finally to a wire-controlled steering system. With the rapid development of driver assistance technology, the vehicle's wire-controlled steering system faces more stringent requirements. In order to meet the highest functional safety level (ASIL-D) requirements and ensure that the vehicle can still turn safely when the wire-controlled steering system fails, the existing wire-controlled steering system must have a complete and reliable redundancy solution. So that when the main system fails, the backup system can take over immediately to ensure the stability and safety of the vehicle.

[0054] In the prior art, this redundant solution is usually implemented through a hydraulic power steering system, which controls the wheels of the vehicle through hydraulic power steering and adjusts the steering angle of the wheels to ensure that the vehicle can still maintain a certain controllability when the wire steering system fails. However, the response time of the hydraulic power steering control is relatively long, and it takes a certain amount of time to generate sufficient braking force to adjust the wheel angle. This delay will cause the vehicle to increase the driving distance when turning, thereby reducing the safety and accuracy of turning. Especially in emergency situations or when driving at high speeds, the delay may cause the vehicle to be unable to avoid obstacles in time or complete the expected steering action. Therefore, although hydraulic power steering can provide safety protection to a certain extent as a redundant solution, its inherent response time problem is still a challenge that needs to be solved urgently, and the reliability and safety of the vehicle steering system need to be further improved.

[0055] In response to the above problems, the inventors considered that a torque vector control system could be used as a redundant solution for the wire-controlled steering system, so that it could quickly take over when the wire-controlled steering system fails, and effectively control the vehicle to make safe turns. Specifically, after many experiments, the inventors found that when the vehicle's wire-controlled steering system fails, the torque vector control system can generate a torque control instruction based on the vehicle's turning radius, and send a torque control instruction to the wheel motor controller to control the vehicle's turning. This method can ensure that the vehicle can complete the turning operation safely and quickly when the wire-controlled steering system fails. Based on this, the present application proposes a vehicle turning control method, which aims to improve the safety of vehicle turning.

[0056] Figure 1 A schematic diagram of an application scenario is provided for the embodiment of this application. Figure 1 , including a main controller, a standby controller and a motor controller. The main controller runs a wire steering system, and the standby controller runs a torque vector control system. The main controller and the standby controller can communicate with the motor controller. When the wire steering system in the main controller fails, the torque vector control system in the standby controller can take over the wire steering system and send torque control instructions to the motor controller to control the vehicle to turn.

[0057] In the embodiment of the present application, the main controller and the backup controller can be control units with different functions in the vehicle respectively. The main controller is mainly responsible for the operation of the wire-controlled steering system, sends steering angle instructions to the motor controller, drives the electric actuator to adjust the steering mechanism, and thus realizes the steering of the vehicle. The backup controller runs the torque vector control system, takes over the control when the wire-controlled steering system fails, and sends torque control instructions to the motor controller to realize the turning of the vehicle.

[0058] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0059] Figure 2 This is a flow chart of the first embodiment of the vehicle turning control method provided by this application. Figure 2 , the method is applied to a torque vectoring control system, comprising:

[0060] S201. When a steer-by-wire system of a vehicle fails, generating a torque control instruction according to a turning radius of the vehicle.

[0061] The execution subject of the embodiment of the present application may be a controller of the vehicle, in which a torque vector control system is running. It may also be a control device for turning the vehicle set in the controller, or a torque vector control system in the controller. The control device for turning the vehicle or the torque vector control system may be implemented by software, or by a combination of software and hardware. For ease of understanding, the following description will be made by taking the execution subject as an example of a controller.

[0062] In this step, the controller can obtain the turning radius of the vehicle when the vehicle's steer-by-wire system fails, and generate a torque control instruction based on the turning radius, wherein the torque control instruction includes a yaw torque for controlling the vehicle's wheels.

[0063] Optionally, the controller running the torque vectoring control system (backup controller) and the controller running the wire steering system (main controller) may be different controllers in the vehicle. For example, if the main controller is a vehicle control unit (VCU), the backup controller may be a chassis domain controller or a driving domain controller.

[0064] The turning radius of a vehicle refers to the radius of the arc formed by the vehicle when turning. Specifically, when there is a curve on the road on which the vehicle is traveling, the vehicle will travel along an arc trajectory, and the radius of the arc is the turning radius of the vehicle.

[0065] Optionally, the turning radius of the vehicle may be obtained in any of the following ways.

[0066] Method 1: Obtain the turning radius based on the collected image data.

[0067] Specifically, a data acquisition device (such as a camera or a laser radar) may be set on the vehicle to collect image data of a preset distance in front of the vehicle, and the image data may be recognized and processed to obtain the turning radius. The image data may include video data or point cloud data.

[0068] Optionally, the preset distance can be preset according to the type of data acquisition equipment and the recognition accuracy.

[0069] For example, when the data acquisition device is a camera on a vehicle, the preset distance may be 100 meters (m). The camera may collect video data 100 m ahead of the vehicle and obtain the turning radius by identifying and processing the video data.

[0070] For another example, when the data acquisition device is a laser radar on a vehicle, the preset distance can be 50 meters (m). The laser radar can collect point cloud data 50m ahead of the vehicle, and obtain the turning radius by identifying and processing the point cloud data.

[0071] Method 2: The turning radius of the vehicle can be obtained based on the vehicle's navigation information.

[0072] Optionally, since different drive types may be used in the design and manufacturing process of a vehicle, the yaw torque for controlling the wheels of the vehicle included in the torque control instruction is also different for vehicles with different drive types. The drive type may include front axle drive, rear axle drive, or four-wheel drive. For ease of understanding, a vehicle with a four-wheel drive drive type is taken as an example for description.

[0073] For example, for a four-wheel drive vehicle, the torque control instruction may include a yaw torque for controlling the left front wheel LF, a yaw torque for controlling the right front wheel RF, a yaw torque for controlling the left rear wheel LR, and a yaw torque for controlling the right rear wheel RR.

[0074] It should be understood that if the drive type is a front-axle drive vehicle, the torque control instruction may include a yaw torque for controlling the left front wheel LF, and a yaw torque for controlling the right front wheel RF; if the drive type is a rear-axle drive vehicle, the torque control instruction may include a yaw torque for controlling the left rear wheel LR, and a yaw torque for controlling the right rear wheel RR.

[0075] For example, when the vehicle's wire-controlled steering system fails, the controller can obtain the vehicle's turning radius of 50m, and generate a torque control instruction based on the turning radius of 50m. The torque control instruction includes the yaw torque for controlling the vehicle's four wheels, which are LF250N·m for the left front wheel, LR250N·m for the left rear wheel, RF-250N·m for the right front wheel, and RR-250N·m for the right rear wheel.

[0076] S202: Send a torque control instruction to the motor controller of the wheel to control the vehicle to turn.

[0077] In this step, the controller may send a yaw torque including a yaw torque for controlling the vehicle's wheels to the motor controller of the wheel, and when the vehicle starts to turn, the motor controller may apply the yaw torque to the wheel to control the vehicle to turn. In a specific implementation, since the controller may obtain the turning radius to be driven in advance based on the image data or navigation information collected by the data acquisition device, the motor controller may execute a torque control instruction including a yaw torque for controlling the vehicle's wheels to control the vehicle to turn during the vehicle's turning process.

[0078] For example, the controller may send torque control instructions to the motor controller 1 of the left front wheel LF, the motor controller 2 of the right front wheel RF, the motor controller 3 of the left rear wheel LR, and the motor controller 4 of the right rear wheel RR. The motor controller 1 may apply a driving torque of 250 N·m to the left front wheel LF according to the yaw torque of 250 N·m included in the torque control instruction for controlling the left front wheel LF; the motor controller 2 may apply a braking torque of 250 N·m to the right front wheel RF according to the yaw torque of -250 N·m included in the torque control instruction for controlling the right front wheel RF; the motor controller 3 may apply a driving torque of 250 N·m to the left rear wheel LR according to the yaw torque of 250 N·m included in the torque control instruction for controlling the left rear wheel LR; and the motor controller 4 may apply a braking torque of 250 N·m to the right rear wheel RR according to the yaw torque of -250 N·m included in the torque control instruction for controlling the right turn of the vehicle.

[0079] In the embodiment of the present application, the controller running the torque vector control system can generate corresponding torque control instructions according to the turning radius of the vehicle when the wire steering system of the vehicle fails, and send these instructions to the motor controller of the wheel to realize the control of the vehicle turning. In the above process, when the wire steering system fails, the controller can generate a torque control instruction including the yaw torque to control the output torque of the motor controller, thereby reducing the response time and improving the safety of the vehicle turning.

[0080] Figure 3 This is a flow chart of the second embodiment of the vehicle turning control method provided by this application. Figure 3 , the method is applied to a torque vectoring control system, comprising:

[0081] S301. When a driving assistance function of a vehicle is turned on and a steer-by-wire system fails, a torque control instruction is generated according to a turning radius of the vehicle.

[0082] In this step, when it is detected that the driving assistance function of the vehicle is turned on and the steer-by-wire system fails, the controller can determine the turning radius through the image data collected by the data acquisition device or according to the navigation information of the vehicle. Then, the controller can generate a corresponding torque control instruction according to the obtained turning radius, and the torque control instruction includes the yaw torque for controlling the wheels of the vehicle.

[0083] When the driver assistance function is turned on, it means that the vehicle needs to complete the driving task autonomously. At this time, the failure of any system may bring serious safety problems. Therefore, in this case, the torque vector control system can be activated to ensure that the vehicle can still drive safely and stably when the wire control steering system fails.

[0084] In an optional implementation, the electronic control unit (ECU) of the driving assistance system can communicate with the controller via a controller area network (CAN). When the user manually turns on the driving assistance function through the instrument panel or the central control screen, the driving assistance system ECU can send a status value to the controller via the CAN bus, and the controller can determine whether the driving assistance function is turned on based on the received status value.

[0085] For example, when the user presses the "Driving Assistance" button on the central control screen, the ECU of the assisted driving system can send a status value 1 to the controller via the CAN bus. The controller can determine that the driving assistance function has been turned on based on the received status value 1.

[0086] In another optional embodiment, the driving assistance function usually relies on data provided by multiple data acquisition devices (such as cameras, lidars). The controller can monitor the data flow and working status of these data acquisition devices to determine whether the driving assistance function is turned on.

[0087] Optionally, the controller acquires the turning radius through image data collected by a data acquisition device, which may include the following steps:

[0088] Step 1: Identify and process the image data collected by the data acquisition device to obtain the lane line information of the road ahead of the vehicle.

[0089] Step ②: Get the lane center line based on the lane line information.

[0090] Step 3: Obtain the turning radius based on the lane centerline.

[0091] Figure 4 This is a schematic diagram of a turning radius example 1 provided in an embodiment of the present application. Figure 4 , the road where the vehicle is located includes lane A, lane B and lane C. The lane that the vehicle is currently traveling in is lane B. During the driving process of the vehicle, the controller can identify and process the image data collected by the data acquisition device to obtain lane lines B1 and lane lines B2 on the road in front of the vehicle. Further, the center line of lane B can be obtained based on lane lines B1 and lane lines B2, and the center line of lane B can be determined as the driving trajectory of the vehicle, and the turning radius R of the vehicle can be determined from the driving trajectory. Among them, O is the center of curvature corresponding to the turning radius R.

[0092] Optionally, the controller obtains the turning radius according to the navigation information of the vehicle, which may include the following steps:

[0093] Step ①: Determine the vehicle's driving trajectory based on the vehicle's navigation information.

[0094] Step ②: Obtain the turning radius based on the driving trajectory.

[0095] Figure 5 This is a schematic diagram of the turning radius example 2 provided in the embodiment of the present application. Figure 5 The navigation information of the vehicle may include the driving trajectory of the vehicle, and the controller can determine the turning radius R of the vehicle from the driving trajectory.

[0096] It should be noted that, in the process of obtaining the turning radius, the controller can obtain the lane centerline based on the lane line information, or obtain the vehicle's driving trajectory based on the navigation information. These centerlines or driving trajectories are composed of a series of coordinate points. The controller can further calculate and obtain the precise turning radius by fitting these coordinate points. Among them, the fitting process can include polynomial fitting or spline curve fitting to ensure that the calculation result of the turning radius has high accuracy and reliability.

[0097] For example, when the controller determines that the vehicle's driving assistance function is turned on and the steer-by-wire system fails, it can obtain a turning radius of 50 meters based on the vehicle's navigation information. Based on the turning radius of 50 meters, a torque control command is generated, which includes yaw torques for controlling the four wheels of the vehicle, which are LF250N·m for the left front wheel, LR250N·m for the left rear wheel, RF-250N·m for the right front wheel, and RR-250N·m for the right rear wheel.

[0098] S302: Send a torque control instruction to the motor controller of the wheel to control the vehicle to turn.

[0099] Figure 6 This is a schematic diagram of the principle of vehicle turning provided by the embodiment of the present application. Figure 6When the vehicle is in position A, the torques of the left front wheel LF, the left rear wheel LR, the right front wheel RF and the right rear wheel RR are all 500N·m. When the vehicle reaches position B and starts to turn, the motor controller 1 can apply a driving torque of 250N·m to the left front wheel LF according to the torque control instruction including a yaw torque of 250N·m for controlling the left front wheel LF, thereby increasing the torque of the left front wheel LF to 750N·m; the motor controller 2 can apply a braking torque of 250N·m to the right front wheel RF according to the torque control instruction including a yaw torque of -250N·m for controlling the right front wheel RF, thereby reducing the torque of the right front wheel RF to 250N·m; the motor controller The device 3 can apply a driving torque of 250 N·m to the left rear wheel LR according to the torque control instruction including a yaw torque of 250 N·m for controlling the left rear wheel LR, thereby increasing the torque of the left rear wheel LR to 750 N·m; the motor controller 4 can apply a braking torque of 250 N·m to the right rear wheel RR according to the torque control instruction including a yaw torque of -250 N·m for controlling the right rear wheel RR, thereby reducing the torque of the right rear wheel RR to 250 N·m, and controlling the vehicle to turn right through the torque difference between the wheels.

[0100] In an embodiment of the present application, a controller running a torque vector control system can generate torque control instructions based on the turning radius of the vehicle when the vehicle's driving assistance function is turned on and the wire steering system fails, and send these instructions to the motor controller of the wheel to achieve control of the vehicle's turning. In the above process, by turning on the driving assistance function, the normal operation of the torque vector control system in the controller is ensured. When the wire steering system fails, the controller can generate a torque control instruction including yaw torque to control the output torque of the motor controller, thereby reducing the response time and improving the safety of the vehicle's turning.

[0101] Figure 7 This is a flow chart of the third embodiment of the vehicle turning control method provided by this application. Figure 7 Based on the above embodiment, in the specific implementation of the vehicle turning control method, generating a torque control instruction according to the turning radius of the vehicle can be achieved by the following steps:

[0102] S701. Obtain the vehicle speed, and determine a target yaw rate according to the vehicle speed and the turning radius.

[0103] In this step, the controller may obtain the vehicle speed during driving through a vehicle speed sensor, and determine the target yaw angular velocity according to the vehicle speed and the obtained turning radius.

[0104] Optionally, the target yaw rate can be obtained by the following formula:

[0105] W=V / R Formula (1)

[0106] In formula (1), W is the target yaw rate, V is the vehicle speed, and R is the turning radius. The vehicle speed is also the longitudinal speed of the vehicle when it is traveling in a straight line.

[0107] In another optional implementation manner, the target yaw angular velocity may also be obtained by the following formula:

[0108] W=V*cur Formula (2)

[0109] In formula (2), cur is the curvature, which is used to indicate the curvature of a road or track and can be obtained by the inverse of the radius, that is, cur = 1 / R.

[0110] For example, the controller can obtain the vehicle speed V of 20km / h during driving through the vehicle speed sensor. According to the vehicle speed V equal to 20km / h and the obtained turning radius R of 50m, the target yaw angular velocity W1 can be determined to be 8° / s.

[0111] S702: Determine a total yaw torque according to an angular velocity difference between a current yaw angular velocity and a target yaw angular velocity.

[0112] In this step, the controller can obtain the current yaw rate of the vehicle, and calculate the angular velocity difference between the current yaw rate and the determined target yaw rate, and the total yaw torque can be determined by the angular velocity difference. In a specific implementation, the total yaw torque corresponding to the vehicle speed can be determined according to the vehicle speed, the angular velocity difference and the yaw torque mapping relationship, and the yaw torque mapping relationship includes multiple vehicle speeds and the angular velocity difference and the total yaw torque corresponding to each vehicle speed.

[0113] The current yaw rate can be obtained through the yaw rate sensor (Yaw-G). In specific implementation, the Yaw-G sensor can use the gyroscope principle to measure the current yaw rate, and the gyroscope in the sensor detects the rotation of the vehicle to determine the yaw rate. For example, the current yaw rate of the vehicle can be obtained by the Yaw-G sensor as 3° / s

[0114] Optionally, the vehicle yaw torque mapping relationship can be established by combining simulation tests with actual vehicle tests. First, a dynamic model of the vehicle is established to simulate the vehicle behavior under different vehicle speeds and angular velocity differences, and the required total yaw torque is recorded. Next, the actual total yaw torque data under the same conditions is obtained through actual driving tests, which will serve as a benchmark for verifying the accuracy of the model. By comparing the simulation data with the actual vehicle test data, the model is calibrated and optimized to ensure that the model can accurately reflect the actual situation. Finally, the mapping relationship between vehicle speed, angular velocity difference and total yaw torque is established through data fitting.

[0115] For example, the partial vehicle speeds in the yaw torque mapping relationship and the angular velocity difference and total yaw torque corresponding to each vehicle speed may be shown in Table 1:

[0116] Table 1

[0117] Vehicle speed (km / h) Angular velocity difference (° / s) Total yaw torque (N·m) 10 5 500 10 10 1500 20 5 1000 20 10 2000

[0118] Optionally, the controller may determine that the vehicle is turning right by determining that the value of the total yaw torque is positive; and may determine that the vehicle is turning left by determining that the value of the total yaw torque is negative.

[0119] Optionally, the controller may determine whether the vehicle is to turn left or right based on the collected image data or the driving trajectory determined according to the vehicle's navigation information.

[0120] For example, the angular velocity difference can be determined to be 5° / s based on the current yaw rate of 8° / s and the target yaw rate of 3° / s. The total yaw torque can be determined to be 1000N·m based on the vehicle speed of 20km / h, the angular velocity difference of 5° / s, and the yaw torque mapping relationship. In addition, it can be determined based on the collected image data that the vehicle is turning right.

[0121] In another optional implementation, the controller may determine that the vehicle is turning right by determining that the value of the total yaw torque is positive; and may determine that the vehicle is turning left by determining that the value of the total yaw torque is negative.

[0122] S703: Determine a torque control instruction according to a preset torque distribution strategy and a total yaw torque.

[0123] In this step, the controller may determine a torque control instruction according to the determined total yaw torque and a preset torque distribution strategy, wherein the torque control instruction includes distributing the total yaw torque according to the torque distribution strategy.

[0124] Optionally, the preset torque distribution strategy may be to evenly distribute the determined total yaw torque.

[0125] For example, if the vehicle's drive type is four-wheel drive and the total yaw torque is 1000N·m, the total yaw torque of 1000N·m can be distributed according to the principle of even distribution to determine the torque control command. The torque control command includes LF250N·m for the left front wheel, LR250N·m for the left rear wheel, RF-250N·m for the right front wheel and RR-250N·m for the right rear wheel.

[0126] Optionally, if the driving type of the vehicle is front-axle drive or rear-axle drive, the preset torque distribution strategy may be to evenly distribute the determined total yaw torque only to the driving wheels.

[0127] For example, if the vehicle's drive type is front-axle drive and the total yaw torque is 1000N·m, the total yaw torque of 1000N·m can be evenly distributed only to the front wheels, namely LF500N·m to the left front wheel and RF-500N·m to the right front wheel; if the vehicle's drive type is rear-axle drive and the total yaw torque is 1000N·m, the total yaw torque of 1000N·m can be evenly distributed only to the rear wheels, namely LR500N·m to the left rear wheel and RRF-500N·m to the right rear wheel.

[0128] It should be noted that evenly distributing the total yaw torque means that the sum of the absolute values ​​of the torques output by the motor controllers is equal to the total yaw torque.

[0129] Optionally, if the direction of vehicle turning is determined based on the positive or negative value of the total yaw torque, when the value of the total yaw torque is negative, uniform distribution of the total yaw torque means that the sum of the absolute values ​​of the torques output by the motor controllers is equal to the absolute value of the total yaw torque.

[0130] For example, if the vehicle's drive type is four-wheel drive and the total yaw torque is -1000N·m, and it is determined that the vehicle is turning left, the total yaw torque of -1000N·m can be distributed according to the principle of even distribution, namely, LF-250N·m for the left front wheel, LR-250N·m for the left rear wheel, RF250N·m for the right front wheel and RR250N·m for the right rear wheel. The sum of the absolute values ​​of the torques output by the four motor controllers is equal to the absolute value of the total yaw torque.

[0131] In the embodiment of the present application, the controller can obtain the vehicle speed, determine the target yaw rate according to the vehicle speed and the turning radius, determine the total yaw torque according to the angular velocity difference between the current yaw rate and the target yaw rate, and determine the torque control command according to the preset torque distribution strategy and the total yaw torque. In the above process, the controller can determine the total yaw torque required for the vehicle to turn according to the actual driving state of the vehicle, and generate the torque control command according to the preset torque distribution strategy to control the output torque of the motor controller, thereby improving the safety of turning.

[0132] Figure 8 This is a schematic diagram of the structure of the first embodiment of the vehicle turning control device provided by the present application. Figure 8 The vehicle turning control device 10 comprises:

[0133] A processing module 11, for generating a torque control instruction according to a turning radius of the vehicle when a steer-by-wire system of the vehicle fails, wherein the torque control instruction includes a yaw torque for controlling wheels of the vehicle;

[0134] The sending module 12 is used to send a torque control instruction to the motor controller of the wheel to control the vehicle to turn.

[0135] The vehicle turning control device provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0136] In a possible implementation manner, the processing module 11 is specifically configured to:

[0137] When the vehicle's driving assistance function is turned on and the steer-by-wire system fails, a torque control command is generated based on the vehicle's turning radius.

[0138] In a possible implementation manner, the processing module 11 is specifically configured to:

[0139] Obtain the vehicle speed, and determine the target yaw rate according to the vehicle speed and turning radius;

[0140] Determine the total yaw torque according to the angular velocity difference between the current yaw angular velocity and the target yaw angular velocity;

[0141] According to the preset torque distribution strategy and the total yaw torque, a torque control instruction is determined, and the torque control instruction includes distributing the total yaw torque according to the torque distribution strategy.

[0142] In a possible implementation manner, the processing module 11 is specifically configured to:

[0143] The total yaw torque corresponding to the vehicle speed is determined according to the vehicle speed, the angular velocity difference and the yaw torque mapping relationship, wherein the yaw torque mapping relationship includes a plurality of vehicle speeds and the angular velocity difference and the total yaw torque corresponding to each vehicle speed.

[0144] Fig. 9 This is a schematic diagram of the structure of the second embodiment of the vehicle turning control device provided by the present application. Figure 8 Based on the examples shown, see Fig. 9 , the vehicle turning control device 10 further includes an acquisition module 13;

[0145] The acquisition module 13 is used to acquire the turning radius based on the collected image data.

[0146] In a possible implementation, the acquisition module 13 is specifically configured to:

[0147] The collected image data is recognized and processed to obtain the lane line information of the road ahead of the vehicle;

[0148] Obtain the lane center line based on the lane line information;

[0149] Get the turning radius based on the lane centerline.

[0150] In a possible implementation, the acquisition module 13 is specifically configured to:

[0151] Determine the driving trajectory of the vehicle according to the navigation information of the vehicle;

[0152] Get the turning radius based on the driving trajectory.

[0153] Optionally, when the vehicle turning control device is implemented as a wheel motor controller, it may also include: a control module, which is used for the motor controller to control the vehicle turning based on the control instructions sent by the torque vector control system received.

[0154] The vehicle turning control device provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0155] Fig.10 This is a schematic diagram of the structure of the controller provided in the embodiment of the present application. Fig.10 The controller 20 may include a processor 21, a memory 22 and a communication interface 24. Exemplarily, the processor 21, the memory 22 and the communication interface 24 are interconnected via a bus 23.

[0156] The memory 22 stores computer executable instructions;

[0157] The processor 21 executes the computer-executable instructions stored in the memory 22, so that the processor 21 executes the vehicle turning control method provided by the above method embodiment.

[0158] Fig.11 This is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. Fig.11 The vehicle 30 includes a vehicle body 31 and a controller 32, in which a torque vector control system 33 is running, for implementing the vehicle turning control method provided in the above method embodiment.

[0159] Accordingly, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the vehicle turning control method provided by the above method embodiment.

[0160] Accordingly, an embodiment of the present application may also provide a computer program product, including a computer program, which, when executed by a processor, can implement the vehicle turning control method provided by the above method embodiment.

[0161] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0162] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A vehicle turning control method, characterized in that: Applied to a torque vectoring control system, the method comprises: When a steer-by-wire system of the vehicle fails, generating a torque control instruction according to a turning radius of the vehicle, the torque control instruction including a yaw torque for controlling wheels of the vehicle; The torque control instruction is sent to the motor controller of the wheel to control the vehicle to turn.

2. The method according to claim 1, characterized in that: When the steer-by-wire system of the vehicle fails, generating a torque control instruction according to the turning radius of the vehicle includes: When the driving assistance function of the vehicle is turned on and the steer-by-wire system fails, the torque control instruction is generated according to the turning radius of the vehicle.

3. The method according to claim 1 or 2, characterized in that: The step of generating a torque control instruction according to the turning radius of the vehicle includes: Acquiring a vehicle speed of the vehicle, and determining a target yaw rate according to the vehicle speed and the turning radius; determining a total yaw torque according to an angular velocity difference between a current yaw angular velocity and the target yaw angular velocity; The torque control instruction is determined according to a preset torque distribution strategy and the total yaw torque, wherein the torque control instruction includes distributing the total yaw torque according to the torque distribution strategy.

4. The method according to claim 3, characterized in that: The determining of the total yaw torque according to the angular velocity difference between the current yaw angular velocity and the target yaw angular velocity comprises: The total yaw torque corresponding to the vehicle speed is determined according to the vehicle speed, the angular velocity difference and the yaw torque mapping relationship, wherein the yaw torque mapping relationship includes a plurality of vehicle speeds and the angular velocity difference and the total yaw torque corresponding to each vehicle speed.

5. The method according to claim 1 or 2, characterized in that: The method further comprises: The turning radius is obtained based on the collected image data.

6. The method according to claim 5, characterized in that The obtaining of the turning radius based on the collected image data includes: Performing recognition processing on the collected image data to obtain lane line information of the road ahead of the vehicle; Acquire a lane centerline according to the lane line information; Based on the lane centerline, the turning radius is obtained.

7. The method according to claim 1 or 2, characterized in that: The method further comprises: Determining a driving trajectory of the vehicle according to navigation information of the vehicle; Based on the driving trajectory, the turning radius is obtained.

8. A vehicle turning control device, characterized in that: The device comprises: a processing module, configured to generate a torque control instruction according to a turning radius of the vehicle when a steer-by-wire system of the vehicle fails, wherein the torque control instruction includes a yaw torque for controlling wheels of the vehicle; The sending module is used to send the torque control instruction to the motor controller of the wheel to control the vehicle to turn.

9. A controller, characterized in that: include: Processor, memory and communication interface; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the vehicle turning control method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: include: A vehicle body, and a controller as claimed in claim 9.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the vehicle turning control method according to any one of claims 1 to 7.

Images