Vehicle steering control method, vehicle steering control device and vehicle

Abstract

The invention provides a vehicle steering control method, a vehicle steering control device and a vehicle, the method is applied to the field of vehicle control, and the vehicle comprises a rear wheel steering control system. Obtaining a first yaw velocity, and predicting a target yaw velocity corresponding to the yaw velocity and the steering instruction; wherein the first yaw velocity is the actual yaw velocity, detected in the previous collection period, of the vehicle; the predicted yaw velocity is the predicted yaw velocity of the previous collection period; based on the first yaw velocity and the predicted yaw velocity, a compensation signal of a feedback compensator in the rear wheel steering control system is obtained; and controlling rear wheels of the vehicle to steer through a rear wheel steering control system based on the compensation signal and the target yaw velocity. According to the method, rear wheel steering can be compensated, and the response speed of the rear wheels during vehicle steering is increased.

Description

Technical Field

[0001] The present application relates to the automotive field, and more specifically, to a vehicle steering control method, a vehicle steering control device and a vehicle in the field of vehicle control technology. Background Art

[0002] With the continuous development of vehicle steer-by-wire technology, rear-wheel steering technology has been widely used. In the existing rear-wheel steering control system, the response delay of the rear-wheel steering actuator is relatively obvious. Since the adjustment of the rear-wheel steering needs to be coordinated with the overall dynamics of the vehicle, the response delay of the rear-wheel steering actuator may cause a large deviation between the target rear wheel angle and the actual rear wheel angle, thereby causing fluctuations in the yaw rate and affecting the stability of the vehicle.

[0003] Therefore, how to effectively compensate for rear wheel steering and improve the response speed of the rear wheels when the vehicle turns has become an urgent problem that needs to be solved. Summary of the invention

[0004] The present application provides a vehicle steering control method, a vehicle steering control device and a vehicle. The method can compensate for rear wheel steering and improve the response speed of the rear wheels when the vehicle is steering.

[0005] In a first aspect, a method for controlling vehicle steering is provided, wherein the vehicle includes a rear wheel steering control system, and the method includes:

[0006] If a steering command of the vehicle is detected, a first yaw angular velocity, a predicted yaw angular velocity and a target yaw angular velocity corresponding to the steering command are obtained; wherein the first yaw angular velocity is the actual yaw angular velocity of the vehicle detected in a previous acquisition cycle; the predicted yaw angular velocity is the predicted yaw angular velocity of the previous acquisition cycle; based on the first yaw angular velocity and the predicted yaw angular velocity, a compensation signal of a feedback compensator in a rear-wheel steering control system is obtained; and the rear wheels of the vehicle are controlled to steer based on the compensation signal and the target yaw angular velocity through the rear-wheel steering control system.

[0007] In an embodiment of the present application, when a steering command of the vehicle is detected, the current steering demand can be obtained by acquiring the first yaw angular velocity, the predicted yaw angular velocity and the target yaw angular velocity corresponding to the steering command, and the compensation signal of the feedback compensator in the rear-wheel steering control system is determined based on the first yaw angular velocity and the predicted yaw angular velocity, and the rear-wheel steering actuator of the vehicle is controlled to steer based on the compensation signal and the target yaw angular velocity; since the first yaw angular velocity and the predicted yaw angular velocity are both yaw angular velocities with a delay time of the rear-wheel steering actuator, a model deviation between the predicted yaw angular velocity and the actual yaw angular velocity can be determined based on the first yaw angular velocity and the predicted yaw angular velocity, eliminating the delay time of the rear-wheel steering actuator, making the determined compensation signal more accurate, and improving the response speed when feedback control is performed based on the compensation signal; since the steering response speed is improved, oscillation of the steering system is avoided, thereby improving the stability of the steering system.

[0008] In combination with the first aspect, in some possible implementations, the present invention further includes:

[0009] Obtaining a two-degree-of-freedom model of the vehicle; obtaining a predicted yaw angular velocity, including: obtaining a predicted yaw angular velocity based on the two-degree-of-freedom model of the vehicle.

[0010] In an embodiment of the present application, a two-degree-of-freedom model of the whole vehicle is obtained, and a predicted yaw velocity is obtained based on the two-degree-of-freedom model of the whole vehicle. Compared with the method of predicting the yaw velocity based on experience or a simple model in the prior art, the predicted yaw velocity determined by the two-degree-of-freedom model of the whole vehicle is closer to the actual yaw velocity. Since the error between the predicted yaw velocity and the actual yaw velocity is smaller, the compensation signal obtained based on the predicted yaw velocity is more accurate. Feedback control using the compensation signal can improve the response speed.

[0011] In combination with the first aspect and the above implementations, in some possible implementations, the present invention further includes:

[0012] The current turning angle of the rear wheel is obtained; and based on the two-degree-of-freedom model of the whole vehicle, a predicted yaw angular velocity is obtained, including: based on the two-degree-of-freedom model of the whole vehicle and the current turning angle, a predicted yaw angular velocity is obtained.

[0013] In the embodiment of the present application, by acquiring the current steering angle of the rear wheel and combining it with the two-degree-of-freedom model of the whole vehicle to obtain the predicted yaw rate, the prediction process can fully reflect the actual steering state of the rear wheel of the vehicle. In the above scheme, by acquiring the real-time data of the current steering angle of the rear wheel and combining it with the two-degree-of-freedom model of the whole vehicle, the predicted yaw rate is determined, and the determined predicted yaw rate is closer to the actual yaw rate. Since the error between the predicted yaw rate and the actual yaw rate is smaller, the compensation signal obtained based on the predicted yaw rate is more accurate, and the feedback control using the compensation signal can improve the response speed.

[0014] In combination with the first aspect and the above implementations, in some possible implementations, obtaining a compensation signal of a feedback compensator in a rear-wheel steering control system based on the first yaw angular velocity and the predicted yaw angular velocity includes:

[0015] The predicted yaw rate is multiplied by a target operator to obtain a first predicted yaw rate; wherein the target operator is a time lag operator corresponding to a delay time for the rear wheels to turn; based on the first predicted yaw rate and the first yaw rate, a yaw rate deviation is obtained; based on the yaw rate deviation and the predicted yaw rate, a compensation signal is obtained.

[0016] In the embodiment of the present application, the first predicted yaw rate is obtained by multiplying the predicted yaw rate with the time lag operator corresponding to the delay time of the rear wheel steering, so that the predicted yaw rate can take into account the delay characteristics of the rear wheel steering and is more in line with the actual dynamic response of the vehicle. The yaw rate deviation is calculated based on the first predicted yaw rate and the first yaw rate, and the compensation signal is further generated using the deviation, which can effectively compensate for the delay characteristics of the rear wheel steering, thereby improving the response accuracy and control stability of the vehicle when the rear wheel is steering.

[0017] In combination with the first aspect and the above implementations, in some possible implementations, obtaining a compensation signal based on the yaw rate deviation and the predicted yaw rate includes:

[0018] The sum of the yaw rate deviation and the predicted yaw rate is determined as a second predicted yaw rate; and a compensation signal is obtained based on a difference between the target yaw rate and the second predicted yaw rate.

[0019] In the embodiment of the present application, by determining the sum of the yaw rate deviation and the predicted yaw rate as the second predicted yaw rate, the compensation signal can be determined by comprehensively considering the deviation between the actual yaw rate of the vehicle and the predicted value. The compensation signal is obtained based on the difference between the target yaw rate and the second predicted yaw rate, which is equivalent to excluding the influence of the delay time of the rear wheel steering actuator when determining the supplementary signal; so that the obtained compensation signal is more accurate, so that when performing feedback compensation, the deviation between the actual yaw rate and the target yaw rate can be corrected more quickly, thereby improving the response speed of the vehicle's rear wheel steering.

[0020] In combination with the first aspect and the above implementations, in some possible implementations, a compensation signal is obtained based on the yaw rate deviation and the predicted yaw rate; including:

[0021] The signal corresponding to the yaw rate deviation is filtered to obtain a filtered yaw rate deviation signal; a compensation signal is obtained based on the filtered yaw rate deviation signal and a signal corresponding to the predicted yaw rate; wherein the parameters of the filtering process are related to the driving state of the vehicle.

[0022] In an embodiment of the present application, by filtering the signal corresponding to the yaw rate deviation, noise and unstable factors can be effectively removed, and a smooth and accurate yaw rate deviation signal can be obtained, thereby improving the control accuracy of the rear-wheel steering control system over the yaw rate, and improving the stability of the vehicle's rear-wheel steering control system; by generating a compensation signal based on the filtered yaw rate deviation signal and the signal corresponding to the predicted yaw rate, and being able to dynamically adjust the filtering parameters according to different driving states, optimization for different road conditions and driving behaviors can be achieved.

[0023] In combination with the first aspect and the above implementation manner, in some possible implementation manners, obtaining a target yaw angular velocity corresponding to the steering command includes:

[0024] A target signal corresponding to a steering command outputted by a standard response in a rear-wheel steering control system is obtained; the target signal is filtered to obtain a filtered target signal; and a target yaw angular velocity is obtained based on the filtered target signal; wherein the parameters of the filtering process are related to the driving state of the vehicle.

[0025] In an embodiment of the present application, by acquiring a target signal corresponding to a steering command outputted in a standard response in a rear-wheel steering control system and filtering the target signal, errors caused by noise and interference in the rear-wheel steering control system can be eliminated; the parameters of the filtering process are dynamically adjusted according to the driving state of the vehicle, and the target signal can be optimized according to different driving environments and driving conditions; the above scheme can improve the reliability of the rear-wheel steering control system and increase the response speed of the vehicle's rear-wheel steering.

[0026] In combination with the first aspect and the above implementations, in some possible implementations, controlling the rear wheels of the vehicle to steer based on the compensation signal and the target yaw angular velocity by a rear wheel steering control system includes:

[0027] Based on the compensation signal and the target yaw rate, a compensated yaw rate is obtained; and based on the compensated yaw rate, the rear wheels of the vehicle are controlled to steer by a rear-wheel steering control system.

[0028] In the embodiment of the present application, based on the compensation signal and the target yaw rate, the compensated yaw rate is obtained, which helps to eliminate the influence of the rear wheel steering control system delay or the external environment change during the vehicle steering process. By controlling the compensated yaw rate, more accurate rear wheel steering control can be achieved, and the response speed of the rear wheel steering control system is improved.

[0029] In a second aspect, a vehicle steering control device is provided, wherein the vehicle includes a rear wheel steering control system, and the device includes:

[0030] an acquisition module, for acquiring, if a steering command of the vehicle is detected, a first yaw angular velocity, a predicted yaw angular velocity and a target yaw angular velocity corresponding to the steering command; wherein the first yaw angular velocity is an actual yaw angular velocity of the vehicle detected in a previous acquisition cycle; and the predicted yaw angular velocity is a predicted yaw angular velocity of a previous acquisition cycle;

[0031] The processing module is used to obtain a compensation signal of a feedback compensator in a rear-wheel steering control system based on the first yaw angular velocity and the predicted yaw angular velocity; and control the rear wheels of the vehicle to steer based on the compensation signal and the target yaw angular velocity through the rear-wheel steering control system.

[0032] It should be understood that the expansion, limitation, explanation and description of the relevant contents in the above-mentioned first aspect also apply to the same contents in the second aspect.

[0033] In a third aspect, a vehicle is provided, comprising a memory and a processor; the memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0034] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0035] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of a steering control strategy combining feedforward and feedback provided in an embodiment of the present application;

[0037] Figure 2 is a schematic diagram of a rear wheel steering control strategy with a delay time provided in an embodiment of the present application;

[0038] Figure 3 is a schematic diagram of a vehicle steering control method provided by an embodiment of the present application;

[0039] Figure 4 is a schematic flow chart of another vehicle steering control method provided in an embodiment of the present application;

[0040] Figure 5 is a structural schematic diagram of a vehicle steering control device provided in an embodiment of the present application;

[0041] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0043] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0044] Before introducing the method of the embodiment of the present application, the professional terms that may be involved in the embodiment of the present application are first explained.

[0045] Wheel angle: includes the front wheel angle and the rear wheel angle, which is the rotation angle of the wheel in the rear wheel steering control system and is used to determine the direction of vehicle travel.

[0046] Yaw angular velocity: refers to the rotation speed of the vehicle around its vertical axis. It reflects the dynamic behavior of the vehicle when turning. It is an important indicator of vehicle stability and handling and is affected by the front wheel angle and rear wheel angle.

[0047] Rear wheel steering actuator: responsible for adjusting the steering angle of the rear wheels according to the control signal and accurately controlling the rear wheel steering.

[0048] Dead Time: The delay between a change in an input signal and its effect on an output signal. Dead time manifests itself in a rear-wheel steering control system as an inherent delay in the rear-wheel steering actuator responding to a driver or control signal.

[0049] Transfer function: In rear-wheel steering control systems, it is a mathematical model used to represent the relationship between input and output signals, which can also be understood as gain. It is usually obtained through Laplace transform and is used to analyze and design the control characteristics of vehicle dynamics systems.

[0050] Feedforward control: A control method that uses a model to predict future behavior and reduces the error of the rear-wheel steering control system by directly responding to input signals. Feedforward control can compensate for external disturbances in vehicle steering in advance and improve control accuracy.

[0051] Feedback control: A control method that monitors the output of the rear-wheel steering control system, compares the output value with the target value, and adjusts the input signal based on the deviation. Feedback control can correct the deviation during vehicle steering to ensure the stability and responsiveness of the rear-wheel steering control system.

[0052] Specification response: The target state of the rear-wheel steering control system, ensuring the vehicle is consistent and predictable under different driving conditions. Specification response is used to measure whether the performance of the rear-wheel steering control system meets the expected requirements.

[0053] Feedback compensation: In feedback control, in order to eliminate the error introduced by the dynamic characteristics of the rear-wheel steering control system, the deviation is corrected by an additional signal (such as a compensation signal). Feedback compensation is used in vehicle steering to improve response speed and accuracy.

[0054] Proportional-Integral-Differential Controller (PID): It includes three parts: proportional control, integral control and differential control:

[0055] Proportional control: adjust the output according to the current error to improve the response speed.

[0056] Integral control: accumulate errors and eliminate steady-state errors.

[0057] Differential control: predicts error trends and improves the stability of the rear-wheel steering control system.

[0058] PID controllers are often used in vehicle dynamics systems to regulate yaw rate or steering angle deviation.

[0059] The whole vehicle two-degree-of-freedom model: It can also be called a two-degree-of-freedom vehicle model. It is a vehicle dynamics model that contains two degrees of freedom, longitudinal and lateral motion, and is used to describe the dynamic characteristics of the vehicle during driving. This model is used to analyze key variables such as yaw rate.

[0060] Low-pass filter: A signal processing tool used to filter out high-frequency noise and retain only low-frequency components. Low-pass filters are often used to process sensor data during vehicle rear-wheel steering control to remove high-frequency interference in yaw rate or angle signals and improve the stability and reliability of the steering control system.

[0061] With the continuous improvement of vehicle intelligence and automation, steer-by-wire technology has begun to be applied to more and more vehicle models, providing drivers with a more comfortable, safe and pleasant driving experience. The specific control strategy in the rear-wheel steering control system has also become an important research direction. However, in the existing technology, the feedback compensation in the rear-wheel steering control system will cause delays due to factors such as signal communication and the performance of the rear-wheel steering actuator. If there is a delay in the feedback compensation process, the response speed of the rear-wheel steering control system will be slow, and it may cause large errors in the control process, affecting the stability of the rear-wheel steering control system. In view of the delay factor, a control method combining feedforward and feedback is generally adopted. The following is combined with Figure 1 A schematic diagram of a steering control strategy combining feedforward and feedback in the prior art is described.

[0062] Figure 1 It is a schematic diagram of a steering control strategy combining feedforward and feedback, as shown in Figure 1As shown, a feedforward and feedback combined steering control strategy 100 includes a front wheel steering angle δ f , rear wheel turning angle δ r , standard response REF(s), feedforward control FF(s), PID control K(s), time lag operator e -Ls , front wheel turning angle δ f The corresponding yaw rate transfer function G f (s), rear wheel turning angle δ r The corresponding yaw rate transfer function G r (s) and yaw angular velocity γ.

[0063] In the rear-wheel steering control system, the front wheel steering angle δ is determined according to the steering wheel angle input by the driver. f , and determine the standard response REF(s), that is, the target yaw rate; the feedforward control FF(s) uses the dynamic model to predict the rear wheel steering angle δ r ; According to the front wheel angle δ f , front wheel turning angle δ f The corresponding yaw rate transfer function G f (s), the front wheel steering angle δ can be determined f The corresponding yaw rate; Since the rear wheel steering actuator may have inertia when executing the steering command, there may be signal delays when the drive circuit is controlled, and the friction of the mechanical components may cause delays, according to the rear wheel steering angle δ r , rear wheel turning angle δ r The corresponding yaw rate transfer function G r (s) and the delay operator e -Ls , determine the rear wheel turning angle δ r Corresponding yaw rate; based on the front wheel turning angle δ f The corresponding yaw rate and rear wheel turning angle δ r The corresponding yaw angular velocity can determine the actual yaw angular velocity γ of the vehicle; based on the error between the actual yaw angular velocity γ of the vehicle and the target yaw angular velocity REF(s), the input of the feedback compensator is determined, and the deviation is corrected through the PID controller.

[0064] There is a delay in the feedback control process in the above control strategy, which may slow down the response of the rear-wheel steering control system and cause excessive oscillation of the rear-wheel steering control system before reaching a stable state, affecting the response speed and stability of the rear-wheel steering control system.

[0065] In view of this, an embodiment of the present application provides a vehicle steering control method, a vehicle steering control device and a vehicle: by considering the delay module in the feedback compensation in the rear-wheel steering control system and limiting the frequency band of the feedback compensation signal through a filter, the rear-wheel steering is compensated to improve the response speed of the rear wheels when the vehicle is turning.

[0066] Combine the following Figure 2 An exemplary description is given. Figure 2 Schematic diagram of a rear wheel steering control strategy with a delay time provided in an embodiment of the present application. Figure 2 As shown, a rear wheel steering control strategy 200 with a delay time provided in an embodiment of the present application includes: a front wheel steering angle δ f , rear wheel turning angle δ r , standard response REF(s), feedforward control FF(s), PID control K(s), time lag operator e -Ls , front wheel turning angle δ f The corresponding yaw rate transfer function G f (s), rear wheel turning angle δ r The corresponding yaw rate transfer function G r (s), rear wheel turning angle δ r The corresponding transfer function of the estimated yaw rate is and the yaw rate γ.

[0067] The same parts can be found in Figure 1 The description in , will not be repeated here; is the rear wheel turning angle δ determined based on the vehicle two-degree-of-freedom model and the transfer characteristics of the yaw rate r The corresponding transfer function of the estimated yaw rate.

[0068] In the embodiment of the present application, based on the rear wheel turning angle δ r and The rear wheel steering angle δ can be determined r Corresponding estimated yaw rate; based on the rear wheel turning angle δ r The corresponding estimated yaw rate and time delay operator e -Ls The rear wheel steering angle δ considering the delay time can be determined r Corresponding estimated yaw rate; based on the actual yaw rate γ and the rear wheel turning angle δ considering the delay time r The corresponding estimated yaw rate is used to obtain the yaw rate deviation; if the two-degree-of-freedom model of the vehicle is consistent with the actual model, the yaw rate deviation is the front wheel turning angle δ f The corresponding yaw rate; that is, the yaw rate deviation here includes the error of the inference model (the whole vehicle two-degree-of-freedom model); based on the yaw rate deviation and the rear wheel turning angle δ rThe corresponding estimated yaw rate can obtain the theoretical yaw rate without delay; the theoretical yaw rate without delay is subtracted from the target yaw rate to determine the input of the feedback compensator and perform feedback control on the rear wheel steering control system. r The corresponding estimated yaw rate can be used to obtain the rear wheel turning angle δ excluding the influence of the delay time r The corresponding yaw rate can therefore determine the rear wheel turning angle δ excluding the effect of the delay time r The corresponding yaw rate is based on the rear wheel turning angle δ excluding the effect of the delay time r The corresponding yaw angular velocity can obtain a more accurate compensation signal, and the rear wheel steering is compensated by using the more accurate compensation signal, which can improve the response speed of the rear wheels when the vehicle turns.

[0069] Combine the following Figure 3 A vehicle steering control method provided in an embodiment of the present application is described in detail.

[0070] Figure 3 FIG. 1 is a schematic flow chart of a vehicle steering control method provided in an embodiment of the present application. Figure 3 As shown, the method 300 includes S310 to S330, and S310 to S330 are described in detail below.

[0071] S310: If a steering command of the vehicle is detected, obtain a first yaw rate, a predicted yaw rate, and a target yaw rate corresponding to the steering command.

[0072] Among them, the first yaw rate is the actual yaw rate of the vehicle detected in the previous acquisition cycle, that is, the actual yaw rate of the current output of the rear-wheel steering control system of the vehicle under the input state of the current front wheel angle; the predicted yaw rate is the predicted yaw rate of the previous acquisition cycle, which is the estimated yaw rate of the current output of the rear-wheel steering control system of the vehicle under the input state of the current front wheel angle, and is determined based on the rear wheel angle δ of the two-degree-of-freedom model of the whole vehicle. r The corresponding estimated yaw rate.

[0073] In the embodiment of the present application, the first yaw rate can be represented by γ. In the rear-wheel steering control system, the front wheel steering angle δ f , rear wheel turning angle δ r , front wheel turning angle δ f The corresponding yaw rate transfer function G f (s) and rear wheel turning angle δ r The corresponding yaw rate transfer function G r(s) to obtain the first yaw angular velocity, which can be determined based on the following expression:

[0074] γ(s)=G f (s)δ f +G r (s)e -Ls δ r

[0075] Among them, s is a complex frequency domain variable, and L is the actual delay time of the rear wheel steering actuator.

[0076] For example, when the user controls the steering of the vehicle, the action of rotating the steering wheel can be monitored in real time by the angle sensor and angular velocity sensor installed on the steering wheel shaft. These sensors capture the rotation angle, rotation speed and other signals of the steering wheel and transmit them to the rear wheel steering control module. The rear wheel steering control module obtains the rotation angle, rotation speed and other signals, and determines the front wheel steering angle δ according to the vehicle's driving state and dynamic control strategy. f , rear wheel turning angle δ r etc., based on the front wheel steering angle δ f , rear wheel turning angle δ r and the transfer functions of the yaw angular velocities corresponding to each other, to determine the first yaw angular velocity γ, the predicted yaw angular velocity and the target yaw angular velocity REF(s). In one implementation, the method further includes:

[0077] Obtaining a two-degree-of-freedom model of the vehicle; obtaining a predicted yaw angular velocity, including: obtaining a predicted yaw angular velocity based on the two-degree-of-freedom model of the vehicle.

[0078] In the above scheme, a two-degree-of-freedom model of the whole vehicle is obtained, and a predicted yaw angular velocity is obtained based on the two-degree-of-freedom model of the whole vehicle. Compared with the method of predicting the yaw angular velocity based on experience or a simple model in the prior art, the predicted yaw angular velocity determined by the two-degree-of-freedom model of the whole vehicle in the above scheme is closer to the actual yaw angular velocity. Since the error between the predicted yaw angular velocity and the actual yaw angular velocity is smaller, the compensation signal obtained based on the predicted yaw angular velocity is more accurate. Feedback control using the compensation signal can improve the response speed.

[0079] In one implementation, the method further includes:

[0080] Get the current steering angle δ of the rear wheel r ; Based on the two-degree-of-freedom model of the whole vehicle, the predicted yaw angular velocity is obtained, including: based on the two-degree-of-freedom model of the whole vehicle and the current turning angle, the predicted yaw angular velocity is obtained.

[0081] In an embodiment of the present application, the predicted yaw rate can be based on the rear wheel turning angle δ r and the rear wheel turning angle δr The corresponding yaw rate transfer function G r (s) is obtained, and the predicted yaw rate γ p (s) can be determined based on the following expression:

[0082]

[0083] Where s is a complex frequency domain variable, is the rear wheel turning angle δ determined based on the yaw rate transfer characteristics of the vehicle and determined based on the two-degree-of-freedom model r The transfer function model for yaw rate is: The specific expression is:

[0084]

[0085] in, is the gain coefficient, indicating the rear wheel steering angle δ r The proportional gain corresponding to the yaw rate; T γr is a time constant, which is related to the delay or inertia of the rear-wheel steering response in the rear-wheel steering control system; ξ is the attenuation coefficient of the steering control system, which can be determined by actual vehicle calibration; ω is the natural vibration frequency of the rear-wheel steering control system, which can be determined by actual vehicle calibration.

[0086] In the above scheme, by obtaining the current rear wheel turning angle δ r The real-time data is combined with the two-degree-of-freedom model of the vehicle to determine the predicted yaw rate γ p (s), determine the predicted yaw rate γ p (s) is closer to the actual yaw rate γ, because the predicted yaw rate γ p The error between (s) and the actual yaw rate γ is smaller, so based on the predicted yaw rate γ p The compensation signal obtained by (s) is more accurate, and using the compensation signal for feedback control can improve the response speed.

[0087] S320: Obtain a compensation signal of a feedback compensator in a rear-wheel steering control system based on the first yaw angular velocity and the predicted yaw angular velocity.

[0088] In one implementation, the method includes:

[0089] The predicted yaw rate is multiplied by a target operator to obtain a first predicted yaw rate; wherein the target operator is a time lag operator corresponding to a delay time for the rear wheels to turn; based on the first predicted yaw rate and the first yaw rate, a yaw rate deviation is obtained; based on the yaw rate deviation and the predicted yaw rate, a compensation signal is obtained.

[0090] Among them, the delay operator e-Ls It is determined based on the actual delay time L of the rear wheel steering actuator.

[0091] In the embodiment of the present application, the first predicted yaw rate γ1(s) can be obtained by predicting the yaw rate γ p (s) and the delay operator e -Ls Multiplying together, we can determine this based on the following expression:

[0092]

[0093] It should be noted that, in the embodiment of the present application, the first yaw rate γ and the predicted yaw rate γ p (s), the first predicted yaw rate γ1(s) and the target yaw rate REF(s) can refer to the signals transmitted in the rear-wheel steering control system, that is, the signal corresponding to the first yaw rate γ, the predicted yaw rate γ p (s) corresponding signal, etc.; In the rear-wheel steering control system, the yaw rate γ is predicted in the complex frequency domain p (s) and the delay operator e -Ls Multiplication is equivalent to considering the predicted yaw rate γ in the time domain p (s) Corresponding delay time of the rear wheel steering actuator.

[0094] In the embodiment of the present application, the yaw rate deviation Δγ can be obtained by the first predicted yaw rate γ p The difference between (s) and the actual yaw rate γ can be determined based on the following expression:

[0095]

[0096] In one implementation, the inferred model is consistent with the actual model, that is, at the current front wheel turning angle δ f Based on the input of r The corresponding estimated yaw rate value γ p (s) and the rear wheel steering angle δ determined based on the actual model r The corresponding actual yaw rate value γ is equal; due to the estimated yaw rate value γ p (s) is equal to the actual yaw rate value γ, and the rear wheel turning angle δ r The corresponding estimated yaw rate transfer function and rear wheel turning angle δ r The corresponding transfer function of the actual yaw rate is equal, that is, At this time, the yaw rate deviation Δγ=G f (s)δ f .

[0097] In the embodiment of the present application, the actual model is a model determined based on the parameters of the actual vehicle, which can reflect the rear wheel steering angle δ of the vehicle when the vehicle is actually running. r The influence of yaw rate; G r (s) is based on the actual model and the rear wheel steering angle δ r The rear wheel turning angle δ determined by the corresponding yaw rate transfer characteristic r The corresponding transfer function of the actual yaw rate, G r The specific expression of (s) is:

[0098]

[0099] In the above scheme, the predicted yaw rate γ is p (s) The time lag operator e corresponding to the delay time of the rear wheel steering -Ls Multiply them to get the first predicted yaw rate γ1(s), so that the predicted yaw rate γ p (s) can take into account the delay characteristics of the rear-wheel steering and better fit the actual dynamic response of the vehicle. The yaw rate deviation Δγ is calculated based on the first predicted yaw rate γ1(s) and the first yaw rate γ, and Δγ is used to further generate a compensation signal, which can effectively compensate for the delay characteristics of the rear-wheel steering, thereby improving the response accuracy and control stability of the vehicle during rear-wheel steering.

[0100] In one implementation, the method includes:

[0101] The sum of the yaw rate deviation and the predicted yaw rate is determined as a second predicted yaw rate; and a compensation signal is obtained based on a difference between the target yaw rate and the second predicted yaw rate.

[0102] In the embodiment of the present application, the second predicted yaw rate γ2(s) can be obtained by combining the yaw rate deviation Δγ and the predicted yaw rate γ p The sum of (s) can be determined based on the following expression:

[0103]

[0104] In the embodiment of the present application, the target yaw rate REF(s) can be based on the front wheel turning angle δ f , rear wheel turning angle δ r , front wheel turning angle δ f The corresponding yaw rate transfer function G f (s) and rear wheel turning angle δ r The corresponding yaw rate transfer function G r (s) is determined, REF(s) can be determined based on the following expression:

[0105] REF(s)=G f (s)δ f +G r (s)δ r

[0106] In an embodiment of the present application, the compensation signal γ0(s) may be obtained by the difference between the target yaw rate REF(s) and the second predicted yaw rate γ2(s), and may be determined based on the following expression:

[0107] γ0(s)=G f (s)δ f +G r (s)δ r -γ2(s)

[0108] In one implementation, the inferred model is consistent with the actual model, and the compensation signal

[0109]

[0110] In the above scheme, the yaw rate deviation Δγ is calculated by comparing it with the predicted yaw rate γ p (s) is determined as the second predicted yaw rate γ2(s), so that the determination of the compensation signal γ0(s) can comprehensively consider the actual yaw rate γ of the vehicle and the predicted yaw rate γ p The compensation signal γ0(s) is obtained based on the difference between the target yaw rate REF(s) and the second predicted yaw rate γ2(s), which is equivalent to excluding the influence of the delay time of the rear-wheel steering actuator when determining the supplementary signal; making the obtained compensation signal γ0(s) more accurate, so that when performing feedback compensation, the deviation between the actual yaw rate γ and the target yaw rate REF(s) can be corrected more quickly, thereby improving the response speed of the vehicle's rear-wheel steering.

[0111] In one implementation, the method includes:

[0112] The signal corresponding to the yaw rate deviation is filtered to obtain a filtered yaw rate deviation signal; a compensation signal is obtained based on the filtered yaw rate deviation signal and a signal corresponding to the predicted yaw rate; wherein the parameters of the filtering process are related to the driving state of the vehicle.

[0113] In the embodiment of the present application, due to the difference between the inferred model and the actual model, in order to avoid the noise in the signal corresponding to the calculated yaw rate deviation Δγ, which affects the feedback control, a low-pass filter is used to filter the above signal. The time constant T of the low-pass filter is RWS It can be adjusted dynamically according to vehicle speed and status.

[0114] For example, when driving at high speed, the response of the vehicle's rear wheel steering control system needs to be smooth to avoid high-frequency vibration from interfering with the driver's experience. Therefore, the time constant of the low-pass filter can be set to be longer, such as T RWS = 0.3s, corresponding to a lower control band (e.g., a cutoff frequency of 3 Hz). In this way, the feedback compensator only responds to low-frequency changes in vehicle dynamics, thereby achieving stable control.

[0115] For example, at low speeds and when the tire reaction force is large, the vehicle dynamic response is more sensitive, and it is necessary to ensure that the feedback compensator can quickly respond to large steering demands. Therefore, the time constant of the low-pass filter should be appropriately shortened, for example, T RWS = 0.05s, corresponding to a higher control frequency band (e.g., a cutoff frequency of 20 Hz). In this way, the feedback compensator can quickly respond to the dynamic changes of the vehicle and avoid the accumulation of errors in the yaw rate.

[0116] In the above scheme, by filtering the signal corresponding to the yaw rate deviation Δγ, noise and unstable factors can be effectively removed, a smooth and accurate yaw rate deviation signal can be obtained, the control accuracy of the rear wheel steering control system for the yaw rate can be improved, and the stability of the vehicle rear wheel steering control system can be improved; by filtering the yaw rate deviation signal Δγ after filtering and predicting the yaw rate γ p The signal corresponding to (s) generates a compensation signal γ0(s), and can dynamically adjust the parameters of the filtering process according to different driving conditions, so as to achieve optimization for different road conditions and driving behaviors.

[0117] In one implementation, the method includes:

[0118] A target signal corresponding to a steering command outputted by a standard response in a rear-wheel steering control system is obtained; the target signal is filtered to obtain a filtered target signal; based on the filtered target signal, a target yaw angular velocity REF(s) is obtained; wherein the filtering parameters are related to the driving state of the vehicle.

[0119] In the embodiment of the present application, in order to ensure the stability and practical executability of the rear-wheel steering control system, avoid the high-frequency components in the standard response REF(s) from having a negative impact on the actual control of the vehicle, and avoid the rear-wheel steering actuator from responding frequently due to the influence of external input, increasing the load of the rear-wheel steering control system, causing oscillation, and affecting the stability of the rear-wheel steering control system, the target signal corresponding to the steering command output by the standard response REF(s) is low-pass filtered, and the time constant T of the low-pass filter is RWS It can be adjusted dynamically according to vehicle speed and status.

[0120] In the above scheme, by obtaining the target signal corresponding to the steering command of the standard response output in the rear-wheel steering control system and filtering the target signal, the error caused by the noise and interference of the rear-wheel steering control system can be eliminated; the parameters of the filtering process are dynamically adjusted according to the driving state of the vehicle, and the target signal can be optimized according to different driving environments and driving conditions; the above scheme can improve the reliability of the rear-wheel steering control system and increase the response speed of the vehicle's rear-wheel steering.

[0121] S330: Control the rear wheels of the vehicle to steer based on the compensation signal and the target yaw rate through a rear-wheel steering control system.

[0122] In one implementation, the method further includes:

[0123] Based on the compensation signal and the target yaw rate, a compensated yaw rate is obtained; and based on the compensated yaw rate, the rear wheels of the vehicle are controlled to steer by a rear-wheel steering control system.

[0124] In the above scheme, based on the compensation signal γ0(s) and the target yaw rate REF(s), the compensated yaw rate is obtained, which helps to eliminate the influence of the rear wheel steering control system delay or external environment changes during the vehicle steering process. By controlling the compensated yaw rate, more precise rear wheel steering control can be achieved, and the response speed of the rear wheel steering control system is improved.

[0125] In the above embodiment, when a steering command of the vehicle is detected, by obtaining the first yaw rate γ, the predicted yaw rate γ p (s) and the target yaw rate REF(s) corresponding to the steering command, the current steering demand can be obtained based on the first yaw rate γ and the predicted yaw rate γ p (s), determine the compensation signal γ0(s) of the feedback compensator in the rear-wheel steering control system, and control the rear-wheel steering actuator of the vehicle to steer based on the compensation signal γ0(s) and the target yaw rate REF(s); since the first yaw rate γ and the predicted yaw rate γ p (s) are all yaw rates with the delay time of the rear wheel steering actuator, based on the first yaw rate γ and the predicted yaw rate γ p (s) can determine the yaw rate deviation Δγ between the predicted yaw rate and the actual yaw rate, eliminate the delay time of the rear-wheel steering actuator, and make the determined compensation signal γ0(s) more accurate. When feedback control is performed based on the compensation signal γ0(s), the response speed is improved. Since the steering response speed is improved, oscillation of the rear-wheel steering control system is avoided, and the stability of the rear-wheel steering control system is improved.

[0126] Combine the following Figure 4 A schematic flowchart of another vehicle steering control method provided in an embodiment of the present application is illustrated by way of example.

[0127] Figure 4 FIG. 1 is a schematic flow chart of another vehicle steering control method provided in an embodiment of the present application. Figure 4 As shown, the method 400 includes S401 to S406, and S401 to S406 are described in detail below.

[0128] S401: If a steering command of the vehicle is detected, a two-degree-of-freedom model of the vehicle and a target yaw angular velocity are obtained.

[0129] The target yaw rate is the standard response in the vehicle rear wheel steering control system, namely REF(s).

[0130] For example, when the user controls the vehicle to turn, the action of rotating the steering wheel can be monitored in real time by the angle sensor and angular velocity sensor installed on the steering wheel shaft, and a steering command is generated. If the vehicle's steering command is detected, the vehicle's two-degree-of-freedom model and the target yaw angular velocity REF(s) are obtained.

[0131] Optionally, the implementation of S401 can refer to Figure 3 The relevant description of the implementation method in S310 will not be repeated here.

[0132] S402: Determine an actual yaw rate, a predicted yaw rate, and a first predicted yaw rate based on a front wheel angle, a rear wheel angle, a time lag operator, a transfer function of the yaw rate corresponding to the front wheel angle, and a transfer function of the yaw rate corresponding to the rear wheel angle.

[0133] Among them, the front wheel turning angle is δ f ; The rear wheel turning angle is δ r ; Delay operator e -Ls ; Front wheel turning angle δ f The corresponding yaw rate transfer function is G f (s); rear wheel turning angle δ r The corresponding transfer function of yaw rate is G r (s); the actual yaw rate is γ; the predicted yaw rate is γ p (s); the first predicted yaw rate is γ1(s).

[0134] For example, the steering wheel rotation angle, rotation speed and other signals can be captured based on sensors in the vehicle and transmitted to the rear-wheel steering control system, which determines the current front wheel steering angle δ f , rear wheel turning angle δ r , and based on the time-delay operator e-Ls , front wheel turning angle δ f The corresponding yaw rate transfer function G f (s) and rear wheel turning angle δ r The corresponding yaw rate transfer function G r (s), determine the actual yaw rate γ of the current vehicle, the rear wheel steering angle δ determined based on the two-degree-of-freedom model of the vehicle r The corresponding estimated yaw rate γ p (s) and the rear wheel steering angle δ with delay determined based on the two-degree-of-freedom model of the vehicle r The corresponding estimated yaw rate is γ1(s).

[0135] Optionally, the implementation of S402 can refer to Figure 3 The relevant description of the implementation methods in S310 and S320 will not be repeated here.

[0136] S403: Determine a yaw rate deviation based on the actual yaw rate and the first predicted yaw rate.

[0137] Optionally, the implementation of S403 can refer to Figure 3 The relevant description of the implementation method in S320 will not be repeated here.

[0138] S404: Filter the yaw rate deviation.

[0139] Optionally, the implementation of S404 can refer to Figure 3 The relevant description of the implementation method in S320 will not be repeated here.

[0140] S405 : Determine a compensation signal based on the filtered yaw rate deviation and the predicted yaw rate.

[0141] Optionally, the implementation of S405 can refer to Figure 3 The relevant description of the implementation method in S320 will not be repeated here.

[0142] S406: Control the rear wheels of the vehicle to steer based on the compensation signal and the filtered target yaw rate.

[0143] Optionally, the implementation of S406 can refer to Figure 3 The relevant description of the implementation method in S330 will not be repeated here.

[0144] In the embodiment of the present application, firstly, the first predicted yaw rate γ can be determined based on the two-degree-of-freedom model of the vehicle. p (s); Subtract the first predicted yaw rate γ from the actual yaw rate γ p (s) to obtain the yaw rate deviation: This step can obtain the yaw rate deviation Δγ between the predicted yaw rate and the actual yaw rate; then the yaw rate deviation Δγ is compared with the rear wheel turning angle δ without delay. r The corresponding inferred yaw angular velocity is added to obtain the second predicted yaw angular velocity: Finally, the second predicted yaw rate γ2(s) is subtracted from the standard response REF(s) to obtain the compensation signal: γ0(s) = G f (s)δ f +G r (s)δ r -γ2(s); the compensation signal γ0(s) is input into the feedback compensator to compensate the rear wheel steering control system; due to the elimination of the rear wheel steering angle δ affected by the delay time r The corresponding yaw angular velocity can obtain a more accurate compensation signal, and the rear wheel steering is compensated by using the more accurate compensation signal, which can improve the response speed of the rear wheels when the vehicle turns.

[0145] In the above embodiment, when a steering command of the vehicle is detected, by obtaining the first yaw rate γ, the predicted yaw rate γ p (s) and the target yaw rate corresponding to the steering command can obtain the current steering demand, and determine the compensation signal γ0(s) of the feedback compensator in the rear-wheel steering control system based on the first yaw rate and the predicted yaw rate REF(s). Based on the compensation signal γ0(s) and the target yaw rate REF(s), the rear-wheel steering actuator of the vehicle is controlled to steer; since the first yaw rate γ1(s) and the predicted yaw rate γ p (s) are all yaw angular velocity with the delay time of the rear wheel steering actuator, based on the first yaw angular velocity γ1(s) and the predicted yaw angular velocity γ p (s) can determine the yaw rate deviation Δγ between the predicted yaw rate and the actual yaw rate, eliminate the delay time of the rear-wheel steering actuator, make the determined compensation signal γ0(s) more accurate, and improve the response speed when feedback control is performed based on the compensation signal γ0(s); since the steering response speed is improved, oscillation of the rear-wheel steering control system is avoided, and the stability of the rear-wheel steering control system is improved.

[0146] Combination of the above Figures 1 to 4 A vehicle steering control method provided by an embodiment of the present application is described in detail; Figure 5 and Figure 6 The device embodiments of the present application are described in detail. It should be understood that the device in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0147] Figure 5 It is a structural schematic diagram of a vehicle steering control device provided in an embodiment of the present application, wherein the vehicle includes a rear-wheel steering control system, wherein the device 500 includes an acquisition module 510 and a processing module 520.

[0148] The acquisition module is used to acquire the first yaw rate γ and the predicted yaw rate γ if a steering command of the vehicle is detected. p (s) is the target yaw rate REF(s) corresponding to the steering command; the first yaw rate γ is the actual yaw rate of the vehicle detected in the previous acquisition cycle; the predicted yaw rate γ p (s) is the predicted yaw angular velocity of the previous acquisition cycle;

[0149] A processing module is used for determining a yaw rate based on the first yaw rate γ and the predicted yaw rate γ p (s), and obtain the compensation signal γ0(s) of the feedback compensator in the rear-wheel steering control system; the rear wheels of the vehicle are controlled to steer based on the compensation signal γ0(s) and the target yaw angular velocity REF(s) through the rear-wheel steering control system.

[0150] Optionally, as an embodiment, the processing module 520 is further configured to:

[0151] Get the vehicle's two-degree-of-freedom model; get the predicted yaw rate γ p (s), including: based on the two-degree-of-freedom model of the whole vehicle, the predicted yaw rate γ is obtained p (s).

[0152] Optionally, as an embodiment, the processing module 520 is further configured to:

[0153] Get the current steering angle δ of the rear wheel r ; Based on the two-degree-of-freedom model of the vehicle, the predicted yaw rate γ is obtained p (s), including: based on the two-degree-of-freedom model of the vehicle and the current turning angle δ r , and the predicted yaw rate γ is obtained p (s).

[0154] Optionally, as an embodiment, the processing module 520 is specifically configured to:

[0155] For the predicted yaw rate γ p (s) is multiplied by the target operator to obtain the first predicted yaw rate γ1(s); where the target operator is the time lag operator e corresponding to the delay time of the rear wheel steering -Ls ; Based on the first predicted yaw rate γ1(s) and the first yaw rate γ, a yaw rate deviation Δγ is obtained; Based on the yaw rate deviation Δγ and the predicted yaw rate γp (s), and obtain the compensation signal γ0(s).

[0156] Optionally, as an embodiment, the processing module 520 is specifically configured to:

[0157] The yaw rate deviation Δγ and the predicted yaw rate γ p (s) is determined as the second predicted yaw rate γ2(s); and the compensation signal γ0(s) is obtained based on the difference between the target yaw rate REF(s) and the second predicted yaw rate γ2(s).

[0158] Optionally, as an embodiment, the processing module 520 is specifically configured to:

[0159] The signal corresponding to the yaw rate deviation Δγ is filtered to obtain a filtered yaw rate deviation signal; based on the filtered yaw rate deviation signal and the signal corresponding to the predicted yaw rate, a compensation signal γ0(s) is obtained; wherein the parameters of the filtering process are related to the driving state of the vehicle.

[0160] Optionally, as an embodiment, the processing module 520 is specifically configured to:

[0161] A target signal corresponding to a steering command outputted by a standard response in a rear-wheel steering control system is obtained; the target signal is filtered to obtain a filtered target signal; based on the filtered target signal, a target yaw angular velocity REF(s) is obtained; wherein the filtering parameters are related to the driving state of the vehicle.

[0162] Optionally, as an embodiment, the processing module 520 is specifically configured to:

[0163] Based on the compensation signal γ0(s) and the target yaw rate REF(s), a compensated yaw rate is obtained; and the rear wheels of the vehicle are controlled to steer based on the compensated yaw rate by the rear-wheel steering control system.

[0164] It should be noted that the above-mentioned vehicle steering control device 500 is embodied in the form of a functional unit. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0165] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application-specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0166] Therefore, the units of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0167] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0168] Exemplarily, vehicle 600 includes: a processor 610 , a memory 620 , and executable program code 630 .

[0169] Exemplarily, the vehicle 600 includes one or more processors 610, which can support the vehicle 600 to implement the vehicle generation method in the method embodiment. The processor 610 can be a general-purpose processor or a special-purpose processor. For example, the processor 610 can be a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit, a field programmable gate array (FPGA), or other programmable logic devices, such as discrete gates, transistor logic devices, or discrete hardware components.

[0170] Exemplarily, the processor 610 may be used to control the vehicle 600, execute software programs, and process data of the software programs. The vehicle 600 may also include a communication unit to implement input (reception) and output (transmission) of signals.

[0171] Exemplarily, the vehicle 600 may include one or more memories 620 on which executable program code 630 is stored. The executable program code 630 can be executed by the processor 610 to generate instructions, so that the processor 610 executes the generation method described in the above method embodiment according to the instructions.

[0172] Optionally, data may be stored in the memory 620. Optionally, the processor 610 may read data stored in the memory 620, which may be stored at the same storage address as the executable program code 630, or may be stored at a different storage address from the executable program code 630.

[0173] Exemplarily, the processor 610 and the memory 620 may be provided separately or integrated together, for example, integrated on a system on chip (System On Chip, SOC) of the terminal device.

[0174] Exemplarily, the memory 620 can be used to store relevant programs of the vehicle generation method provided in the embodiment of the present application, and the processor 620 can be used to call the executable program code 630 stored in the memory 620 when controlling the vehicle to execute the vehicle steering control method of the embodiment of the present application.

[0175] The present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle steering control method of any of the aforementioned embodiments.

[0176] Among them, computer-readable storage media may include but are not limited to any type of disk, including floppy disks, optical disks, digital versatile disks (Digital Video Disc, DVD), compact disc read-only memory (Compact Disc Read-Only Memory, CD-ROM), microdrives and magneto-optical disks, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable programmable read only memory (Electrically Erasable Programmable read only memory, EEPROM), dynamic random access memory (Dynamic Random Access Memory, DRAM), video random access memory (Video Random Access Memory, VRAM), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0177] The present application also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle steering control method in the above-mentioned embodiment.

[0178] In addition, the electronic device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the electronic device may include a connected processor and a memory; wherein the memory is used to store instructions, and when the electronic device is running, the processor may call and execute instructions so that the chip executes a vehicle steering control method in the above-mentioned embodiments.

[0179] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in the present application are all used to execute the corresponding vehicle steering control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding vehicle steering control method provided above, and will not be repeated here.

[0180] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0181] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0182] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling vehicle steering, characterized in that: The vehicle includes a rear wheel steering control system, and the method includes: If a steering command of the vehicle is detected, a first yaw angular velocity, a predicted yaw angular velocity and a target yaw angular velocity corresponding to the steering command are obtained; wherein the first yaw angular velocity is the actual yaw angular velocity of the vehicle detected in the previous acquisition cycle; and the predicted yaw angular velocity is the predicted yaw angular velocity of the previous acquisition cycle; obtaining a compensation signal of a feedback compensator in the rear wheel steering control system based on the first yaw rate and the predicted yaw rate; The rear wheels of the vehicle are controlled to steer based on the compensation signal and the target yaw rate by the rear-wheel steering control system.

2. The method according to claim 1, characterized in that Also includes: Obtaining a two-degree-of-freedom model of the vehicle; The obtaining of the predicted yaw angular velocity comprises: Based on the two-degree-of-freedom model of the whole vehicle, the predicted yaw angular velocity is obtained.

3. The method according to claim 2, characterized in that Also includes: Obtaining the current turning angle of the rear wheel; The step of obtaining the predicted yaw angular velocity based on the two-degree-of-freedom model of the whole vehicle includes: The predicted yaw rate is obtained based on the two-degree-of-freedom model of the whole vehicle and the current turning angle.

4. The method according to claim 1, characterized in that: The obtaining, based on the first yaw angular velocity and the predicted yaw angular velocity, a compensation signal of a feedback compensator in the rear-wheel steering control system comprises: The predicted yaw rate is multiplied by a target operator to obtain a first predicted yaw rate; wherein the target operator is a time lag operator corresponding to a delay time for the rear wheel to turn; obtaining a yaw rate deviation based on the first predicted yaw rate and the first yaw rate; The compensation signal is obtained based on the yaw rate deviation and the predicted yaw rate.

5. The method according to claim 4, characterized in that The obtaining the compensation signal based on the yaw rate deviation and the predicted yaw rate includes: Determine the sum of the yaw rate deviation and the predicted yaw rate as a second predicted yaw rate; The compensation signal is obtained based on a difference between the target yaw rate and the second predicted yaw rate.

6. The method according to claim 4, characterized in that The step of obtaining the compensation signal based on the yaw rate deviation and the predicted yaw rate comprises: filtering the signal corresponding to the yaw rate deviation to obtain a filtered yaw rate deviation signal; obtaining the compensation signal based on the filtered yaw rate deviation signal and a signal corresponding to the predicted yaw rate; The parameters of the filtering process are related to the driving state of the vehicle.

7. The method according to any one of claims 1 to 6, characterized in that The obtaining of a target yaw angular velocity corresponding to the steering command comprises: Acquire a target signal corresponding to the steering command outputted in a standard response in the rear-wheel steering control system; Performing filtering on the target signal to obtain a filtered target signal; Based on the filtered target signal, obtaining the target yaw angular velocity; The parameters of the filtering process are related to the driving state of the vehicle.

8. The method according to any one of claims 1 to 6, characterized in that The rear wheel steering control system controls the rear wheels of the vehicle to steer based on the compensation signal and the target yaw rate, including: Based on the compensation signal and the target yaw rate, obtaining a compensated yaw rate; The rear wheels of the vehicle are controlled to steer based on the compensated yaw rate by the rear-wheel steering control system.

9. A vehicle steering control device, characterized in that: The vehicle includes a rear wheel steering control system, the device comprising: an acquisition module, configured to acquire, if a steering command of the vehicle is detected, a first yaw angular velocity, a predicted yaw angular velocity, and a target yaw angular velocity corresponding to the steering command; wherein the first yaw angular velocity is an actual yaw angular velocity of the vehicle detected in a previous acquisition cycle; and the predicted yaw angular velocity is a predicted yaw angular velocity of the previous acquisition cycle; A processing module is used to obtain a compensation signal of a feedback compensator in the rear-wheel steering control system based on the first yaw angular velocity and the predicted yaw angular velocity; and control the rear wheels of the vehicle to steer based on the compensation signal and the target yaw angular velocity through the rear-wheel steering control system.

10. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 8.

Images