Vehicles and their steering control methods and devices

Abstract

This invention provides a vehicle and its steering control method and apparatus, relating to the field of vehicle steering system technology. When detecting the steering intention represented by the steering control signal, this invention simultaneously collects real-time vehicle operating data and the operating status data of each steering system. It comprehensively calculates the total steering demand parameters of the vehicle in the corresponding driving scenario and the steering allocation parameters of each steering system based on its actual working capacity, enabling multiple steering systems to collaboratively execute steering actions according to their own true capabilities. When any steering system malfunctions, the system capable of performing steering can be quickly determined based on the real-time operating status, ensuring that there is always a steering system to perform the steering action, making steering continuous and uninterrupted, and maintaining stable and uninterrupted function. While ensuring vehicle steering smoothness and control precision, this invention also possesses reliable steering fault redundancy capabilities, effectively improving the reliability of vehicle steering control and driving safety.

Description

Technical Field

[0001] This invention relates to the field of vehicle steering system technology, and in particular to a vehicle and its steering control method and apparatus. Background Technology

[0002] Currently, the steering systems of intelligent driving vehicles mainly adopt a combination of steer-by-wire (SBW) and active rear-wheel steering (ARS). Each system performs its respective steering function, working together to support vehicle movement. Steer-by-wire technology eliminates the mechanical connection of traditional steering systems, achieving precise control of the front wheel steering through electronic signals. Active rear-wheel steering technology improves the vehicle's steering agility and stability through active rear-wheel steering. Specifically, at low speeds, the rear wheels turn in the opposite direction to the front wheels to reduce the turning radius; at high speeds, the rear wheels turn in the same direction as the front wheels to improve driving stability.

[0003] However, existing technologies typically employ a steering control mode where the SBW (Steering Wheel Braking) is dominant and the ARS (Autopilot Steering Response) is passively assisted. The SBW independently executes steering commands, while the ARS passively outputs auxiliary steering angle based solely on vehicle speed. When a fault is detected, it can only report a fault signal and perform emergency handling on the SBW. Although this mode can meet basic steering requirements under simple operating conditions, the rear wheel steering angle only passively responds to vehicle speed, and its auxiliary steering behavior and emergency mode exhibit reactive intervention characteristics. The two systems remain independent operating systems at the overall control and execution level, resulting in insufficient steering coordination under complex operating conditions and making it difficult to ensure the safety and stability of vehicle operation. Summary of the Invention

[0004] The purpose of this invention is to provide a vehicle and its steering control method and device, which can enable the steering system to have fault redundancy capability while ensuring the vehicle's steering smoothness and control accuracy, thereby enabling the vehicle to have higher driving safety and stability under complex driving conditions.

[0005] In a first aspect, the present invention provides a vehicle steering control method, which is applied to the main controller of a vehicle. The method includes: in response to detecting a steering control signal of the vehicle, acquiring real-time operating condition data of the vehicle and operating status data of each steering system in the vehicle; wherein each steering system in the vehicle includes a front-wheel steering system and a rear-wheel steering system; determining the total steering demand parameter corresponding to the steering control signal based on the real-time operating condition data; allocating steering execution parameters to the executable steering systems of each steering system in the vehicle in combination with the operating status data and the total steering demand parameter; and controlling the corresponding executable steering system of the vehicle to perform a corresponding steering action based on the steering execution parameters, so as to perform steering control on the vehicle.

[0006] In conjunction with the first aspect, the present invention also provides a first implementation of the first aspect, wherein the real-time operating condition data includes vehicle speed parameters, driving posture parameters, and road surface environment parameters for the vehicle's steering condition; the step of determining the total steering demand parameters corresponding to the steering control signal based on the real-time operating condition data includes: determining the initial steering angle parameters of the vehicle in the steering condition based on the steering control signal and the speed parameters; correcting the initial steering angle parameters based on the road surface environment parameters and the driving posture parameters to determine the total steering demand parameters corresponding to the steering control signal.

[0007] In conjunction with the first aspect, this embodiment of the invention also provides a second implementation of the first aspect, wherein the step of allocating steering execution parameters to the executable steering systems of each steering system in the vehicle by combining operating status data and total steering demand parameters includes: determining the steering participation state of the corresponding steering system under the steering demand parameters based on the operating status data; determining the executable steering systems included in each steering system of the vehicle based on the steering participation state; determining the steering allocation ratio corresponding to the total steering demand parameters based on the operating capability parameters of the executable steering systems; and determining the steering execution parameters corresponding to the executable steering systems based on the steering allocation ratio and the total steering demand parameters.

[0008] In conjunction with the first aspect, the present invention also provides a third implementation of the first aspect, wherein the method further includes: when the steering engagement status indication of the front wheel steering system is in a failed state, controlling the front wheel steering system to return to center, and triggering the vehicle to enter a degraded mode.

[0009] In conjunction with the first aspect, the present invention also provides a fourth implementation of the first aspect, wherein the step of triggering the vehicle to enter the downgrade mode includes: reducing the speed of the vehicle, and allocating corresponding steering execution parameters to the rear wheel steering system based on the total steering demand parameters.

[0010] In conjunction with the first aspect, the present invention also provides a fifth implementation of the first aspect, wherein the method further includes: if it is detected that the front wheel steering system has no change in steering angle within a preset time period, or the deviation between the actual steering angle of the front wheel steering system and the target steering angle exceeds a preset threshold, then the front wheel steering system is determined to be in a failure state; otherwise, the front wheel steering system is determined to be in a normal state.

[0011] In conjunction with the first aspect, this invention also provides a sixth implementation of the first aspect, wherein the steering execution parameters include a steering angle command, a steering torque command, and a steering rate command; the step of controlling the corresponding executable steering system of the vehicle to perform a corresponding steering action based on the steering execution parameters to perform steering control on the vehicle includes: issuing a steering angle command, a steering torque command, and a steering rate command to the executable steering system to drive the executable steering system to perform the steering action corresponding to the steering execution parameters; receiving real-time execution data feedback from the executable steering system during the execution of the steering action; and adjusting the steering action of the executable steering system according to the real-time execution data and the vehicle's current road feel data.

[0012] In conjunction with the first aspect, the present invention also provides a seventh implementation of the first aspect, wherein the main controller is configured with a front-wheel steering module, a rear-wheel steering module and a steer-by-wire intervention module; the front-wheel steering module is used to control the front-wheel steering system, the rear-wheel steering module is used to control the rear-wheel steering system, and the steer-by-wire intervention module is used to acquire road feel data of the vehicle during the steering process.

[0013] Secondly, embodiments of the present invention provide a vehicle steering control device, which is applied to the main controller of a vehicle. The device includes: a data acquisition module, used to acquire real-time operating condition data of the vehicle and operating status data of each steering system in the vehicle in response to the detection of a steering control signal of the vehicle; wherein each steering system in the vehicle includes a front wheel steering system and a rear wheel steering system; a data processing module, used to determine the total steering demand parameters corresponding to the steering control signal based on the real-time operating condition data; an execution module, used to allocate steering execution parameters to the executable steering systems of each steering system in the vehicle in combination with the operating status data and the total steering demand parameters; and a control module, used to control the corresponding executable steering systems of the vehicle to perform corresponding steering actions based on the steering execution parameters, so as to perform steering control on the vehicle.

[0014] Thirdly, embodiments of the present invention provide a vehicle whose controller is configured with the apparatus of the above embodiments for executing the methods of any of the above embodiments.

[0015] The embodiments of this invention bring the following beneficial effects: This invention provides a vehicle and its steering control method and device. When the steering intention represented by the steering control signal is detected, real-time vehicle operating condition data and the operating status data of each steering system are simultaneously collected. Based on the real-time driving scenario of the vehicle and the actual working capacity parameters of each steering system, the total steering demand parameters corresponding to the steering intention and the steering allocation parameters of each steering system are comprehensively calculated, enabling multiple steering systems to coordinately execute the current steering demand according to their own actual working capabilities. Therefore, when any steering system fails, the executable steering system for the current steering action can be quickly determined based on the real-time operating status data, ensuring that there is always an available steering system to undertake the corresponding steering action, maintaining the continuous and uninterrupted steering action and the stable and uninterrupted steering function. In summary, this invention, while ensuring the smoothness and precision of vehicle steering, also endows the steering system with reliable fault redundancy capabilities, fundamentally solving the technical problem that traditional steering system failures easily lead to steering failure and pose driving safety hazards, and significantly improving the reliability of vehicle steering control and driving safety.

[0016] Other features and advantages of the invention will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the techniques described above.

[0017] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 A flowchart of a vehicle steering control method provided in an embodiment of the present invention; Figure 2 A flowchart of another vehicle steering control method provided in an embodiment of the present invention; Figure 3 A system architecture diagram of a steering system provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a vehicle steering control device provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0022] To facilitate understanding, a vehicle steering control method provided by an embodiment of the present invention will first be described. In one implementation, the present invention is mainly applied to the steering control scenario of intelligent driving vehicles (including L2 and above level assisted driving and autonomous driving vehicles), and is used to solve the technical problems of independent control, insufficient coordination, and weak fault response capability of existing steer-by-wire (SBW) and active rear steering (ARS). The present invention achieves coordinated control of the front and rear wheel steering systems through the overall scheduling of the main controller, thereby improving the driving safety and stability of the vehicle under complex conditions (such as high-speed lane changes, low-speed turns, sudden changes in road surface adhesion coefficient, and single-sided steering system failures). (Refer to...) Figure 1 The method includes the following steps: Step S102: In response to the detection of the vehicle's steering control signal, real-time operating data of the vehicle and operating status data of each steering system in the vehicle are acquired.

[0023] Steering control signals are command signals that trigger the vehicle to perform steering actions. In manual driving scenarios, these include steering angle and steering torque signals generated by the driver's steering wheel operation, used to indicate the direction and magnitude of the vehicle's steering. In autonomous driving scenarios, these include steering command signals issued by the vehicle's autonomous driving decision-making module based on the driving path planning (such as lane changing, turning, and obstacle avoidance), used to instruct the vehicle to complete the steering action according to a preset trajectory. When the main controller detects the steering control signal, it can coordinate and control the various steering systems of the vehicle to complete the steering action based on the steering intention and steering requirements carried by the signal, ensuring that the vehicle's driving trajectory is consistent with the preset path indicated by the steering command.

[0024] To ensure the safety and adaptability of steering control, the main controller simultaneously acquires real-time vehicle operating condition data and operational status data of each steering system while receiving steering control signals. Real-time operating condition data consists of vehicle operating parameters closely related to steering control, collected in real-time during vehicle operation. These include vehicle speed, heading angle, lateral acceleration, longitudinal acceleration, road surface adhesion coefficient, vehicle load (e.g., number of occupants, luggage weight), and steering demand priority (e.g., emergency steering, regular steering). This data characterizes speed, attitude, and road environment parameters, allowing for the determination of the vehicle's current driving environment and operating status. Operational status data for each steering system comprises real-time operating parameters corresponding to each system, used to determine whether each system possesses the ability to perform steering actions normally. This includes the operating status (normal, fault, overload) of the actuators (steering motors) of each steering system, steering angle feedback values, steering torque feedback values, electronic control unit (ECU) operating status, and communication link connection status. "Fault" specifically encompasses abnormal conditions affecting normal system operation, such as motor jamming, sensor failure, and signal transmission interruption. In summary, the embodiments of the present invention, based on a comprehensive perception of the working environment and system capabilities, can ensure that the steering control strategy matches the real-time driving conditions of the vehicle and the actual execution capabilities of each steering system. This avoids technical problems such as steering instability, response lag, and insufficient steering accuracy caused by working condition adaptation deviations and misjudgments of system capabilities from the source, thus ensuring the reliability and safety of steering control.

[0025] Step S104: Based on real-time operating data, determine the total steering demand parameters corresponding to the steering control signal.

[0026] Total steering requirements parameters refer to the overall steering indicators used to achieve this steering action, calculated based on the steering intention of the steering control signal and combined with real-time operating data. These include, but are not limited to, the total steering angle (the overall steering angle required for the vehicle to complete this steering action), the total steering torque (the overall driving torque required to complete this steering action), and the steering response speed (the speed of steering execution determined according to operating parameters such as driving speed; for example, the steering response needs to be smooth at high speeds and sensitive at low speeds).

[0027] In one implementation, the system can combine steering torque and four-wheel steering dynamics calculation logic to integrate real-time operating data with steering intention data such as the steering direction and steering amplitude (e.g., the angle at which the driver turns the steering wheel, corresponding to the strength of the steering demand) specified in the steering control signal. This integration yields corresponding core steering parameters, which are used to ensure that the steering action meets the driver's desired steering effect. For example, when the vehicle is traveling at high speed (real-time operating data shows high speed and moderate road friction coefficient), and the driver gives a small lane-change steering signal (small steering angle), the main controller, considering high-speed driving characteristics and the steady-state steering requirements of four-wheel steering, calculates the total steering demand parameters as "small total steering angle, low total steering torque, and smooth steering response speed," and then allocates these parameters to the front and rear wheel steering systems. For example, the front wheels bear the main small-angle steering, while the rear wheels are assigned a small amount of auxiliary steering (in the same direction as the front wheels). At the same time, a lower steering torque is allocated, and the steering response of both front and rear wheels is smooth to avoid vehicle yaw instability and achieve smooth lane changes. When the vehicle is in a low-speed driving condition (such as parking in a parking lot), when the driver turns the steering wheel to give a large turning signal (large steering angle), the main controller combines the low-speed driving characteristics to calculate the total steering requirement parameters as "large total steering angle, high total steering torque, and sensitive steering response speed". When allocating parameters, the front wheels can bear the main large-angle steering, while the rear wheels are assigned a small amount of auxiliary steering in the opposite direction to increase the vehicle's yaw flexibility. At the same time, a higher steering torque is allocated to ensure sufficient steering power, adapting to parking scenarios to achieve the large turning effect required by the driver.

[0028] Step S106: Combining the operating status data and the total steering demand parameters, assign steering execution parameters to the executable steering systems of each steering system in the vehicle.

[0029] An executable steering system refers to a steering system that, based on the operational status data of each steering system, has the ability to perform steering actions normally (i.e., its operational status is "normal," without faults or overloads). In combination with the application scenario, executable steering systems include front wheel steering systems and / or rear wheel steering systems (if a steering system is in a faulty or overloaded state, it is not included in the scope of executable steering systems).

[0030] Steering execution parameters refer to the specific operating parameters allocated to each executable steering system based on the actual working capabilities of each steering system (such as the maximum torque and maximum steering angle of the steering motor), and the sum of these parameters matches the aforementioned total steering requirement parameters. In one implementation, these parameters include steering angle allocation values, steering torque allocation values, and steering execution sequence (the order of actions when multiple steering systems coordinate steering). For example, when the total steering requirement parameter is "large-angle steering," and both the front-wheel steering system and the rear-wheel steering system are executable steering systems, the main controller can, based on their steering characteristics, split the total steering angle into front-wheel steering angle and rear-wheel steering angle (e.g., the front wheels bear the main steering angle, and the rear wheels bear the auxiliary steering angle), and simultaneously allocate the corresponding steering torque to ensure coordinated action and achieve smooth and precise large-angle steering. If a steering system (such as the rear-wheel steering system) is in a faulty state, the main controller will allocate all total steering requirement parameters to the front-wheel steering system (executable steering system) to ensure that the steering action can be executed normally, improving the redundancy and reliability of the steering system. If the front wheel steering system is in a faulty state, the main controller will allocate all total steering demand parameters to the rear wheel steering system (the operable steering system). Based on the rated working capacity of the rear wheel steering system, the allocation ratio of steering execution parameters will be adjusted to ensure that the rear wheel steering system can independently undertake the steering task, avoid the inability to perform steering actions due to front wheel failure, and further ensure the safety and redundancy of steering control.

[0031] Step S108: Based on the steering execution parameters, control the corresponding executable steering system of the vehicle to perform the corresponding steering action in order to perform steering control on the vehicle.

[0032] Steering execution refers to the specific actions taken by an executable steering system, based on assigned steering execution parameters, through the coordinated work of its internal actuators (such as steering motors) and transmission mechanisms, to adjust the steering angle and torque, thereby achieving precise and smooth vehicle steering. For example, the front-wheel steering system drives the front wheels to rotate to a specified angle based on the assigned steering angle and torque; the rear-wheel steering system simultaneously completes auxiliary steering actions based on the assigned parameters, and the two work together to achieve overall vehicle steering. In one implementation, after completing the allocation of steering execution parameters, the main controller issues corresponding control commands to each executable steering system, explicitly including the assigned steering execution parameters (steering angle, steering torque, execution timing, etc.). Furthermore, the control modules of each executable steering system can control its internal actuators (such as steering motors) to operate according to the command requirements, driving the steering transmission mechanism to achieve the assigned parameter values ​​for the steering angle and torque. During the steering process, each steering system collects its own steering feedback data (such as actual steering angle and torque feedback value) in real time and feeds it back to the main controller. At this time, the main controller can make real-time fine adjustments to the steering execution parameters based on the feedback data to ensure the accuracy of the steering action and avoid steering deviation.

[0033] In summary, when the steering intention represented by the steering control signal is detected, the embodiments of the present invention simultaneously collect real-time vehicle operating condition data and operating status data of each steering system. Based on the real-time driving scenario of the vehicle and the actual working capacity parameters of each steering system, the total steering demand parameters corresponding to the steering intention and the steering allocation parameters of each steering system can be comprehensively calculated, enabling multiple steering systems to coordinately execute the current steering demand according to their own actual working capabilities. Therefore, when any steering system fails, the available steering system for the current steering action can be quickly determined based on the real-time operating status data, ensuring that there is always an available steering system to undertake the corresponding steering action, maintaining continuous and uninterrupted steering action and stable and uninterrupted steering function. In conclusion, the embodiments of the present invention, while ensuring vehicle steering smoothness and control precision, also endow the steering system with reliable fault redundancy capabilities, fundamentally solving the technical problem that traditional steering system failures easily lead to steering failure and pose driving safety hazards, and significantly improving the reliability of vehicle steering control and driving safety.

[0034] Furthermore, based on the above embodiments, this embodiment of the invention also provides another vehicle steering control method. This embodiment mainly describes the steps of allocating steering execution parameters (refer to steps S206-S212). Figure 2 The method includes the following steps: Step S202: In response to the detection of the vehicle's steering control signal, real-time operating data of the vehicle and operating status data of each steering system in the vehicle are acquired.

[0035] Step S204: Based on real-time operating data, determine the total steering demand parameters corresponding to the steering control signal.

[0036] In one implementation, a basic steering angle (i.e., initial steering angle parameter) required to satisfy the basic steering intention can be determined based on the steering control signal and driving speed parameters. This parameter ensures that the vehicle can achieve basic steering trajectory tracking under normal road conditions. Furthermore, based on road environment parameters (such as road adhesion coefficient, road slope, and dry / wet conditions) and driving posture parameters (such as vehicle yaw rate, roll angle, and lateral acceleration), the initial steering angle parameter is dynamically corrected. By adjusting the steering angle magnitude, steering rate, and steering response gain, the total steering requirement parameters can be adapted to real-time road conditions and vehicle posture, avoiding oversteering, understeering, or vehicle instability caused by insufficient road adhesion or excessive vehicle posture.

[0037] Step S206: Based on the operating status data, determine the steering engagement status of the corresponding steering system under the steering requirement parameters.

[0038] In one implementation, the operational status data may include the operating status of the electronic control unit of the steering system, the operating status of the actuator (such as the motor), and the signal transmission status; the steering requirement parameters are the various indicators corresponding to the total steering requirements (such as steering radius, response speed requirements, etc.). Based on the above operational status data, this embodiment of the invention comprehensively determines whether each steering system has the capability to participate in the current steering task. For example, by determining whether each steering system has a fault (such as motor jamming or sensor failure) or whether its corresponding operational capabilities match the current steering requirements (such as whether the steering angle range or torque output capability meets the total steering requirements), the participation capability of each steering system is ultimately determined, i.e., the corresponding steering participation status.

[0039] Step S208: Based on the steering engagement state, determine the executable steering systems included in each steering system of the vehicle.

[0040] Based on the above determination of steering availability, steering systems with normal operating capabilities and sufficient performance to meet the steering requirements can be selected as executable steering systems. This not only eliminates systems with malfunctions (such as motor jamming or sensor failure) or insufficient operational capabilities (such as inability to meet maximum steering angle or torque output requirements), but also ensures that all systems involved in steering execution possess reliable operational capabilities, mitigating risks such as steering failure and trajectory deviation caused by invalid system involvement. When the vehicle encounters unexpected situations (such as sudden road slipperiness, sudden obstacles, or emergency avoidance), the pre-selected executable steering systems with normal operating capabilities can quickly respond to the corresponding steering requirements without the need for temporary system availability assessment. This effectively shortens steering response time, avoids delayed emergency response due to system malfunctions or insufficient capabilities, and reduces the risk of vehicle instability in sudden situations.

[0041] Step S210: Based on the operating capability parameters of the executable steering system, determine the steering allocation ratio corresponding to the total steering demand parameters.

[0042] Step S212: Based on the steering allocation ratio and total steering demand parameters, determine the steering execution parameters corresponding to the executable steering system.

[0043] The operational capability parameters of each executable steering system (including maximum steering angle, upper limit of torque output, response speed, dynamic adjustment range, etc.) can indicate the actual capability differences of the steering systems involved in the steering action. Based on this, the total steering demand can be scientifically broken down, and the proportion of steering tasks that each executable steering system needs to undertake (i.e., steering allocation ratio) can be clearly defined to ensure that the allocated workload matches the operational capability of each system and avoid situations where a certain system is overloaded or its capacity is wasted.

[0044] In one implementation, an example of a high-speed lane-changing and steering scenario for an intelligent driving vehicle is given: Assuming the vehicle's current total steering requirements are a target steering angle of 10° and a steering response time of 0.3s, the selectable steering systems are steerable front-wheel steering (SBW) and active rear-wheel steering (ARS). The SBW system has a maximum steering angle of 15°, a steering response time of 0.2s, and a maximum torque output of 50 N·m, while the ARS system has a maximum steering angle of 5°, a steering response time of 0.25s, and a maximum torque output of 30 N·m. Based on the difference in their capabilities, the steering allocation ratio can be determined as 70% for the SBW system and 30% for the ARS system. Specifically, the SBW system is allocated a target steering angle of 7°, and the ARS system is allocated a target steering angle of 3°. The steering response timings of the two systems can be synchronized to fully utilize the advantages of the SBW system's large steering angle and fast response, while also rationally leveraging the auxiliary steering function of the ARS system, thus avoiding overloading the SBW system and wasting the ARS system's capabilities.

[0045] In another implementation, an example is given for a low-speed parking and steering scenario of an intelligent driving vehicle: When the total steering requirement parameters are a target steering angle of 18° and a steering response time of 0.5s, the selected executable steering systems are still the SBW system and the ARS system. The SBW system has a maximum steering angle of 20°, a steering response time of 0.3s, and a maximum torque output of 45N·m, while the ARS system has a maximum steering angle of 8°, a steering response time of 0.4s, and a maximum torque output of 25N·m. Considering that low-speed parking requires reducing the turning radius, the auxiliary role of the ARS system in reverse steering needs to be fully utilized. Based on the difference in capabilities between the two, the steering allocation ratio can be determined as 60% for the SBW system and 40% for the ARS system. That is, the SBW system is allocated a target steering angle of 10.8°, and the ARS system is allocated a target steering angle of 7.2°. Furthermore, the ARS system is controlled to start steering 0.1s before the SBW system to further reduce the turning radius and adapt to the parking scenario requirements.

[0046] Furthermore, let's illustrate this with an example of an emergency obstacle avoidance steering scenario for intelligent driving vehicles: If the total steering requirements are a target steering angle of 12° and a steering response time of 0.2s (requiring rapid response), the selectable steering systems are the SBW system and the ARS system. The SBW system has a maximum steering angle of 15°, a steering response speed of 0.15s, and a maximum torque output of 55 N·m, while the ARS system has a maximum steering angle of 5°, a steering response speed of 0.2s, and a maximum torque output of 35 N·m. Since emergency obstacle avoidance prioritizes steering response speed and stability, based on the differences in their response speeds and torque output capabilities, the steering allocation ratio can be determined as 80% for the SBW system and 20% for the ARS system. That is, the SBW system allocates a target steering angle of 9.6°, and the ARS system allocates a target steering angle of 2.4°. Both systems can be controlled to initiate steering simultaneously. The SBW system's rapid response advantage ensures timely obstacle avoidance, while the ARS system's assisted steering suppresses vehicle roll and improves driving stability during obstacle avoidance.

[0047] Step S214: Based on the steering execution parameters, control the corresponding executable steering system of the vehicle to perform the corresponding steering action in order to perform steering control on the vehicle.

[0048] Based on different steering scenarios, the aforementioned steering execution parameters can be refined into steering angle commands, torque commands, and rate commands. The steering angle command specifies the exact steering range (e.g., moderate steering range at high speeds, increased steering range for low-speed parking); the torque command specifies the power output standard during steering (e.g., increased torque output on slippery surfaces to ensure smooth steering); and the rate command specifies the speed of steering response (e.g., faster response speed for emergency obstacle avoidance, maintaining a smooth response during normal driving). For actual driving scenarios in intelligent driving (e.g., high-speed cruising, low-speed parking, emergency avoidance, etc.), these commands can be issued to the executable steering system to drive the system to initiate steering actions. For example, in high-speed cruising scenarios, the focus is on controlling steering smoothness to avoid vehicle deviation due to oversteering; in low-speed parking scenarios, the focus is on ensuring the accuracy of the steering angle to adapt to the steering needs in confined spaces; and in emergency obstacle avoidance scenarios, the focus is on improving steering response speed to ensure timely obstacle avoidance.

[0049] During the steering maneuver, operational data from the steering system (such as actual steering angle, torque output, and response time) can be collected simultaneously. This data, combined with current vehicle driving conditions (road adhesion coefficient, vehicle speed, road gradient, environmental conditions), and road feel data from the corresponding hand-feel simulator, comprehensively perceives the steering execution status and the vehicle's actual driving conditions. This allows for rapid identification of issues such as angle deviations, abnormal torque, or response lags during steering, enabling dynamic adjustments to the steering action for different conditions. For example, when slippery road surfaces cause changes in steering resistance, the steering torque output can be corrected in real time to ensure smooth and controllable steering. When the vehicle faces sharp turns or sudden obstacle avoidance scenarios, the steering angle and steering rate can be adaptively optimized to improve the timeliness and accuracy of steering response. Through this closed-loop adjustment, steering execution can always align with overall steering requirements, achieving precise control of vehicle steering and comprehensively improving the safety, stability, and smoothness of the steering system in different driving scenarios.

[0050] Furthermore, in applications of intelligent driving and electronic steering, the front wheel steering system is usually the core execution component for vehicle steering. Its working state directly determines the safety and reliability of steering control. This embodiment of the invention identifies its failure state to determine whether the front wheel steering system can participate in steering during the current steering action, so as to avoid the failure of the steering system leading to loss of steering control.

[0051] In one implementation, if it is detected that the front wheel steering system does not change its steering angle within a preset time period (corresponding to a direct jamming failure mode), or if the deviation between the actual steering angle and the target steering angle of the front wheel steering system exceeds a preset threshold (corresponding to a false steering failure mode), then the front wheel steering system is determined to be in a failure state; otherwise, the front wheel steering system is determined to be in a normal state. Specifically, 1- For mechanical or electronic control failure scenarios of the front wheel steering system: When the vehicle is in motion, if the front wheel steering system experiences problems such as motor jamming, steering tie rod jamming, or sensor failure (such as angle sensor or torque sensor failure), the front wheels will not be able to respond to steering commands normally, resulting in the phenomenon of "no change in steering angle within a preset time period". For example, when the vehicle is traveling at high speed, after the driver (or intelligent driving system) issues a steering command, the front wheel steering motor cannot rotate due to a malfunction, and the front wheel angle remains unchanged. If this state continues for more than a preset time period (such as 500ms, which can be dynamically adjusted according to the vehicle speed), then the front wheel steering system is determined to be in a failure state to avoid vehicle trajectory deviation and loss of control due to system unresponsiveness. 2. For scenarios where the front wheel steering system's deviation exceeds the safe range: During normal steering, the actual steering angle of the front wheel steering system must remain consistent with the target steering angle (determined by the overall steering requirement parameters), and the deviation must be controlled within a preset threshold (e.g., ±0.5°, set according to the vehicle's steering accuracy requirements). If there are issues such as wear on the steering transmission mechanism, delays in the electronic control signal, or sudden changes in road resistance, the deviation between the actual steering angle and the target steering angle may exceed the preset threshold. For example, in a sharp turn scenario, the target steering angle is 30°, but due to wear on the steering tie rod, the actual front wheel steering angle is only 28°, a deviation of 2°, exceeding the preset threshold. In this case, the front wheel steering system is considered to be in a failed state to prevent safety hazards such as understeering leading to the vehicle running off the curve or deviating from its trajectory. Conversely, if the front wheel steering system exhibits normal steering angle changes within a preset time period, and the deviation between the actual steering angle and the target steering angle is controlled within the preset threshold, it is considered to be in a normal state and can participate in steering tasks normally.

[0052] Furthermore, when the steering engagement status indication of the front wheel steering system is in a failed state, this embodiment of the invention also controls the front wheel steering system to return to center and triggers the vehicle to enter a degraded mode.

[0053] In various application scenarios such as intelligent driving, high-speed driving, and urban road driving, front wheel steering system failure is a high-risk condition. If not handled promptly, it can easily lead to vehicle loss of control, collisions, and other safety accidents. This invention also designs a degradation mode for this condition to ensure smooth driving under such failure conditions. When the front wheel steering system is determined to be in a failed state, the system is first controlled to perform a return-to-center operation to restore the front wheels to a straight-line driving posture. For example, if the front wheel steering system suddenly fails while the vehicle is traveling at high speed, and the front wheels are in a steering posture, it will cause the vehicle to continuously drift. Quickly returning the front wheels to center can prevent the vehicle from skidding or fishtailing. If the front wheel steering system is in a direct stuck failure mode, an emergency return operation can be attempted first. For example, the front wheel steering module can output reverse driving force (if the motor is not completely stuck) to try to restore the front wheels to a straight driving posture. If the stuck system cannot be returned to center, an emergency braking warning can be triggered immediately to appropriately reduce the vehicle speed (below 40 km / h at high speeds and below 20 km / h in urban areas) to reduce the risk of loss of control due to vehicle inertia in the stuck state.

[0054] The aforementioned degraded mode is used to indicate the degraded function of the corresponding system under the current steering condition, ensuring that the vehicle still has basic steering capabilities and avoiding complete loss of vehicle control. For example, when an intelligent driving vehicle is driving on urban roads, if the front wheel steering system fails due to sensor malfunction, triggering the degraded mode, the vehicle will exit the advanced intelligent driving mode and switch to the basic steering control mode. The driver (or the system) will then use the rear wheel steering system to steer, ensuring that the vehicle can avoid obstacles and pull over normally. In one implementation, the vehicle can be decelerated when entering the degraded mode. For example, when driving at high speed (≥80km / h), if the vehicle continues to travel at high speed after the front wheels fail, the vehicle has high inertia and low steering tolerance. In this case, deceleration (such as reducing the speed to below 40km / h) can reduce the risk of loss of vehicle control and provide a more stable operating condition for the rear wheel steering system to undertake the steering task. When driving on urban roads, deceleration can prevent collisions with surrounding vehicles and pedestrians due to steering response delays, improving driving safety in failure scenarios.

[0055] Furthermore, when any failure mode of the front wheel steering system (such as the aforementioned direct jamming failure mode or the false steering prediction failure mode) is triggered, the vehicle enters a degraded mode, and the rear wheel steering system becomes the core component for steering execution. This embodiment of the invention can immediately switch the steering execution task entirely to the rear wheel steering system. The main controller allocates corresponding steering execution parameters to the rear wheel steering system based on the total steering demand parameters (such as steering angle, steering torque, and steering rate), allowing the rear wheel steering system to independently undertake the steering task. For example, if the front wheels cannot achieve the expected steering action at high speeds, the rear wheel steering system can be controlled to respond quickly, adjusting the steering angle to ensure smooth lane changes and parking. When the vehicle needs to urgently avoid obstacles, the total steering demand is rapid steering to avoid them; the system can allocate a larger steering angle command and a faster steering rate command to the rear wheel steering system to ensure rapid rear wheel response and achieve vehicle trajectory adjustment. When the vehicle needs to travel straight, a smaller steering torque command can be allocated to ensure the rear wheels maintain a straight posture, combined with speed reduction, to achieve smooth vehicle driving. Ultimately, redundant continuation of the steering function is achieved, ensuring the driver has sufficient time to handle malfunctions or pull over.

[0056] Furthermore, the main controller, as the core brain of the steer-by-wire system, has a modular configuration adaptable to the full-scenario requirements of intelligent driving and electronic steering. This invention also designs the control architecture of the steering system, integrating the control functions of each steering system into the main controller. Through a clearly defined modular design, it achieves coordinated operation of steering control, failure handling, and data acquisition, ensuring the reliability and accuracy of the steering system. In one embodiment, referring to… Figure 3The system architecture diagram shown illustrates that the main controller is configured with modules including a front-wheel steering module (SBW-RWA) and a rear-wheel steering module (ARS). The front-wheel steering module controls the front-wheel steering system, while the rear-wheel steering module controls the rear-wheel steering system. Specifically, the front-wheel steering module is responsible for steering control of the front-wheel steering system, such as in normal driving, sharp turns, and high-speed lane changes. When the intelligent driving vehicle is cruising at high speed, it can receive steering commands from the main controller via the front-wheel steering module to control the front-wheel steering motors and achieve precise lane changes. When the driver is manually driving, this module can receive steering wheel angle signals, convert them into front-wheel steering angle commands, and drive the front wheels to complete the steering action, ensuring consistency between steering feel and steering precision. The rear-wheel steering module is responsible for steering control of the rear-wheel steering system, combining the functions of conventional auxiliary steering and failover steering. In normal scenarios, the rear-wheel steering module can work in conjunction with the front-wheel steering system to achieve precise vehicle steering (e.g., when parking at low speeds, the rear wheels steer in the opposite direction to reduce the turning radius; when driving at high speeds, the rear wheels steer in the same direction to improve steering stability). When the front-wheel steering system fails and the vehicle enters degraded mode, this module can become the core of steering execution, receiving steering execution parameters assigned by the main controller, independently undertaking the steering task, achieving redundancy protection for steering function, and preventing loss of vehicle control.

[0057] Furthermore, the main controller is also equipped with a steer-by-wire intervention module (SBW-HWA), which can be used to collect road feel data during vehicle steering. In one embodiment, this steer-by-wire intervention module can simultaneously collect road feel data (such as steering resistance and road bump feedback) fed back by the aforementioned hand-operated road feel simulator, and combine it with actual vehicle driving data (such as road adhesion coefficient, driving speed, and road gradient) to comprehensively perceive the steering execution status and vehicle driving conditions. For example, when the vehicle is driving on a slippery road surface, the steer-by-wire intervention module collects data on increased steering resistance fed back by the hand-operated road feel simulator and simultaneously feeds it back to the main controller, so that the main controller can adjust the steering torque command in time to avoid steering slippage; in the process of front wheel steering system failure determination, the front wheel steering angle data collected by this module can also be used as the basis for deviation determination and duration determination to ensure the accuracy of failure determination.

[0058] Furthermore, based on the above embodiments, this invention also provides a vehicle steering control device, referring to... Figure 4This device is applied to the main controller of a vehicle and includes: a data acquisition module 10, used to acquire real-time operating condition data of the vehicle and operating status data of each steering system in the vehicle in response to the detected steering control signal; wherein, each steering system in the vehicle includes a front-wheel steering system and a rear-wheel steering system; a data processing module 20, used to determine the total steering demand parameters corresponding to the steering control signal based on the real-time operating condition data; an execution module 30, used to allocate steering execution parameters to the executable steering systems of each steering system in the vehicle by combining the operating status data and the total steering demand parameters; and a control module 40, used to control the corresponding executable steering systems of the vehicle to perform corresponding steering actions based on the steering execution parameters, so as to perform steering control on the vehicle. The vehicle steering control device provided in this embodiment of the invention has the same implementation principle and technical effects as the aforementioned method embodiment. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned method embodiment. Furthermore, this embodiment of the invention also provides a vehicle whose main controller is configured with the device of the above embodiment for executing the method of any of the above embodiments. The vehicle provided in this embodiment of the invention has the same implementation principle and technical effects as the aforementioned method embodiment. For the sake of brevity, any parts not mentioned in the vehicle embodiment can be referred to the corresponding content in the aforementioned method embodiment.

[0059] This invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-described... Figures 1 to 2 The steps of any of the methods shown. Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the above-described steps. Figures 1 to 2 The steps of any of the methods shown. Embodiments of the present invention also provide a structural schematic diagram of an electronic device, such as... Figure 5 The diagram shows the structure of the electronic device, which includes a processor 101 and a memory 100. The memory 100 stores computer-executable instructions that can be executed by the processor 101. The processor 101 executes the computer-executable instructions to implement the above-mentioned... Figures 1 to 2 Any of the methods shown.

[0060] exist Figure 5In the illustrated embodiment, the electronic device further includes a bus 102 and a communication interface 103, wherein the processor 101, the communication interface 103, and the memory 100 are connected via the bus 102. The memory 100 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk drive. Communication between this system network element and at least one other network element is achieved through at least one communication interface 103 (which can be wired or wireless), using the Internet, wide area network, local area network, metropolitan area network, etc. Bus 102 can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, or an AMBA (Advanced Microcontroller Bus Architecture) bus. AMBA defines three types of buses: APB (Advanced Peripheral Bus), AHB (Advanced High-performance Bus), and AXI (Advanced eXtensible Interface). Bus 102 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5The diagram uses only a single double-headed arrow, but this does not imply a single bus or a single type of bus. Processor 101 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 101 or by instructions in software form. Processor 101 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor 101 reads information from the memory and, in conjunction with its hardware, completes the aforementioned tasks. Figures 1 to 2 Any of the methods shown.

[0061] The computer program product of a vehicle and its steering control method and device provided in this embodiment of the invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system described above can be referred to the corresponding process in the preceding method embodiments, which will not be repeated here. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0062] In the description of this invention, it should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Finally, it should be noted that the above embodiments are merely specific implementations of this invention, used to illustrate the technical solutions of this invention, and not to limit it. The scope of protection of this invention is not limited thereto. Although this invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in this invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this invention, and should all be covered within the scope of protection of this invention. Therefore, the scope of protection of this invention should be determined by the scope of the claims.

Claims

1. A vehicle steering control method, characterized in that, The method is applied to the main controller of a vehicle, and the method includes: In response to the detected steering control signal of the vehicle, real-time operating condition data of the vehicle and operating status data of each steering system in the vehicle are acquired; wherein, each steering system in the vehicle includes a front wheel steering system and a rear wheel steering system; Based on the real-time operating data, the total steering demand parameters corresponding to the steering control signal are determined; Based on the operating status data and the total steering demand parameters, steering execution parameters are assigned to the executable steering systems of each steering system in the vehicle; Based on the steering execution parameters, the corresponding executable steering system of the vehicle is controlled to perform the corresponding steering action in order to perform steering control on the vehicle.

2. The method according to claim 1, characterized in that, The real-time operating data includes the vehicle's driving speed parameters, driving posture parameters, and road environment parameters for the vehicle's steering conditions. The step of determining the total steering demand parameters corresponding to the steering control signal based on the real-time operating data includes: Based on the steering control signal and the driving speed parameters, the initial steering angle parameters of the vehicle under the steering condition are determined; Based on the road environment parameters and the driving posture parameters, the initial steering angle parameters are corrected to determine the total steering demand parameters corresponding to the steering control signal.

3. The method according to claim 1, characterized in that, The step of allocating steering execution parameters to the executable steering systems of each steering system in the vehicle, based on the operating status data and the total steering demand parameters, includes: Based on the operational status data, determine the steering engagement state of the corresponding steering system under the steering requirement parameters; Based on the steering engagement state, determine the executable steering systems included in each steering system of the vehicle; Based on the operational capability parameters of the executable steering system, determine the steering allocation ratio corresponding to the total steering demand parameters; Based on the steering allocation ratio and the total steering demand parameter, the steering execution parameters corresponding to the executable steering system are determined.

4. The method according to claim 3, characterized in that, The method further includes: When the steering engagement status indicator of the front wheel steering system is in a failed state, the front wheel steering system is controlled to return to center, and the vehicle is triggered to enter a degraded mode.

5. The method according to claim 4, characterized in that, The steps to trigger the vehicle to enter downgrade mode include: The vehicle is decelerated, and corresponding steering execution parameters are assigned to the rear wheel steering system based on the total steering demand parameters.

6. The method according to claim 4, characterized in that, The method further includes: If the front wheel steering system is found to have no change in steering angle within a preset time period, or if the deviation between the actual steering angle and the target steering angle of the front wheel steering system exceeds a preset threshold, the front wheel steering system is determined to be in a failed state; otherwise, the front wheel steering system is determined to be in a normal state.

7. The method according to claim 1, characterized in that, The steering execution parameters include steering angle command, steering torque command, and steering rate command; The step of controlling the corresponding executable steering system of the vehicle to perform a corresponding steering action based on the steering execution parameters, in order to perform steering control on the vehicle, includes: The steering angle command, steering torque command, and steering rate command are sent to the executable steering system to drive the executable steering system to perform the steering action corresponding to the steering execution parameters; Receive real-time execution data from the executable steering system as it performs the steering action; The steering action of the executable steering system is adjusted based on the real-time execution data and the vehicle's current road feel data.

8. The method according to claim 1, characterized in that, The main controller is equipped with a front wheel steering module, a rear wheel steering module, and a steer-by-wire intervention module; The steer-by-wire front wheel steering module is used to control the front wheel steering system, and the rear wheel steering module is used to control the rear wheel steering system. The drive-by-wire intervention module is used to acquire road feel data of the vehicle during the steering process.

9. A vehicle steering control device, characterized in that, The device is used in the main controller of a vehicle, and the device includes: The data acquisition module is used to acquire real-time operating condition data of the vehicle and operating status data of each steering system in the vehicle in response to the detected steering control signal of the vehicle; wherein, each steering system in the vehicle includes a front wheel steering system and a rear wheel steering system. The data processing module is used to determine the total steering demand parameters corresponding to the steering control signal based on the real-time operating data. The execution module is used to combine the operating status data and the total steering demand parameters to allocate steering execution parameters to the executable steering systems of each steering system in the vehicle; The control module is used to control the corresponding executable steering system of the vehicle to perform corresponding steering actions based on the steering execution parameters, so as to perform steering control on the vehicle.

10. A vehicle, characterized in that, The vehicle's main controller is equipped with the device of claim 9, for performing the method of any one of claims 1-8.

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