Vehicle control method, system, device and storage medium based on rear-wheel steering

Abstract

The present application discloses a vehicle control method, system, device and storage medium based on rear-wheel steering. The vehicle control method based on rear-wheel steering includes: obtaining dynamic parameters of the vehicle; calculating a yaw moment of the vehicle based on the dynamic parameters of the vehicle; determining whether the yaw moment of the vehicle is greater than a preset threshold; if the yaw moment of the vehicle is greater than the preset threshold, controlling the rear wheels of the vehicle to steer so that the front and rear wheels of the vehicle steer synchronously. The present application belongs to the field of vehicle control. When the yaw moment of the vehicle is greater than the preset threshold, the system controls the steering of the rear wheels, and the synchronous steering of the front and rear wheels enables the vehicle to smoothly achieve a lateral lane change and complete the driving path planning, thereby realizing the overall vehicle stability control to improve the dynamic stability of the vehicle and significantly improving the user's riding experience.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and particularly to a vehicle control method, system, device and storage medium based on rear-wheel steering. Background Art

[0002] With the development of automotive electrification, rear-wheel steering technology has been gradually applied to high-end models in the market. When at low speed, based on the front and rear wheel angle ratio control, a reverse target angle request is sent to the rear-wheel actuator, which can reduce the turning radius; in high-speed conditions, based on the vehicle yaw moment control, a same-direction target angle request is sent to the rear-wheel actuator, which can improve vehicle stability and bring a huge performance improvement to the vehicle dynamic control. Currently, for the models applying rear-wheel steering in the market, the main strategy is that when the autonomous driving assistance function is turned on, the rear-wheel steering will be inhibited.

[0003] The rear-wheel steering function can improve the flexibility and stability of the vehicle through angle control under different working conditions, and makes a great contribution to the vehicle dynamic control stability. The iterative update of the ADAS (Advanced Assisted Driving System) function can gradually liberate the driver's hands and eyes. However, for a vehicle equipped with both rear-wheel steering and ADAS functions, when the ADAS function is turned on, the rear-wheel steering will be inhibited, and the advantages of rear-wheel steering will be lost in this special working condition, resulting in a decrease in vehicle dynamic comfort. Summary of the Invention

[0004] The main purpose of the present application is to provide a vehicle control method, system, device and storage medium based on rear-wheel steering, aiming to solve the technical problem of low vehicle dynamic comfort.

[0005] To achieve the above purpose, the present application provides a vehicle control method based on rear-wheel steering. The vehicle control method based on rear-wheel steering includes:

[0006] Obtain the dynamic parameters of the vehicle;

[0007] Based on the dynamic parameters of the vehicle, calculate the yaw moment of the vehicle;

[0008] Judge whether the yaw moment of the vehicle is greater than a preset threshold;

[0009] If the yaw moment of the vehicle is greater than the preset threshold, control the rear-wheel steering of the vehicle so that the front and rear wheels of the vehicle steer synchronously.

[0010] Optionally, the step of obtaining the dynamic parameters of the vehicle includes:

[0011] Perform path planning for the vehicle;

[0012] Based on the path planning of the vehicle, dynamic parameters of the vehicle are obtained.

[0013] Optionally, the step of performing path planning on the vehicle includes:

[0014] Obtain environmental information;

[0015] Analyze the environmental information to obtain the path planning of the vehicle.

[0016] Optionally, the step of obtaining the dynamic parameters of the vehicle based on the path planning of the vehicle includes:

[0017] Obtain the first driving parameter of the vehicle;

[0018] Based on the path planning of the vehicle, obtain the predicted second driving parameter of the vehicle;

[0019] Based on the first driving parameter and the second driving parameter of the vehicle, calculate the dynamic parameters of the vehicle.

[0020] Optionally, the dynamic parameters of the vehicle include the steering, yaw angle and acceleration of the vehicle.

[0021] Optionally, before the step of sending a rear-wheel steering request if the yaw moment of the vehicle is greater than a preset threshold, the method includes:

[0022] Receive the rear-wheel control information of the vehicle;

[0023] Based on the rear-wheel control information of the vehicle, determine whether the rear-wheel steering of the vehicle is normal;

[0024] If it is not normal, lock the rear-wheel control of the vehicle.

[0025] Optionally, if the yaw moment of the vehicle is less than or equal to a preset threshold, control the front-wheel steering of the vehicle and lock the rear-wheel control of the vehicle.

[0026] The present application also provides a vehicle control system based on rear-wheel steering, and the vehicle control system based on rear-wheel steering includes:

[0027] An acquisition module, configured to acquire dynamic parameters of a vehicle;

[0028] A calculation module, configured to calculate the yaw moment of the vehicle based on the dynamic parameters of the vehicle;

[0029] A judgment module, configured to judge whether the yaw moment of the vehicle is greater than a preset threshold;

[0030] A steering module, configured to control the rear wheels of the vehicle to steer if the yaw moment of the vehicle is greater than a preset threshold, so that the front and rear wheels of the vehicle steer synchronously.

[0031] This application also provides a vehicle control device based on rear-wheel steering. The vehicle control device based on rear-wheel steering includes: a memory, a processor, and a program stored on the memory for implementing the vehicle control method based on rear-wheel steering.

[0032] The memory is used to store a program for implementing the vehicle control method based on rear-wheel steering.

[0033] The processor is configured to execute the program for implementing the vehicle control method based on rear-wheel steering to implement the steps of the vehicle control method based on rear-wheel steering.

[0034] This application also provides a storage medium, on which a program for implementing the vehicle control method based on rear-wheel steering is stored. The program for implementing the vehicle control method based on rear-wheel steering is executed by a processor to implement the steps of the vehicle control method based on rear-wheel steering.

[0035] A vehicle control method, system, device, and storage medium based on rear-wheel steering provided by this application. Compared with existing vehicles equipped with both rear-wheel steering and ADAS functions, when the ADAS function is turned on, the rear-wheel steering will be inhibited, and the advantages of rear-wheel steering will be lost in this special working condition, resulting in a decrease in the dynamic comfort of the vehicle. In this application, dynamic parameters of the vehicle are obtained; based on the dynamic parameters of the vehicle, the yaw moment of the vehicle is calculated; it is determined whether the yaw moment of the vehicle is greater than a preset threshold; if the yaw moment of the vehicle is greater than the preset threshold, the rear wheels of the vehicle are controlled to steer so that the front and rear wheels of the vehicle steer synchronously. That is, in this application, when the yaw moment of the vehicle is greater than the preset threshold, the system controls the steering of the rear wheels, and the front and rear wheels steer synchronously to enable the vehicle to smoothly achieve a lateral lane change and complete the driving path planning, thereby realizing the overall vehicle stability control to improve the dynamic stability of the vehicle and significantly improving the user's riding experience. Description of the Drawings

[0036] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application. To more clearly illustrate the embodiments of this application or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0037] Figure 1It is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment solution of this application;

[0038] Figure 2 It is a schematic flowchart of the first embodiment of the vehicle control method based on rear-wheel steering in this application;

[0039] Figure 3 It is an interaction schematic diagram of the ADAS system module in the vehicle control method based on rear-wheel steering in this application;

[0040] Figure 4 It is a control flowchart of the second embodiment of the vehicle control method based on rear-wheel steering in this application.

[0041] The realization, functional features, and advantages of the purpose of this application will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiments

[0042] It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0043] As Figure 1 shown, Figure 1 It is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiment solution of this application.

[0044] The terminal in the embodiment of this application can be a PC, or a mobile terminal device with a display function such as a smart phone, a tablet computer, an e-book reader, an MP3 (Moving Picture Experts Group Audio Layer III) player, an MP4 (Moving Picture Experts Group Audio Layer IV) player, a portable computer, etc.

[0045] As Figure 1As shown in the figure, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0046] Optionally, the terminal may further include a camera, an RF (Radio Frequency) circuit, sensors, an audio circuit, a WiFi module, and so on. Among them, the sensors include, for example, a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor. Among them, the ambient light sensor can adjust the brightness of the display screen according to the brightness of the ambient light, and the proximity sensor can turn off the display screen and / or the backlight when the mobile terminal is moved to the ear. As a kind of motion sensor, the gravity acceleration sensor can detect the magnitude of acceleration in all directions (generally three axes). When stationary, it can detect the magnitude and direction of gravity, and can be used for applications that identify the posture of the mobile terminal (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as a pedometer, tapping), etc.; of course, the mobile terminal can also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, etc., which will not be elaborated here.

[0047] Those skilled in the art can understand that Figure 1 the terminal structure shown in the figure does not constitute a limitation on the terminal, and it may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0048] Such as Figure 1 As shown in the figure, in the memory 1005, which is a computer storage medium, there may be an operating device, a network communication module, a user interface module, and a vehicle control program based on rear-wheel steering.

[0049] In Figure 1 the terminal shown in the figure, the network interface 1004 is mainly used to connect to the background server and communicate with the background server for data; the user interface 1003 is mainly used to connect to the client (user side) and communicate with the client for data; and the processor 1001 can be used to call the vehicle control program based on rear-wheel steering stored in the memory 1005.

[0050] Refer to Figure 2 , an embodiment of the present application provides a vehicle control method based on rear-wheel steering. The vehicle control method based on rear-wheel steering includes:

[0051] Step S100, obtaining the dynamic parameters of the vehicle;

[0052] Step S200, calculating the yaw moment of the vehicle based on the dynamic parameters of the vehicle;

[0053] Step S300, determining whether the yaw moment of the vehicle is greater than a preset threshold;

[0054] Step S400, if the yaw moment of the vehicle is greater than the preset threshold, controlling the rear wheels of the vehicle to steer so that the front and rear wheels of the vehicle steer synchronously.

[0055] In this embodiment, a specific application scenario may be:

[0056] In vehicles with L4-level high-order autonomous driving, rear-wheel steering and ADAS functions are both equipped. However, after the user enables the ADAS (Advanced Assisted Driving System) function, the rear-wheel steering will be inhibited. In this special working condition, the advantages of rear-wheel steering will be lost, resulting in a decrease in the dynamic comfort of the vehicle.

[0057] The specific steps are as follows:

[0058] Step S100, obtaining the dynamic parameters of the vehicle;

[0059] In this embodiment, it is applied to the Advanced Driving Assistance System (ADAS). The ADAS uses various sensors installed on the vehicle to sense the surrounding environment during the vehicle's driving. The ADAS identifies, detects, and tracks static and dynamic objects in the surrounding environment, and combines navigation map data for system operation and analysis, so as to pre-let the driver be aware of possible dangers and effectively improve the comfort and safety of vehicle driving. Among them, the sensors include millimeter-wave radar sensors, lidar sensors, and image acquisition sensors, etc. The sensors are used to detect light, heat, pressure, or other variables for monitoring the vehicle state, and are usually located on the front and rear bumpers, side mirrors, inside the steering column, or on the windshield of the vehicle. The early ADAS technology mainly focused on passive alarms. When the vehicle detected potential dangers, it would issue an alarm to remind the driver of abnormal vehicle or road conditions. For the current ADAS technology, active intervention is widely used.

[0060] In this embodiment, the dynamic parameters of the vehicle include data information such as the vehicle's driving speed, acceleration, steering, and yaw angle. The vehicle's Advanced Driver Assistance System (ADAS) obtains the dynamic parameters of the vehicle through sensors carried on the vehicle. Among them, each data information of the dynamic parameters is obtained through the corresponding sensor.

[0061] Step S200: Calculate the yaw moment of the vehicle based on the dynamic parameters of the vehicle.

[0062] In this embodiment, the dynamic parameters of the vehicle include the vehicle's steering, yaw angle, and acceleration. The yaw moment of the vehicle is determined according to the sideslip angle of the vehicle's center of mass and the yaw angular velocity. The ADAS determines the longitudinal forces of the tires on the left and right sides of the vehicle, that is, the sideslip angle of the vehicle's center of mass, based on the vehicle's steering and yaw angle data; based on the vehicle's yaw angle and the sideslip angle of the center of mass, the yaw moment of the vehicle is calculated.

[0063] Step S300: Determine whether the yaw moment of the vehicle is greater than a preset threshold.

[0064] In this embodiment, the preset threshold is the value of the yaw moment of the vehicle calibrated manually. The ADAS determines whether the yaw moment of the vehicle is greater than the preset threshold, and compares the calculated yaw moment of the vehicle with the calibrated yaw moment value of the vehicle to obtain the final result.

[0065] Step S400: If the yaw moment of the vehicle is greater than the preset threshold, control the rear wheels of the vehicle to turn so that the front and rear wheels of the vehicle turn synchronously.

[0066] In this embodiment, if the yaw moment of the vehicle is greater than the preset threshold, the ADAS determines that the vehicle cannot stably steer based on the lateral control of the front wheels. The ADAS sends requests for the steering angles of the front and rear wheels to the front wheel steering control module and the rear wheel steering module synchronously, so that the front and rear wheels of the vehicle turn synchronously, enabling the vehicle to smoothly achieve a lateral lane change, thereby realizing the overall vehicle stability control under the ADAS function, improving the dynamic stability of the vehicle, and significantly improving the riding experience under the ADAS function. Among them, the front wheel control module is an EPS controller, and the EPS controller can be used to control the lateral movement of the front wheels; the rear wheel control module is a rear wheel steering controller, and the rear wheel steering controller can be used to control the lateral movement of the rear wheels.

[0067] In the vehicle control method based on rear wheel steering provided in this embodiment, before the step S100 of receiving the dynamic parameters of the vehicle sent by the Advanced Driver Assistance System (ADAS), the method includes the following steps A100 - A200:

[0068] In this embodiment, steps A100 - A200 are applied to the Advanced Driver Assistance System (ADAS) of a vehicle. The ADAS of the vehicle includes a Navigation and Traffic Message Channel (TMC) system, an Intelligent Speed Adaptation (ISA) system (Intelligentspeed adaptation or intelligent speed advice), Vehicular communication systems, Adaptive Cruise Control (ACC), Lane Departure Warning System (LDWS), Lane Keep Assistance system, Collision Avoidance System or Pre - crash System, Night Vision System, Adaptive Light Control, Pedestrian Protection System, Automatic Parking system, Traffic Sign Recognition, Blind Spot Detection, Driver Drowsiness Detection, Hill Descent Control, and Electric Vehicle Warning Sounds system, etc. In this embodiment, the main applications of the ADAS are in the Lane Keep Assistance system and the Pre - crash System.

[0069] In this embodiment, the ADAS receives the start instruction of the ADAS sent by the user and, based on the start instruction of the ADAS, starts the ADAS. The vehicle is equipped with both ADAS and rear - wheel steering control functions. When the ADAS is turned on, the rear - wheel steering and the ADAS function work simultaneously, thereby improving the overall vehicle comfort under the ADAS function.

[0070] Step A100: Obtain the path planning of the vehicle.

[0071] In this embodiment, after the ADAS is turned on, the ADAS controller plans the driving path based on the environmental perception information, and then conducts motion control planning for the entire vehicle according to the planned target path. For example, according to the road information, the driving path set by the ADAS is to turn 110 degrees to the left, and the system controls the vehicle to move along the driving path.

[0072] Specifically, step A100 includes the following steps A110 - A120:

[0073] Step A110, obtain environmental information;

[0074] In this embodiment, the environmental information includes information such as the number of lanes, lane conditions, the positions of road obstacles, and the number of road vehicles.

[0075] The way to obtain environmental information is to collect environmental information through sensors. The sensors include radar sensors and cameras. ADAS collects environmental information through the set radar and cameras. The radar and cameras can be the radar and cameras built into the vehicle or the cameras external to the vehicle. The radar and cameras are connected to the processing unit and send the obtained environmental information to the processing unit for a series of subsequent processing. The processing unit sends the processed environmental information to the system. Specifically, the radar and cameras can be connected to the processing unit through wired or wireless means for corresponding data transmission, and the processing unit is connected to the terminal through wireless means. The processing unit can be the processor in the terminal or the processor in the Internet of Things central control device.

[0076] In this embodiment, the advanced driver assistance system ADAS receives the environmental information obtained by the sensors through the corresponding communication interface. Among them, the communication interface can adopt the current network communication methods, which can be the method with the communication protocol TLS (Transport Layer Security), or the UDP (User Datagram Protocol) method, or the TCP (Transmission Control Protocol) method, etc. No specific limitation is made here.

[0077] In this embodiment, the cameras of ADAS include rear - view cameras and front - view cameras. High - dynamic - range (HDR) cameras with 1 million pixels are deployed, and high - cost - performance high - speed Ethernet connection and video compression are achieved through unshielded twisted - pair cables. Other system requirements include appropriate physical - layer interfaces and power supplies. The cameras can analyze video content locally to detect objects and pedestrians. In addition, they support comprehensive local image processing and graphic overlay creation. They can measure the distance of objects and trigger braking intervention.

[0078] In this embodiment, the advanced driver assistance system (ADAS) uses a 77 GHz radar sensor. This radar sensor can measure the speed of the vehicle ahead and the distance between the two vehicles. At the same time, it can monitor the speed and distance of its own vehicle. The radar sensor emits laser pulses and can detect the light reflected from other objects. The distance to other objects can be calculated through the time delay of the signal.

[0079] For example, the environmental information obtained by the vehicle's ADAS through the camera and radar sensor is that the vehicle is driving on a lane with four lanes, the vehicle is in the first lane, there is no following vehicle behind, there are no other vehicles in the lane to the left front, the road obstacle is 30 cm away from the left tire of the car, and there is no obstacle in front.

[0080] Step A120, based on the ADAS, analyze the environmental information to obtain the path planning of the vehicle.

[0081] In this embodiment, the ADAS analyzes the environmental information, plans the driving path, and then performs motion control planning for the whole vehicle according to the planned target path. For example, the environmental information obtained by the vehicle is that the vehicle is driving on a lane with four lanes, the vehicle is in the first lane, there is no following vehicle behind, there are no other vehicles in the lane to the left front, the road obstacle is 30 cm away from the left tire of the car, and there is no obstacle in front. Then the planned driving path is to turn left by 110 degrees, and the system controls the vehicle to move along the driving path.

[0082] Step A200, based on the path planning of the vehicle, obtain the dynamic parameters of the vehicle.

[0083] In this embodiment, the ADAS plans the driving path and then performs motion control on the whole vehicle according to the planned target path. The ADAS obtains the steering, yaw angle, and acceleration of the vehicle, that is, the dynamic parameters of the vehicle, based on the motion control planning. For example, the driving path planned by the ADAS is to turn left by 110 degrees, and the obtained steering of the vehicle is to the left front, the yaw angle is 110 degrees, and the acceleration is -6 m / s 2 。

[0084] Specifically, the step A300 includes the following steps A210 - A230:

[0085] Step A210, obtain the first driving parameter of the vehicle;

[0086] In this embodiment, the first driving parameter of the vehicle is the driving parameter of the vehicle before path planning, that is, the motion parameter generated during vehicle driving.

[0087] Step A220, based on the path planning of the vehicle, obtain the predicted second driving parameter of the vehicle;

[0088] In this embodiment, the ADAS plans the driving path, and the path planning sets a limit value for the first driving parameter of the current vehicle, that is, the dynamic parameter of the vehicle is based on the first driving parameter of the current vehicle, and the value obtained by limiting the first driving parameter of the vehicle is finally used to obtain the predicted vehicle driving parameter.

[0089] Step A230: Calculate the dynamic parameter of the vehicle based on the first driving parameter and the second driving parameter of the vehicle.

[0090] In this embodiment, the ADAS analyzes and calculates the first driving parameter and the second driving parameter of the vehicle to obtain the steering, yaw angle and acceleration of the vehicle, that is, the final dynamic parameter of the vehicle.

[0091] In the vehicle control method based on rear-wheel steering provided in this embodiment, before step S400, that is, before the step of controlling the rear wheels of the vehicle to turn so that the front and rear wheels of the vehicle turn synchronously when the yaw moment of the vehicle is greater than a preset threshold, the method includes the following steps B100-B300:

[0092] Step B100: Receive the rear-wheel control information of the vehicle.

[0093] In this embodiment, the rear-wheel steering controller is communicatively connected to the ADAS, and the rear-wheel control information includes the control information of the rear-wheel control module.

[0094] Step B200: Determine whether the rear-wheel steering of the vehicle is normal based on the rear-wheel control information of the vehicle.

[0095] Step B300: If it is not normal, lock the rear-wheel control of the vehicle.

[0096] In this embodiment, the ADAS determines the rear-wheel steering state. If the rear-wheel steering is abnormal, the ADAS should lock the rear-wheel control of the vehicle; if there is no rear-wheel steering fault, the ADAS should simultaneously request the front and rear wheels for cornering based on the four-wheel steering control model, that is, control the front and rear wheels to turn, to prevent potential safety hazards caused by turning in the case of rear-wheel faults and improve the safety of system control.

[0097] This application also provides another embodiment. Refer to Figure 3 and Figure 4, the vehicle is equipped with ADAS and rear-wheel steering control functions. When the user activates the ADAS, the ADAS controller plans the driving path based on the environmental information collected by the radar and camera; according to the planned target path, the ADAS controller calculates the magnitude of the yaw moment of the vehicle based on the current steering, acceleration, and yaw rate information of the vehicle for front-wheel lateral control; if the yaw moment is greater than the preset threshold, it is considered that the vehicle cannot be stabilized based on front-wheel lateral control. At this time, the ADAS controller should judge the rear-wheel steering state. If there is no fault in the rear-wheel steering, the ADAS should request the steering angles of the front and rear wheels simultaneously based on the four-wheel steering control model; if the yaw moment is less than or equal to the preset threshold, the ADAS controller controls the front-wheel steering based on the front-wheel lateral control model. At this time, the rear-wheel steering remains at the 0 position, that is, the rear-wheel control of the vehicle is locked. When the path planning is relatively gentle, the ADAS controller performs lateral control of the vehicle through the front wheels to achieve autonomous driving; when there is a large-rate steering in the path planning, the ADAS controller can also call in the rear-wheel steering intervention and achieve autonomous driving based on the synchronous control of the front and rear wheel angles to improve the dynamic stability of the vehicle, significantly improving the riding experience in the autonomous driving function.

[0098] A vehicle control method, system, device, and storage medium based on rear-wheel steering provided by the present application. Compared with existing vehicles equipped with both rear-wheel steering and ADAS functions, when the ADAS function is turned on, the rear-wheel steering will be inhibited, and the advantages of rear-wheel steering will be lost in this special working condition, resulting in a decrease in the dynamic comfort of the vehicle. In the present application, the dynamic parameters of the vehicle are obtained; based on the dynamic parameters of the vehicle, the yaw moment of the vehicle is calculated; it is judged whether the yaw moment of the vehicle is greater than a preset threshold; if the yaw moment of the vehicle is greater than the preset threshold, the rear-wheel steering of the vehicle is controlled to enable the front and rear wheels of the vehicle to turn synchronously. That is, in the present application, when the yaw moment of the vehicle is greater than the preset threshold, the system controls the steering of the rear wheels, and the front and rear wheels turn synchronously to enable the vehicle to smoothly achieve a lateral lane change and complete the driving path planning, thereby realizing the overall vehicle stability control to improve the dynamic stability of the vehicle and significantly improving the riding experience of the user.

[0099] The present application also provides a vehicle control system based on rear-wheel steering. The vehicle control system based on rear-wheel steering includes:

[0100] An acquisition module for acquiring the dynamic parameters of the vehicle;

[0101] A calculation module for calculating the yaw moment of the vehicle based on the dynamic parameters of the vehicle;

[0102] A judgment module for judging whether the yaw moment of the vehicle is greater than a preset threshold;

[0103] A steering module, configured to control the rear wheels of the vehicle to steer if the yaw moment of the vehicle is greater than a preset threshold, so that the front and rear wheels of the vehicle steer synchronously.

[0104] The specific implementation manners of the vehicle control system based on rear-wheel steering in this application are basically the same as those of the various embodiments of the vehicle control method based on rear-wheel steering described above, and will not be elaborated herein.

[0105] This application also provides a vehicle control device based on rear-wheel steering. The vehicle control device based on rear-wheel steering includes: a memory, a processor, and a program stored on the memory for implementing the vehicle control method based on rear-wheel steering.

[0106] The memory is used to store a program for implementing the vehicle control method based on rear-wheel steering.

[0107] The processor is configured to execute the program for implementing the vehicle control method based on rear-wheel steering to implement the steps of the vehicle control method based on rear-wheel steering.

[0108] The specific implementation manners of the vehicle control device based on rear-wheel steering in this application are basically the same as those of the various embodiments of the vehicle control method based on rear-wheel steering described above, and will not be elaborated herein.

[0109] This application also provides a storage medium. A program for implementing the vehicle control method based on rear-wheel steering is stored on the storage medium. The program for implementing the vehicle control method based on rear-wheel steering is executed by a processor to implement the steps of the vehicle control method based on rear-wheel steering.

[0110] The specific implementation manners of the storage medium of this application are basically the same as those of the various embodiments of the vehicle control method based on rear-wheel steering described above, and will not be elaborated herein.

[0111] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0112] The serial numbers of the embodiments of this application above are only for description and do not represent the superiority or inferiority of the embodiments.

[0113] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0114] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A vehicle control method based on rear-wheel steering, characterized in that, the vehicle control method based on rear-wheel steering includes: Obtaining the dynamic parameters of the vehicle; Calculating the yaw moment of the vehicle based on the dynamic parameters of the vehicle; Receiving the rear-wheel control information of the vehicle; Judging whether the rear-wheel steering of the vehicle is normal based on the rear-wheel control information of the vehicle; If it is not normal, locking the rear-wheel control of the vehicle; Judging whether the yaw moment of the vehicle is greater than a preset threshold; If the yaw moment of the vehicle is greater than the preset threshold, controlling the rear-wheel steering of the vehicle so that the front and rear wheels of the vehicle steer synchronously.

2. The vehicle control method based on rear-wheel steering according to claim 1, characterized in that, the step of obtaining the dynamic parameters of the vehicle includes: Performing path planning on the vehicle; Based on the path planning of the vehicle, obtaining the dynamic parameters of the vehicle.

3. The vehicle control method based on rear-wheel steering according to claim 2, characterized in that, the step of performing path planning on the vehicle includes: Obtaining environmental information; Analyzing the environmental information to obtain the path planning of the vehicle.

4. The vehicle control method based on rear-wheel steering according to claim 2, characterized in that, the step of obtaining the dynamic parameters of the vehicle based on the path planning of the vehicle includes: Obtaining the first driving parameter of the vehicle; Based on the path planning of the vehicle, obtaining the predicted second driving parameter of the vehicle; Calculating the dynamic parameters of the vehicle based on the first driving parameter and the second driving parameter of the vehicle.

5. The vehicle control method based on rear-wheel steering according to claim 1, characterized in that, the dynamic parameters of the vehicle include the steering, yaw angle and acceleration of the vehicle.

6. The vehicle control method based on rear-wheel steering according to claim 1, characterized in that, if the yaw moment of the vehicle is less than or equal to the preset threshold, controlling the front-wheel steering of the vehicle and locking the rear-wheel control of the vehicle.

7. A vehicle control system based on rear-wheel steering, characterized in that, the vehicle control system based on rear-wheel steering includes: An acquisition module for acquiring the dynamic parameters of the vehicle; A calculation module for calculating the yaw moment of the vehicle based on the dynamic parameters of the vehicle; A receiving module for receiving the rear-wheel control information of the vehicle; A rear-wheel steering judgment module for judging whether the rear-wheel steering of the vehicle is normal based on the rear-wheel control information of the vehicle; A locking module for locking the rear-wheel control of the vehicle if it is not normal; A judgment module for judging whether the yaw moment of the vehicle is greater than a preset threshold; A steering module for controlling the rear-wheel steering of the vehicle if the yaw moment of the vehicle is greater than the preset threshold so that the front and rear wheels of the vehicle steer synchronously.

8. A vehicle control device based on rear-wheel steering, characterized in that, the vehicle control device based on rear-wheel steering includes: a memory, a processor, and a program stored on the memory for implementing the vehicle control method based on rear-wheel steering, The memory is used to store a program for implementing a vehicle control method based on rear-wheel steering; The processor is used to execute the program for implementing the vehicle control method based on rear-wheel steering, so as to implement the steps of the vehicle control method based on rear-wheel steering as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, the storage medium stores a program for implementing a vehicle control method based on rear-wheel steering, and the program for implementing the vehicle control method based on rear-wheel steering is executed by a processor to implement the steps of the vehicle control method based on rear-wheel steering as described in any one of claims 1 to 6.

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