Emergency steering control method, device and computer equipment

Abstract

This application relates to an emergency steering control method, device, and computer equipment. The method includes: monitoring the operating status of the vehicle's steering control system and the vehicle's driving speed in real time while the vehicle is in motion; receiving real-time road surface information from the autonomous driving system while the vehicle is in motion; obtaining the vehicle's driving speed in real time when a steering control system failure occurs; selecting the braking system and / or the drive system to implement emergency steering based on the vehicle's driving speed; and monitoring the operating status of the steering system in real time to ensure real-time understanding of the vehicle's operating conditions. If a steering system failure occurs, the method ensures smooth and stable steering at any speed without adding additional mechanical equipment, thereby further ensuring safe driving of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle driving technology, and in particular to an emergency steering control method, device and computer equipment. Background Art

[0002] During vehicle driving, vehicle steering is achieved by controlling the vehicle's steering system. When the vehicle's steering system fails, the vehicle cannot be steered, which greatly reduces the vehicle's driving safety.

[0003] In the prior art, in order to deal with vehicle steering system failures and achieve vehicle emergency steering, the following methods are often used: First, by adding an additional mechanical control structure to manually adjust the pneumatic brake line to brake and hold the inner wheels of the vehicle, while increasing the driving force of the outer wheels of the vehicle to reduce the vehicle's turning radius; Second, the vehicle's emergency steering control is achieved solely through the braking system. Based on the above methods, achieving vehicle emergency steering by adding mechanical equipment is not only costly and requires high operating skills from the driver, but also increases the difficulty of assembly and operation in actual application scenarios; the method of achieving vehicle emergency steering control solely through the braking system is only applicable to scenarios where the vehicle is traveling at a high speed. It not only has a small scope of application, but also has the disadvantage of poor vehicle emergency steering control effect.

[0004] Therefore, there is an urgent need to propose an emergency steering control method, device and computer equipment with a wide range of applications, without the need for additional control structures, and capable of ensuring vehicle driving safety. Summary of the Invention

[0005] Based on this, it is necessary to address the above technical problems and provide an emergency steering control method, device and computer equipment that can be applied to different vehicle driving conditions, does not require additional control structure and manufacturing costs, and helps to improve vehicle driving safety.

[0006] In one aspect, an emergency steering control method is provided, the method comprising:

[0007] Step A: During vehicle driving, real-time monitoring of the working status of the vehicle steering control system and the vehicle's driving speed;

[0008] Step B: When a steering failure occurs in the steering control system, obtaining the vehicle's driving speed in real time;

[0009] Step C: If the vehicle's speed is higher than a first threshold, the vehicle controller sends a braking command to the braking system to implement emergency steering of the vehicle; if the vehicle's speed is not higher than the first threshold, the vehicle controller sends a driving command to the driving system to implement emergency steering of the vehicle.

[0010] In one embodiment, if the vehicle's driving speed is not higher than the first threshold, the method further includes: if the vehicle's driving speed is not higher than the first threshold, the vehicle controller sends a braking instruction to the braking system in real time and sends a driving instruction to the driving system in real time to achieve emergency steering of the vehicle.

[0011] In one embodiment, the method further includes: monitoring the posture information of the vehicle in real time; determining the emergency steering angle of the vehicle based on the posture information of the vehicle; and determining the yaw torque required for the vehicle to successfully complete the steering based on the emergency steering angle required by the vehicle.

[0012] In one embodiment, when the driving speed of the vehicle is higher than a first threshold, the method further includes: determining a first braking torque that the braking system needs to add to the vehicle wheels based on the yaw torque required for the vehicle to complete emergency steering; based on the first braking torque, judging in real time whether the wheels of the vehicle will lock during the emergency steering process; if the wheels will not lock, adding the first braking torque to the inner wheels of the vehicle to achieve emergency steering of the vehicle; if the wheels will lock, reducing the first braking torque added to the inner wheels of the vehicle, and adding a driving torque to the outer wheels of the vehicle until the vehicle completes the emergency steering.

[0013] In one embodiment, when the driving speed of the vehicle is higher than a first threshold, the method further includes: determining a first driving torque that the drive system needs to add to the outer wheels of the vehicle based on the yaw torque required for the vehicle to complete emergency steering; based on the first driving torque, judging in real time whether the wheels of the vehicle will excessively slip during the emergency steering process; if the wheels will not excessively slip, adding the first driving torque to the outer wheels of the vehicle to achieve emergency steering of the vehicle; if the wheels will excessively slip, reducing the first driving torque added to the outer wheels of the vehicle, and adding braking torque to the inner wheels of the vehicle until the vehicle completes the emergency steering.

[0014] In one embodiment, the implementation of vehicle emergency steering includes: the braking system, and / or the driving system adjusting the torque of the left and right wheels of the vehicle so that a torque difference is generated between the left and right wheels of the vehicle; and based on the torque difference, the vehicle emergency steering is implemented.

[0015] In one embodiment, generating a torque difference between the left and right wheels of the vehicle includes: adding torque to the vehicle wheels, when controlling the vehicle to turn left, the torque of the left wheel of the vehicle is less than the torque of the right wheel of the vehicle; when controlling the vehicle to turn right, the torque of the right wheel of the vehicle is less than the torque of the left wheel of the vehicle.

[0016] In one embodiment, the method further includes: monitoring the posture information of the vehicle in real time; and determining the emergency steering of the vehicle based on the posture information of the vehicle.

[0017] In one embodiment, the vehicle posture information includes: wheel angle, steering wheel angle, vehicle speed, vehicle longitudinal acceleration, vehicle lateral acceleration and vehicle yaw rate.

[0018] In one embodiment, vehicle emergency steering is achieved based on the following two equations:

[0019]

[0020] Jω=Fb1*x1*sin(θ)+Fb1*y*cos(θ)+Fb2*y+Fa1*sin(θ)*x1+Fa2*cos(θ)*y+Fa2*y;

[0021] Where: v r is the current speed of the vehicle, v ch is the vehicle characteristic speed, l is the vehicle wheelbase, θ r is the wheel turning angle required for the vehicle to perform emergency steering, Fa1 and Fa2 are the driving forces of the front and rear wheels turning to the outside of the vehicle, Fb1 and Fb2 are the braking forces of the front and rear wheels turning to the inside of the vehicle, ω is the vehicle's yaw angular velocity, J is the moment of inertia, θ is the vehicle's current front wheel turning angle, x1 is the distance from the vehicle's center of mass to the front axle, x2 is the distance from the vehicle's center of mass to the rear axle, and y is the vertical distance from the vehicle's center of mass to the middle interface of the wheels.

[0022] In another aspect, an emergency steering control device is provided, comprising:

[0023] A monitoring and acquisition unit, which is used to monitor the working status of the vehicle's steering system and the vehicle's driving speed in real time during vehicle driving; when a steering failure occurs in the steering control system, the monitoring and acquisition unit is also used to obtain the vehicle's driving speed in real time;

[0024] An emergency control unit is communicatively connected to the monitoring and acquisition unit, and the emergency control unit is used to determine whether the driving speed of the vehicle is higher than a first threshold value based on the driving speed of the vehicle; if the driving speed of the vehicle is higher than the first threshold value, the vehicle controller gives priority to sending a braking instruction to the braking system, and assists with appropriate driving instructions when necessary to achieve emergency steering of the vehicle; if the driving speed of the vehicle is not higher than the first threshold value, the vehicle controller gives priority to sending a driving instruction to the driving system, and assists with appropriate braking instructions when necessary to achieve emergency steering of the vehicle.

[0025] In another aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are implemented:

[0026] Step A: During vehicle driving, real-time monitoring of the working status of the vehicle steering control system and the vehicle's driving speed;

[0027] Step B: When a steering failure occurs in the steering control system, obtaining the vehicle's driving speed in real time;

[0028] Step C: If the vehicle's speed is higher than a first threshold, the vehicle controller sends a braking command to the braking system to implement emergency steering of the vehicle; if the vehicle's speed is not higher than the first threshold, the vehicle controller sends a driving command to the driving system to implement emergency steering of the vehicle.

[0029] In another aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0030] Step A: During vehicle driving, real-time monitoring of the working status of the vehicle steering control system and the vehicle's driving speed;

[0031] Step B: When a steering failure occurs in the steering control system, obtaining the vehicle's driving speed in real time;

[0032] Step C: If the vehicle's speed is higher than a first threshold, the vehicle controller sends a braking command to the braking system to implement emergency steering of the vehicle; if the vehicle's speed is not higher than the first threshold, the vehicle controller sends a driving command to the driving system to implement emergency steering of the vehicle.

[0033] The above-mentioned emergency steering control method, device and computer equipment include the following steps: during vehicle driving, real-time monitoring of the working status of the vehicle steering control system and the vehicle's driving speed; when a steering failure occurs in the steering control system, real-time acquisition of the vehicle's driving speed; if the vehicle's driving speed is higher than a first threshold, the vehicle controller preferentially sends a braking command to the braking system to achieve vehicle emergency steering; if the vehicle's driving speed is not higher than the first threshold, the vehicle controller preferentially sends a driving command to the driving system to achieve vehicle emergency steering. Real-time monitoring of the working status of the steering system ensures real-time understanding of the vehicle's working conditions; if the vehicle's steering system fails, then based on the vehicle's driving speed, the braking system and / or the driving system are selected to achieve vehicle emergency steering. This ensures that the vehicle can steer smoothly and stably at any driving speed without adding additional mechanical equipment, thereby further ensuring the safe driving of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 1 is a flow chart of an emergency steering control method according to an embodiment;

[0035] Figure 2 1 is a flow chart of an emergency steering control method according to an embodiment;

[0036] Figure 3 1 is a flow chart of an emergency steering control method according to an embodiment;

[0037] Figure 4 A schematic diagram of a solution for applying additional torque to a wheel when a vehicle is in an emergency left turn state in one embodiment;

[0038] Figure 5 A schematic diagram of a solution for applying additional torque to a wheel when a vehicle is in an emergency right turn state in one embodiment;

[0039] Figure 6 is a structural block diagram of an emergency steering control device in one embodiment;

[0040] Figure 7 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0042] Example 1

[0043] The emergency steering control method provided by this application is as follows: Figures 1 to 3As shown, the emergency steering control method provided by the present application is applied to front-wheel drive, rear-wheel drive or four-wheel drive vehicles, and the method includes the following steps:

[0044] Step S1: During vehicle travel, real-time monitoring of the vehicle steering control system operating state and vehicle travel speed;

[0045] Step S2: when a steering failure occurs in the steering control system, obtaining the vehicle's driving speed in real time;

[0046] Step S3: If the vehicle's speed is higher than a first threshold, the vehicle controller sends a braking command to the braking system to implement emergency steering of the vehicle; if the vehicle's speed is not higher than the first threshold, the vehicle controller sends a driving command to the driving system to implement emergency steering of the vehicle.

[0047] Among them, monitoring the working status of the vehicle steering control system mainly includes: monitoring whether the vehicle steering control system can realize the normal steering of the vehicle. Once it is detected that the vehicle steering control system cannot work normally, that is, the vehicle steering control system fails, the vehicle's braking system is immediately called, and / or the drive system performs vehicle steering assistance to realize normal steering of the vehicle. The front-wheel drive described in this application means that only the two front wheels of the vehicle are driven by independent drive motors, that is, the two front wheels of the vehicle can directly receive power, so that the wheels generate power to realize the forward or backward movement of the vehicle; the rear-wheel drive means that only the two rear wheels of the vehicle are driven by independent drive motors, that is, the two rear wheels of the vehicle can directly receive power, so that the wheels rotate to realize the forward or backward movement of the vehicle; the four-wheel drive means that the four wheels of the vehicle are driven by independent drive motors, that is, the four wheels of the vehicle can receive power, so that the wheels rotate to realize the forward or backward movement of the vehicle.

[0048] In one embodiment, the above-mentioned emergency steering control method is applied to the field of automatic / assisted driving. During normal vehicle driving, the automatic / assisted driving controller calculates the corresponding steering wheel angle / wheel angle control instructions based on the planned wheel driving path for a period of time in the future, and sends the instructions to the steering control system. The steering control system completes the corresponding vehicle steering action based on the instructions. During vehicle driving, the working status of the vehicle steering control system and the vehicle's driving speed are monitored and obtained in real time. Once a failure of the vehicle steering control system is detected, the corresponding vehicle driving response strategy is activated based on the current driving speed of the vehicle to ensure that the vehicle can be driven normally and safely. The vehicle driving response strategy may include: a braking system, and / or a drive system that adds torque to the vehicle's wheels to achieve emergency steering of the vehicle.

[0049] In one embodiment, if the vehicle's driving speed is not higher than the first threshold, the method further includes: if the vehicle's driving speed is not higher than the first threshold, the vehicle controller sends a braking instruction to the braking system in real time and sends a driving instruction to the driving system in real time; the driving system cooperates with the braking system to achieve emergency steering of the vehicle.

[0050] Simply put, when the vehicle is traveling at a high speed, the braking system can generate a sufficiently large yaw moment to achieve steering. Furthermore, at high speeds, the braking system only needs to generate a relatively small braking torque to achieve steering. Because the braking torque required to be applied to the vehicle's wheels is relatively small, the time required for the braking system to generate braking torque is also relatively short. Therefore, steering can be achieved through the braking system at high speeds. It should be understood that relying on the drive system to achieve steering at high speeds significantly increases the likelihood of wheel lock, which is detrimental to safe driving. Conversely, when the vehicle is traveling at a low speed, or even at zero speed, relying solely on the braking system cannot generate a yaw moment of sufficient magnitude and duration to achieve steering or pull-over maneuvers. However, due to the inherent operating characteristics of the drive system, at low speeds, or even at zero speed, the drive system can generate a sufficiently large yaw moment in a short period of time without consuming excessive time. That is, when the vehicle is traveling at a low speed or even at zero speed, steering the vehicle only through the braking system will not only increase the difficulty of steering the vehicle, but also cause irreversible mechanical damage to the braking system.

[0051] In one embodiment, the method further includes: real-time monitoring of the posture information of the vehicle; determining the emergency steering angle of the vehicle based on the posture information of the vehicle; and determining the yaw torque required for the vehicle to successfully complete the steering based on the emergency steering angle of the vehicle. It should be understood that the determination of the emergency steering angle of the vehicle described in the present application may include the emergency steering direction of the vehicle, that is, when the steering control system of the vehicle fails, based on the posture information of the vehicle, should the vehicle turn left or right; the emergency steering angle of the vehicle may also include: the angle that the vehicle should turn when turning left or right, and based on the angle that should be turned, how much yaw torque the vehicle needs to add to the wheels of the vehicle during emergency steering.

[0052] In one embodiment, the method further includes: when a steering failure occurs in the steering system, the vehicle controller sends a braking instruction to the braking system in real time and sends a driving instruction to the driving system in real time; the driving system cooperates with the braking system to achieve emergency steering of the vehicle.

[0053] In one embodiment, when the vehicle controller sends a braking command to the braking system to achieve emergency steering of the vehicle, the method further includes: determining a first braking torque that the braking system needs to add to the vehicle wheels based on the yaw torque required for the vehicle to complete the emergency steering; based on the first braking torque, judging in real time whether the wheels of the vehicle will lock during the emergency steering process; if the wheels will not lock, adding the first braking torque to the vehicle wheels to achieve emergency steering of the vehicle; if the wheels will lock, reducing the vehicle's driving speed until the vehicle completes the emergency steering.

[0054] In one embodiment, when a vehicle controller sends a braking command to a braking system to implement an emergency steering of the vehicle, the method further includes: determining a first braking torque that the braking system needs to apply to the vehicle wheels based on the yaw torque required for the vehicle to complete the emergency steering; based on the first braking torque, determining in real time whether the vehicle wheels will lock during the emergency steering process; if the wheels will not lock, applying the first braking torque to the vehicle wheels to implement the emergency steering; if the wheels will lock, reducing the braking torque applied to the two outer wheels of the vehicle and applying a driving torque to the outer wheels of the vehicle; and achieving a smooth completion of the emergency steering of the vehicle based on the coordinated operation of the braking system and the driving system. It should be understood that the outer wheels and inner wheels of the vehicle described in this application are determined based on the emergency steering direction of the vehicle, i.e., the direction of the yaw torque. When the emergency steering direction of the vehicle is a left turn, the left wheels of the vehicle are defined as the inner wheels, and the right wheels of the vehicle are defined as the outer wheels. If the emergency steering direction of the vehicle is a right turn, the right wheels of the vehicle are defined as the inner wheels, and the left wheels of the vehicle are defined as the outer wheels. It should also be understood that the inner wheels of the vehicle described in this application may include the front and rear wheels on the inner side of the vehicle, and the outer wheels of the vehicle may include the front and rear wheels on the outer side of the vehicle.

[0055] It is important to understand that during emergency steering, the vehicle's drive and braking systems monitor the vehicle's emergency steering status in real time. The braking and driving torques applied to the vehicle's wheels are monitored and adjusted in real time based on the vehicle's posture information to ensure the vehicle can successfully and safely complete the emergency steering. In actual application scenarios, those skilled in the art may consider the road surface as an auxiliary factor in determining whether a vehicle's wheels will lock or excessively slip.

[0056] In one embodiment, when the vehicle controller sends a drive instruction to the drive system to realize emergency steering of the vehicle, the method further includes: determining a first drive torque that the drive system needs to add to the vehicle wheels based on the yaw torque required for the vehicle to complete the emergency steering; based on the first drive torque, judging whether the vehicle can complete the emergency steering; if the vehicle cannot complete the emergency steering, adding a braking torque to the inner wheels of the vehicle until the vehicle completes the emergency steering.

[0057] In one embodiment, when the driving speed of the vehicle is higher than a first threshold, the method further includes: determining a first braking torque that the braking system needs to add to the vehicle wheels based on the yaw torque required for the vehicle to complete emergency steering; based on the first braking torque, judging in real time whether the vehicle wheels will lock during the emergency steering process; if the wheels will not lock, adding the first braking torque to the inner wheels of the vehicle to achieve emergency steering of the vehicle; if the wheels will lock, reducing the first braking torque added to the inner wheels of the vehicle, and adding a driving torque to the outer wheels of the vehicle until the vehicle completes the emergency steering.

[0058] In one embodiment, when the driving speed of the vehicle is higher than a first threshold, the method further includes: determining a first driving torque that the drive system needs to add to the outer wheels of the vehicle based on the yaw torque required for the vehicle to complete emergency steering; based on the first driving torque, judging in real time whether the wheels of the vehicle will excessively slip during the emergency steering process; if the wheels will not excessively slip, adding the first driving torque to the outer wheels of the vehicle to achieve emergency steering of the vehicle; if the wheels will excessively slip, reducing the first driving torque added to the outer wheels of the vehicle, and adding braking torque to the inner wheels of the vehicle until the vehicle completes the emergency steering.

[0059] In one embodiment, the drive system cooperates with the brake system to achieve vehicle emergency steering, including: the brake system, and / or the drive system adjusts the torque of the left and right wheels of the vehicle so that a torque difference is generated between the left and right wheels of the vehicle; based on the torque difference, the vehicle emergency steering is achieved.

[0060] In one embodiment, Figure 4-Figure 5 As shown, the drive system and the brake system cooperate to achieve emergency steering of the vehicle, specifically including: when controlling the vehicle to turn left, the brake system adds braking torque to the front and rear wheels on the left side of the vehicle, and the drive system adds driving torque to the front and rear wheels on the right side of the vehicle; when controlling the vehicle to turn right, the brake system adds braking torque to the front and rear wheels on the right side of the vehicle, and the drive system adds driving torque to the front and rear wheels on the left side of the vehicle.

[0061] In one embodiment, generating a torque difference between the left and right wheels of a vehicle includes: adding torque to the vehicle wheels, when controlling the vehicle to turn left, the torque of the left wheel of the vehicle is less than the torque of the right wheel of the vehicle; when controlling the vehicle to turn right, the torque of the right wheel of the vehicle is less than the torque of the left wheel of the vehicle.

[0062] In one embodiment, when the vehicle's speed exceeds a first threshold, the braking system determines a first braking torque to be applied to the vehicle's wheels based on the yaw torque required for the vehicle to complete an emergency turn. Based on the first braking torque, a real-time determination is made as to whether the vehicle's wheels will lock during the emergency turn. If the wheels will not lock, the first braking torque is applied to the inner wheels of the vehicle to achieve the emergency turn. If the wheels will lock, the first braking torque applied to the inner wheels is reduced, and a driving torque is applied to the outer wheels of the vehicle until the emergency turn is completed. The torque applied to the outer wheels is less than the first braking torque applied to the inner wheels of the vehicle.

[0063] In one embodiment, when the vehicle's speed exceeds a first threshold, the method further includes: determining a first driving torque that the drive system needs to add to the vehicle's outer wheels based on the yaw torque required for the vehicle to complete an emergency turn; determining in real time whether the vehicle's wheels will experience excessive slip during the emergency turn based on the first driving torque; if the wheels will not experience excessive slip, adding the first driving torque to the vehicle's outer wheels to achieve the vehicle's emergency turn; and if the wheels will experience excessive slip, reducing the first driving torque added to the vehicle's outer wheels and adding a braking torque to the vehicle's inner wheels until the vehicle completes the emergency turn. The first driving torque added to the vehicle's outer wheels is greater than the torque added to the vehicle's inner wheels.

[0064] In one embodiment, the method further includes: real-time monitoring of the posture information of the vehicle; and determining the emergency steering of the vehicle based on the posture information of the vehicle. When a steering failure occurs in the steering control system of a vehicle, the vehicle should be pulled over as quickly and safely as possible to avoid rear-end collisions and road congestion. Since the driving environment of the vehicle is not fixed, the posture information of the vehicle should be monitored and acquired in real time to determine the emergency steering of the vehicle. The posture information of the vehicle may include the lane information of the vehicle, the emergency stop point closest to the vehicle, and the lane with the least number of second vehicles passing through. The posture information of the vehicle may also include: wheel angle, steering wheel angle, vehicle speed, vehicle longitudinal acceleration, and vehicle lateral acceleration. It should be understood that the second vehicle described in this application is any vehicle other than the vehicle with a steering failure in the steering control system.

[0065] In one embodiment, the braking force and driving force applied to the four wheels of the vehicle are calculated based on the vehicle's wheel angle, steering wheel angle, driving speed, longitudinal acceleration and lateral acceleration, so that the wheels generate a yaw moment to turn left or right, thereby achieving vehicle steering.

[0066] In one embodiment, the vehicle's emergency steering is determined based on the vehicle's current wheel angle, steering wheel angle, speed, longitudinal acceleration, and lateral acceleration. Specifically, it determines whether the vehicle should turn left or right in the event of a steering control system failure. Changing the vehicle's direction can easily cause traffic accidents and casualties, especially at high speeds. Therefore, the vehicle's current posture information, such as the wheel angle, steering wheel angle, speed, longitudinal acceleration, and lateral acceleration, can also be considered when determining the vehicle's emergency steering.

[0067] In one embodiment, the vehicle's posture information and the road surface information of the vehicle are obtained through real-time monitoring by a camera or GPS.

[0068] In one embodiment, the vehicle emergency steering is implemented based on the following formula:

[0069]

[0070] Jω=Fb1*x1*sin(θ)+Fb1*y*cos(θ)+Fb2*y+Fa1*sin(θ)*x1+Fa2*cos(θ)*y+Fa2*y;

[0071] Where: v r is the current speed of the vehicle, v ch is the vehicle characteristic speed, l is the vehicle wheelbase, θ ris the wheel turning angle required for the vehicle to perform emergency steering, Fa1 and Fa2 are the driving forces of the front and rear wheels turning to the outside of the vehicle, Fb1 and Fb2 are the braking forces of the front and rear wheels turning to the inside of the vehicle, ω is the vehicle's yaw angular velocity, J is the moment of inertia, θ is the vehicle's current front wheel turning angle, x1 is the distance from the vehicle's center of mass to the front axle, x2 is the distance from the vehicle's center of mass to the rear axle, and y is the vertical distance from the vehicle's center of mass to the middle interface of the wheels. It should be understood that in actual application scenarios, the vehicle's moment of inertia, vehicle's yaw angular velocity, the vertical distance from the vehicle's center of mass to the middle interface of the wheels, the distance from the vehicle's center of mass to the front axle, the distance from the vehicle's center of mass to the rear axle, the vehicle's current front wheel turning angle, the vehicle's wheelbase, and the vehicle's characteristic speed can be defined as known quantities, and the optimal values ​​of the driving force and braking force of the vehicle's wheels can be obtained based on the least squares method or the Gauss-Newton method respectively; similarly, in actual application scenarios, other parameters except the vehicle's moment of inertia and vehicle's yaw angular velocity can also be defined as known quantities, and the product of the vehicle's moment of inertia and vehicle's yaw angular velocity can be obtained to determine whether the vehicle can successfully achieve emergency steering.

[0072] In one embodiment, the method further includes: after the emergency steering is completed, the vehicle controller sends a parking command to the parking system, and the braking system and the driving system stop working.

[0073] It should be understood that when a vehicle's steering control system fails, the braking system and / or drive system, acting as a backup steering control system to assist the vehicle in emergency steering, typically requires multiple emergency steering maneuvers to achieve a safe stop. Specifically, when a steering control system failure is detected, the vehicle controller sends steering commands to the braking system and / or drive system. The braking and drive systems continuously switch the vehicle's steering direction based on the vehicle's posture information to achieve emergency steering. During the steering process, the vehicle's real-time posture information and parking position are evaluated to determine whether the emergency steering result meets the actual requirements. If not, repeated calculations and adjustments are made, continuously performing closed-loop control and adjusting the torque until the requirements are met. Throughout the emergency steering process, the braking and drive systems adjust the braking or driving torque in real time to prevent vehicle instability or wheel lock. The actual requirements refer to whether the vehicle is parked in a relatively safe environment or at a designated location. In actual application scenarios, those skilled in the art will define these actual requirements in specific scenarios.

[0074] In one embodiment, during the closed-loop control process, the vehicle's speed is monitored in real time. If the vehicle's speed exceeds a first threshold, the braking system is prioritized as the backup steering system for emergency steering. If the vehicle's speed is not higher than the first threshold, the drive system is prioritized as the backup steering system for emergency steering. Based on the vehicle's speed, an appropriate backup steering control system is selected to ensure safe driving and ultimately achieve emergency steering while minimizing mechanical damage to the braking and drive systems.

[0075] It should be understood that the emergency steering control method described in this application can be applied to vehicles without autonomous driving functions or where the autonomous driving functions are not activated and the steering control system fails and the vehicle cannot steer normally, to assist the driver in achieving emergency steering of the vehicle.

[0076] It should be understood that although Figure 1-Figure 3 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1-Figure 3 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0077] Example 2

[0078] An emergency steering control method comprises: monitoring the working state of a vehicle steering control system and the vehicle's driving speed in real time during vehicle driving; obtaining the vehicle's driving speed in real time when a steering failure occurs in the steering control system; if the vehicle's driving speed is higher than a first threshold, sending a braking command to the braking system by a vehicle controller to achieve vehicle emergency steering; if the vehicle's driving speed is not higher than the first threshold, sending a driving command to the driving system by the vehicle controller to achieve vehicle emergency steering.

[0079] In one embodiment, if the vehicle's driving speed is not higher than the first threshold, the method further includes: if the vehicle's driving speed is not higher than the first threshold, the vehicle controller sends a braking instruction to the braking system in real time and sends a driving instruction to the driving system in real time to achieve emergency steering of the vehicle.

[0080] In one embodiment, the method further includes: monitoring the posture information of the vehicle in real time; determining the emergency steering angle of the vehicle based on the posture information of the vehicle; and determining the yaw torque required for the vehicle to successfully complete the steering based on the emergency steering angle required by the vehicle.

[0081] In one embodiment, when the driving speed of the vehicle is higher than a first threshold, the method further includes: determining a first braking torque that the braking system needs to add to the vehicle wheels based on the yaw torque required for the vehicle to complete emergency steering; based on the first braking torque, judging in real time whether the wheels of the vehicle will lock during the emergency steering process; if the wheels will not lock, adding the first braking torque to the inner wheels of the vehicle to achieve emergency steering of the vehicle; if the wheels will lock, reducing the first braking torque added to the inner wheels of the vehicle, and adding a driving torque to the outer wheels of the vehicle until the vehicle completes the emergency steering.

[0082] In one embodiment, when the driving speed of the vehicle is higher than a first threshold, the method further includes: determining a first driving torque that the drive system needs to add to the outer wheels of the vehicle based on the yaw torque required for the vehicle to complete emergency steering; based on the first driving torque, judging in real time whether the wheels of the vehicle will excessively slip during the emergency steering process; if the wheels will not excessively slip, adding the first driving torque to the outer wheels of the vehicle to achieve emergency steering of the vehicle; if the wheels will excessively slip, reducing the first driving torque added to the outer wheels of the vehicle, and adding braking torque to the inner wheels of the vehicle until the vehicle completes the emergency steering.

[0083] In one embodiment, the implementation of vehicle emergency steering includes: the braking system, and / or the driving system adjusting the torque of the left and right wheels of the vehicle so that a torque difference is generated between the inner and outer wheels of the vehicle; based on the torque difference, the vehicle emergency steering is implemented.

[0084] In one embodiment, generating a torque difference between the left and right wheels of the vehicle includes: adding torque to the vehicle wheels, when controlling the vehicle to turn left, the torque of the left wheel of the vehicle is less than the torque of the right wheel of the vehicle; when controlling the vehicle to turn right, the torque of the right wheel of the vehicle is less than the torque of the left wheel of the vehicle.

[0085] In one embodiment, the vehicle posture information includes: wheel angle, steering wheel angle, vehicle speed, vehicle longitudinal acceleration, vehicle lateral acceleration and vehicle yaw rate.

[0086] In one embodiment, the vehicle emergency steering is implemented based on the following formula:

[0087]

[0088] Jω=Fb1*x1*sin(θ)+Fb1*y*cos(θ)+Fb2*y+Fa1*sin(θ)*x1+Fa2*cos(θ)*y+Fa2*y;

[0089] Where: Fa1 and Fa2 represent the driving forces of the front and rear wheels when the vehicle turns to the outside, Fb1 and Fb2 represent the braking forces of the front and rear wheels when the vehicle turns to the inside, ω is the vehicle's yaw rate, J is the moment of inertia, θ is the front wheel angle of the vehicle, x1 is the distance from the vehicle's center of mass to the front axle, x2 is the distance from the vehicle's center of mass to the rear axle, and y is the vertical distance from the vehicle's center of mass to the middle interface of the wheels; v r is the current speed of the vehicle, v ch is the vehicle characteristic speed, l is the vehicle wheelbase, θ r The wheel angle required for the vehicle to perform an emergency turn. In one embodiment, the method further includes: after the emergency turn is completed, the vehicle controller sends a parking command to the parking system, and the braking system and the driving system are deactivated.

[0090] Example 3

[0091] In one embodiment, Figure 6 As shown, an emergency steering control device is provided, comprising: a monitoring and acquisition unit and an emergency control unit, wherein:

[0092] A monitoring and acquisition unit, which is used to monitor the working status of the vehicle's steering system and the vehicle's driving speed in real time during vehicle driving; when a steering failure occurs in the steering control system, the monitoring and acquisition unit is also used to obtain the vehicle's driving speed in real time;

[0093] An emergency control unit is communicatively connected to the monitoring and acquisition unit. The emergency control unit is used to determine whether the driving speed of the vehicle is higher than a first threshold value based on the driving speed of the vehicle; if the driving speed of the vehicle is higher than the first threshold value, the vehicle controller sends a braking command to the braking system to achieve emergency steering of the vehicle; if the driving speed of the vehicle is not higher than the first threshold value, the vehicle controller sends a driving command to the driving system to achieve emergency steering of the vehicle.

[0094] The specific definitions of the emergency steering control device can be found in the definitions of the emergency steering control method above and will not be further elaborated here. Each module in the aforementioned emergency steering control device may be implemented in whole or in part through software, hardware, or a combination thereof. Each of these modules may be embedded in or independent of a processor within a computer device via hardware, or may be stored in a computer device memory via software, allowing the processor to call and execute the corresponding operations of each module.

[0095] Example 4

[0096] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 7 As shown. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store emergency steering instructions. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, an emergency steering control method is implemented.

[0097] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0098] In one embodiment, a computer device is provided, 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, the following steps are performed:

[0099] Step A: During vehicle driving, real-time monitoring of the working status of the vehicle steering control system and the vehicle's driving speed;

[0100] Step B: When a steering failure occurs in the steering control system, obtaining the vehicle's driving speed in real time;

[0101] Step C: If the vehicle's speed is higher than a first threshold, the vehicle controller sends a braking command to the braking system to implement emergency steering of the vehicle; if the vehicle's speed is not higher than the first threshold, the vehicle controller sends a driving command to the driving system to implement emergency steering of the vehicle.

[0102] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0103] If the vehicle's driving speed is not higher than the first threshold, the vehicle controller sends a braking instruction to the braking system and a driving instruction to the driving system in real time; the driving system cooperates with the braking system to achieve emergency steering of the vehicle.

[0104] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0105] The braking system and / or the driving system adjusts the torque of the left and right wheels of the vehicle so that a torque difference is generated between the left and right wheels of the vehicle; based on the torque difference, emergency steering of the vehicle is achieved.

[0106] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0107] Additional torque is added to the vehicle wheels. When the vehicle is controlled to turn left, the torque of the left wheel of the vehicle is less than the torque of the right wheel of the vehicle; when the vehicle is controlled to turn right, the torque of the right wheel of the vehicle is less than the torque of the left wheel of the vehicle.

[0108] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0109] Real-time monitoring of the vehicle's posture information; and determining the vehicle's emergency steering based on the vehicle's posture information. The vehicle's posture information includes: wheel angle, steering wheel angle, vehicle speed, vehicle longitudinal acceleration, vehicle lateral acceleration, and vehicle yaw rate.

[0110] In one embodiment, the vehicle emergency steering is implemented based on the following formula:

[0111]

[0112] Jω=Fb1*x1*sin(θ)+Fb1*y*cos(θ)+Fb2*y+Fa1*sin(θ)*x1+Fa2*cos(θ)*y+Fa2*y;

[0113] Where: v r is the current speed of the vehicle, v ch is the characteristic speed of the vehicle, l is the wheelbase of the vehicle, θ ris the target wheel turning angle planned and calculated by the autonomous driving system, Fa1 and Fa2 respectively represent the driving forces of the front and rear wheels when the vehicle turns to the outside, Fb1 and Fb2 respectively represent the braking forces of the front and rear wheels when the vehicle turns to the inside, ω is the vehicle's yaw velocity, J is the moment of inertia, θ is the vehicle's current front wheel turning angle, x1 is the distance from the vehicle's center of mass to the front axle, x2 is the distance from the vehicle's center of mass to the rear axle, and y is the vertical distance from the vehicle's center of mass to the middle interface of the wheels.

[0114] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0115] When the emergency steering is completed, the vehicle controller sends a parking instruction to the parking system, and the braking system and the driving system stop working.

[0116] Example 5

[0117] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0118] Step A: During vehicle driving, real-time monitoring of the working status of the vehicle steering control system and the vehicle's driving speed;

[0119] Step B: When a steering failure occurs in the steering control system, obtaining the vehicle's driving speed in real time;

[0120] Step C: If the vehicle's speed is higher than a first threshold, the vehicle controller sends a braking command to the braking system to implement emergency steering of the vehicle; if the vehicle's speed is not higher than the first threshold, the vehicle controller sends a driving command to the driving system to implement emergency steering of the vehicle.

[0121] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0122] Based on the yaw moment required for the vehicle to complete emergency steering, the first braking torque that the braking system needs to add to the vehicle wheels is determined; based on the first braking torque, it is determined in real time whether the vehicle wheels will lock during the emergency steering process; if the wheels will not lock, the first braking torque is added to the inner wheels of the vehicle to achieve emergency steering of the vehicle; if the wheels will lock, the first braking torque added to the inner wheels of the vehicle is reduced, and a driving torque is added to the outer wheels of the vehicle until the vehicle completes the emergency steering.

[0123] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0124] Based on the yaw moment required for the vehicle to complete emergency steering, the first driving torque that the drive system needs to add to the outer wheels of the vehicle is determined; based on the first driving torque, it is determined in real time whether the wheels of the vehicle will excessively slip during the emergency steering process; if the wheels will not excessively slip, the first driving torque is added to the outer wheels of the vehicle to achieve emergency steering of the vehicle; if the wheels will excessively slip, the first driving torque added to the outer wheels of the vehicle is reduced, and a braking torque is added to the inner wheels of the vehicle until the vehicle completes the emergency steering.

[0125] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0126] If the vehicle's driving speed is not higher than the first threshold, the vehicle controller sends a braking instruction to the braking system and a driving instruction to the driving system in real time; the driving system cooperates with the braking system to achieve emergency steering of the vehicle.

[0127] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0128] The braking system and / or the driving system adjusts the torque of the left and right wheels of the vehicle so that a torque difference is generated between the left and right wheels of the vehicle; based on the torque difference, emergency steering of the vehicle is achieved.

[0129] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0130] Additional torque is added to the vehicle wheels. When the vehicle is controlled to turn left, the torque of the left wheel of the vehicle is less than the torque of the right wheel of the vehicle; when the vehicle is controlled to turn right, the torque of the right wheel of the vehicle is less than the torque of the left wheel of the vehicle.

[0131] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0132] Real-time monitoring of the vehicle's posture information; and determining the vehicle's emergency steering based on the vehicle's posture information, wherein the vehicle's posture information includes: wheel angle, steering wheel angle, vehicle speed, vehicle longitudinal acceleration, and vehicle lateral acceleration.

[0133] In one embodiment, the vehicle emergency steering is implemented based on the following formula:

[0134]

[0135] Jω=Fb1*x1*sin(θ)+Fb1*y*cos(θ)+Fb2*y+Fa1*sin(θ)*x1+Fa2*cos(θ)*y+Fa2*y;

[0136] Where: v r is the current speed of the vehicle, v ch is the characteristic speed of the vehicle, l is the wheelbase of the vehicle, θ r is the target wheel angle calculated by the automated driving system, Fa1 and Fa2 represent the driving forces on the vehicle's front and rear wheels turning toward the outside, respectively; Fb1 and Fb2 represent the braking forces on the vehicle's front and rear wheels turning toward the inside, respectively; ω is the vehicle's yaw rate, J is its moment of inertia, θ is the vehicle's current front wheel angle, x1 is the distance from the vehicle's center of mass to the front axle, x2 is the distance from the vehicle's center of mass to the rear axle, and y is the vertical distance from the vehicle's center of mass to the center of the wheel. In one embodiment, when executed by a processor, the computer program further implements the following steps:

[0137] When the emergency steering is completed, the vehicle controller sends a parking instruction to the parking system, and the braking system and the driving system stop working.

[0138] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0139] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0140] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. An emergency steering control method, characterized in that: The method comprises: During vehicle driving, real-time monitoring of the working status of the vehicle steering control system and the vehicle's driving speed; When a steering failure occurs in the steering control system, obtaining the driving speed of the vehicle in real time; monitoring the vehicle's posture information in real time, determining an emergency steering angle for the vehicle based on the vehicle's posture information, and determining a yaw moment required for the vehicle to successfully complete the steering based on the required emergency steering angle; wherein the vehicle's posture information includes information about the vehicle's lane, the emergency stop closest to the vehicle, and the lane with the least number of second vehicles passing through, where the second vehicle refers to a vehicle other than the vehicle with a steering control system failure; If the vehicle's speed is higher than a first threshold, the vehicle controller sends a braking command to the braking system, and implements emergency steering of the vehicle based on the yaw moment; if the vehicle's speed is not higher than the first threshold, the vehicle controller sends a driving command to the driving system, and implements emergency steering of the vehicle based on the yaw moment; When the driving speed of the vehicle is higher than a first threshold, the method further includes: determining, based on the yaw moment required for the vehicle to complete the emergency turn, a first driving torque that the driving system needs to add to the outer wheel of the vehicle; determining, based on the first driving torque, in real time whether excessive wheel slippage occurs during an emergency steering process of the vehicle; If the wheel does not slip excessively, adding the first driving torque to the outer wheel of the vehicle to achieve emergency steering of the vehicle; If the wheels are likely to excessively slip, the first driving torque applied to the outer wheels of the vehicle is reduced, and a braking torque is applied to the inner wheels of the vehicle until the vehicle completes the emergency steering.

2. The emergency steering control method according to claim 1, characterized in that: If the vehicle's travel speed is not higher than the first threshold, the method further includes: If the driving speed of the vehicle is not higher than the first threshold, the vehicle controller sends a braking instruction to the braking system and a driving instruction to the driving system in real time to achieve emergency steering of the vehicle.

3. The emergency steering control method according to claim 1, characterized in that: When the driving speed of the vehicle is higher than a first threshold, the method further includes: determining, based on the yaw moment required for the vehicle to complete the emergency steering, a first braking torque that the braking system needs to add to the wheels of the vehicle; determining in real time, based on the first braking torque, whether wheels of the vehicle will lock during an emergency steering process; If the wheel will not lock, adding the first braking torque to the inner wheel of the vehicle to achieve emergency steering of the vehicle; If the wheel is about to lock, the first braking torque applied to the inner wheel of the vehicle is reduced, and a driving torque is applied to the outer wheel of the vehicle until the vehicle completes the emergency steering.

4. The emergency steering control method according to any one of claims 1 to 3, characterized in that: The implementation of vehicle emergency steering includes: The braking system and / or the driving system adjusts the torque of the left and right wheels of the vehicle so that a torque difference is generated between the inner and outer wheels of the vehicle; Based on the torque difference, emergency steering of the vehicle is achieved.

5. The emergency steering control method according to claim 4, characterized in that: The torque difference generated by the left and right wheels of the vehicle includes: adding torque to the vehicle wheels, so that when the vehicle is controlled to turn left, the torque of the left wheel of the vehicle is less than the torque of the right wheel of the vehicle; When the vehicle is controlled to turn right, the torque of the right wheels of the vehicle is smaller than the torque of the left wheels of the vehicle.

6. The emergency steering control method according to claim 1, characterized in that: The vehicle posture information includes: wheel angle, steering wheel angle, vehicle speed, vehicle longitudinal acceleration, vehicle lateral acceleration and vehicle yaw rate.

7. An emergency steering control device, characterized in that: For implementing the emergency steering control method according to any one of claims 1 to 6, the device comprises: A monitoring and acquisition unit, which is used to monitor the working status of the vehicle's steering control system and the vehicle's driving speed in real time during vehicle driving; when a steering failure occurs in the steering control system, the monitoring and acquisition unit is also used to obtain the vehicle's driving speed in real time; An emergency control unit is communicatively connected to the monitoring and acquisition unit, and the emergency control unit is used to determine whether the driving speed of the vehicle is higher than a first threshold value based on the driving speed of the vehicle; if the driving speed of the vehicle is higher than the first threshold value, the vehicle controller gives priority to sending a braking instruction to the braking system, and assists with appropriate driving instructions when necessary to achieve emergency steering of the vehicle; if the driving speed of the vehicle is not higher than the first threshold value, the vehicle controller gives priority to sending a driving instruction to the driving system, and assists with appropriate braking instructions when necessary to achieve emergency steering of the vehicle.

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