Steering control method, device, apparatus and storage medium

Abstract

The application provides a steering control method, device, equipment and storage medium, and relates to the field of automatic control. The method comprises the following steps: acquiring a first yaw rate of a vehicle and steering force information of a steering wheel acted on by a driver, wherein the first yaw rate is a yaw rate corresponding to a maximum turning angle of the steering wheel; determining a second yaw rate according to the steering force information; when the second yaw rate is greater than the first yaw rate, taking a difference between the second yaw rate and the first yaw rate as a target yaw rate; determining a target driving force of the vehicle according to the target yaw rate; and controlling the vehicle to steer according to the target driving force of the vehicle. In this way, the vehicle can have a torque rotating along the Z axis of the vehicle to control the steering of the vehicle, so that the vehicle obtains greater steering capacity than the steering capacity provided by the steering system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic control, and particularly relates to a steering control method and device, equipment and a storage medium. BACKGROUND

[0002] With the development of intelligent automobile technology, more and more users choose intelligent automobiles as a means of transportation. In actual use, the steering function of the automobile is essential.

[0003] In the prior art, the driver rotates the steering wheel to realize the steering of the vehicle by using the steering system of the automobile. For example, when the vehicle is steering, the vehicle steers according to the steering wheel angle, and the greater the steering wheel angle, the greater the steering ability provided by the steering system of the automobile for the vehicle.

[0004] However, when the steering wheel is turned to the bottom, the steering ability provided by the steering system of the automobile for the vehicle cannot meet the steering demand of the user. SUMMARY

[0005] The present application provides a steering control method, device, equipment and storage medium to solve the technical problem of insufficient steering ability when the steering wheel of the vehicle is turned to the bottom.

[0006] In a first aspect, the present application provides a steering control method, which comprises: acquiring a first yaw rate of a vehicle and steering force information of a driver acting on a steering wheel, the first yaw rate being a yaw rate corresponding to a maximum steering angle of the steering wheel;

[0007] determining a second yaw rate according to the steering force information;

[0008] when the second yaw rate is greater than the first yaw rate, taking the difference between the second yaw rate and the first yaw rate as a target yaw rate;

[0009] determining a target driving force of the vehicle according to the target yaw rate;

[0010] controlling the steering of the vehicle according to the target driving force of the vehicle.

[0011] In a possible implementation manner, the target driving force of the vehicle is determined according to the target yaw rate, comprising:

[0012] allocating the front axle driving force and / or the rear axle driving force of the vehicle according to the target yaw rate to obtain the target driving force of the vehicle.

[0013] In a possible implementation manner, the target driving force comprises a left front wheel target driving force and a right front wheel target driving force, and / or a left rear wheel target driving force and a right rear wheel target driving force.

[0014] In a possible implementation, the front axle driving force and / or the rear axle driving force of the vehicle is allocated according to the target yaw rate, to obtain a target driving force of the vehicle, comprising:

[0015] The first parameter is determined according to the front axle driving force, the moment of inertia, the target yaw rate, a preset contribution degree of the front axle driving force allocation to the target yaw rate, a distance between the vehicle mass center and the front axle of the vehicle, the left front wheel steering angle and the wheel track of the vehicle, the second parameter is determined according to the distance between the vehicle mass center and the front axle of the vehicle, the wheel track of the vehicle, the left front wheel steering angle and the right front wheel steering angle, and the right front wheel target driving force is obtained according to a ratio of the first parameter to the second parameter;

[0016] The left front wheel target driving force is determined according to the ratio of the first parameter to the second parameter and the front axle driving force;

[0017] The third parameter is determined according to the moment of inertia, the target yaw rate, a preset contribution degree of the rear axle driving force allocation to the target yaw rate and the wheel track of the vehicle, the right rear wheel target driving force is determined according to a negative value of the third parameter and the rear axle driving force;

[0018] The left rear wheel target driving force is determined according to the third parameter and the rear axle driving force.

[0019] In a possible implementation, the second yaw rate is determined according to the steering hand force information, comprising:

[0020] The second yaw rate is determined by a look-up table interpolation method based on a preset correspondence table of the steering hand force information and the second yaw rate.

[0021] In a possible implementation, the steering hand force information comprises a steering torque size and a steering torque direction, when the second yaw rate is greater than the first yaw rate, the steering torque direction is the same as a preset steering torque direction, and the steering torque size is greater than a preset steering torque size.

[0022] In a possible implementation, the vehicle is controlled to steer according to the target driving force of the vehicle, comprising:

[0023] The target driving torque of the vehicle is determined according to the target driving force of the vehicle;

[0024] The target driving torque is sent to the multi-motor unit, so that the multi-motor unit controls the vehicle to steer according to the target driving torque.

[0025] In a second aspect, the application provides a steering control device, comprising an acquisition module, a first determination module, a processing module, a second determination module and a control module, wherein,

[0026] The acquisition module is configured to acquire a first yaw rate of the vehicle and steering torque information of a driver acting on a steering wheel, the first yaw rate being a yaw rate corresponding to a maximum turning angle of the steering wheel.

[0027] The first determination module is configured to determine a second yaw rate according to the steering torque information.

[0028] The processing module is configured to, when the second yaw rate is greater than the first yaw rate, take a difference between the second yaw rate and the first yaw rate as a target yaw rate.

[0029] The second determination module is configured to determine a target driving force of the vehicle according to the target yaw rate.

[0030] The control module is configured to control the vehicle to steer according to the target driving force of the vehicle.

[0031] In a possible implementation, the second determination module is specifically configured to:

[0032] distribute a front axle driving force and / or a rear axle driving force of the vehicle according to the target yaw rate to obtain the target driving force of the vehicle.

[0033] In a possible implementation, the target driving force includes a left front wheel target driving force and a right front wheel target driving force, and / or a left rear wheel target driving force and a right rear wheel target driving force.

[0034] In a possible implementation, the second determination module is specifically configured to:

[0035] determine a first parameter according to the front axle driving force, a moment of inertia, the target yaw rate, a preset contribution degree of the front axle driving force distribution to the target yaw rate, a distance between a vehicle mass center and a front axle of the vehicle, a left front wheel steering angle, and a wheel track of the vehicle, determine a second parameter according to the distance between the vehicle mass center and the front axle of the vehicle, the wheel track of the vehicle, the left front wheel steering angle, and a right front wheel steering angle, and obtain the right front wheel target driving force according to a ratio of the first parameter to the second parameter;

[0036] determine the left front wheel target driving force according to the ratio of the first parameter to the second parameter and the front axle driving force;

[0037] determine a third parameter according to the moment of inertia, the target yaw rate, a preset contribution degree of a rear axle driving force distribution to the target yaw rate, and the wheel track of the vehicle, determine the right rear wheel target driving force according to a negative value of the third parameter and the rear axle driving force;

[0038] determine the left rear wheel target driving force according to the third parameter and the rear axle driving force.

[0039] In a possible implementation, the first determination module is specifically configured to:

[0040] The second yaw rate is determined by a look-up table interpolation method based on the preset steering effort information and a second yaw rate corresponding table.

[0041] In a possible implementation, the steering effort information includes a steering torque size and a steering torque direction, and when the second yaw rate is greater than the first yaw rate, the steering torque direction is the same as a preset steering torque direction, and the steering torque size is greater than a preset steering torque size.

[0042] In a possible implementation, the control module is specifically configured to:

[0043] determine a target driving torque of the vehicle according to the target driving force of the vehicle;

[0044] send the target driving torque to the multi-motor unit, so that the multi-motor unit controls the vehicle to steer according to the target driving torque.

[0045] In a third aspect, the present application provides an electronic device, comprising: a processor and a memory; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory, so that the processor executes the steering control method described in the first aspect or any possible implementation manner of the first aspect.

[0046] In a fourth aspect, the present application provides a computer readable storage medium, the computer readable storage medium stores computer execution instructions, when the computer execution instructions are executed by a processor, the computer execution instructions are used to implement the steering control method described in the first aspect or any possible implementation manner of the first aspect.

[0047] In a fifth aspect, the present application provides a computer program product, comprising a computer program, when the computer program is executed by a processor, the computer program implements the steering control method described in the first aspect or any possible implementation manner of the first aspect.

[0048] In a sixth aspect, the present application provides a chip, the chip stores a computer program, when the computer program is executed by the chip, the computer program implements the steering control method described in the first aspect or any possible implementation manner of the first aspect.

[0049] In a possible implementation, the chip is a chip in a chip module.

[0050] In the present application, the first yaw rate of the vehicle and the steering effort information of the driver acting on the steering wheel are obtained, the first yaw rate being the yaw rate corresponding to the maximum steering angle of the steering wheel; the second yaw rate is determined according to the steering effort information; when the second yaw rate is greater than the first yaw rate, the difference between the second yaw rate and the first yaw rate is taken as the target yaw rate; the target driving force of the vehicle is determined according to the target yaw rate; and the vehicle is controlled to turn according to the target driving force of the vehicle. When the second yaw rate determined by the steering effort information of the driver acting on the steering wheel is greater than the first yaw rate determined by the steering angle of the steering wheel, the target yaw rate is determined based on the difference between the two, and compared with the driving force corresponding to the yaw rate determined according to the steering angle of the steering wheel, the target driving force determined according to the target yaw rate can make the vehicle have a torque along the Z-axis of the vehicle to control the vehicle to turn, so that the vehicle obtains greater steering ability than the steering ability provided by the steering system. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 A vehicle yaw angle diagram is provided.

[0052] Figure 2 A steering control system architecture diagram provided by an embodiment of the present application is provided.

[0053] Figure 3 A flowchart of a steering control method provided by an embodiment of the present application is provided.

[0054] Figure 4 A yaw rate curve diagram provided by an embodiment of the present application is provided.

[0055] Figure 5a A target driving force diagram when the vehicle turns to the right provided by an embodiment of the present application is provided.

[0056] Figure 5b A target braking force diagram when the vehicle turns to the right provided by an embodiment of the present application is provided.

[0057] Figure 6 A structure diagram of a steering control device provided by an embodiment of the present application is provided.

[0058] Figure 7 A structure diagram of an electronic device provided by an embodiment of the present application is provided. DETAILED DESCRIPTION

[0059] In order to make the objects, technical solutions and advantages of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort should fall within the scope of the present application.

[0060] In the embodiments of the present application, the same items or similar items with basically the same functions and effects are distinguished by using "first", "second", etc. For example, the first chip and the second chip are only used to distinguish different chips, and the sequence is not limited. A person skilled in the art can understand that "first", "second", etc. do not limit the number and execution sequence, and "first", "second", etc. do not necessarily mean different.

[0061] It should be noted that in the embodiments of the present application, "exemplary" or "for example" is used to represent an example, illustration or description. Any embodiment or design scheme described as "exemplary" or "for example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, "exemplary" or "for example" is used to present the relevant concept in a specific manner.

[0062] In the embodiments of the present application, "at least one" means one or more, and "multiple" means two or more. "And / or" describes the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The character " / " generally represents that the associated objects before and after it are in an "or" relationship. "At least one of the following" or similar expressions means any combination of these items, including any combination of single item or multiple items. For example, at least one of a, b, or c, can represent a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0063] It should be understood that although each step in the flowchart in the embodiments of the present application is shown in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and they can be executed in other sequences. Moreover, at least part of the steps in the figure can include at least one sub-step or at least one stage, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence is not necessarily sequential, but can be alternately executed with at least part of other steps or sub-steps or stages of other steps.

[0064] With the development of intelligent automobile technology, more and more users choose intelligent automobiles as a means of transportation. In actual use, the steering function of the automobile is essential.

[0065] In the prior art, the driver rotates the steering wheel to realize the steering of the vehicle by using the steering system of the automobile. The steering system of the automobile is a series of devices used to change or maintain the direction of the automobile driving or reversing. The steering system of the automobile can include mechanical steering system, mechanical hydraulic power steering system, electronic hydraulic power steering system, electronic power steering system, steer-by-wire system, etc.

[0066] For example, when the vehicle is steering, the vehicle steers according to the steering wheel angle. The larger the steering wheel angle, the greater the steering ability provided by the steering system of the automobile for the vehicle, that is, the greater the yaw-rate of the vehicle, and the vehicle can realize steering faster.

[0067] For example, Figure 1 A vehicle yaw angle diagram is shown. As shown in Figure 1 The angle of the vehicle deflection along the vehicle Z-axis (the axis perpendicular to the ground) is the yaw angle, and the derivative of the yaw angle with respect to time is the yaw-rate, with the unit of degrees per second (deg / s).

[0068] However, when the steering wheel is turned to the bottom, that is, the steering wheel angle is maximum, there is a case that the user expects the yaw-rate of the vehicle to be greater, but at this time the steering wheel angle has reached the maximum value, the steering system of the automobile will provide the steering ability corresponding to the steering wheel angle reaching the maximum value for the automobile, and cannot provide additional steering ability, that is, cannot provide the steering ability when the yaw-rate of the vehicle is greater, so it cannot meet the steering demand of the user.

[0069] Therefore, the embodiment of the present application provides a steering control method. When the steering wheel is turned to the bottom, the expected input of the driver is determined according to the steering wheel angle and the steering force information applied to the steering wheel by the driver, and then the driving force is redistributed according to the expected input of the driver, for example, when steering, the outer wheel is allocated with greater driving force, and the inner wheel is allocated with smaller driving force, so that the vehicle has a torque rotating along the Z axis of the vehicle to control the steering of the vehicle, thereby making the vehicle obtain greater steering ability than the steering ability provided by the steering system.

[0070] Exemplarily, Figure 2 A schematic diagram of a steering control system architecture provided by the embodiment of the present application is shown. As shown in the figure, Figure 2 The architecture can include an angle sensor 201, a torque sensor 202, a main controller 203 and a multi-motor unit 204, wherein the multi-motor unit 204 can include a left front wheel motor 2041 and a right front wheel motor 2042, and / or a left rear wheel motor 2043 and a right rear wheel motor 2044.

[0071] It can be understood that the architecture shown in the embodiment of the present application does not constitute a specific limitation on the architecture of the steering control system. In other possible embodiments of the present application, the architecture can include more or fewer components than shown in the figure, or combine certain components, or split certain components, or different component arrangement, which can be determined according to the actual application scenario, and is not limited herein. Figure 2 The components shown in the figure can be implemented in hardware, software, or a combination of software and hardware.

[0072] In the specific implementation process, the angle sensor 201 can be used to measure the steering angle of the steering wheel of the vehicle.

[0073] The torque sensor 202 can be used to measure the steering force information applied to the steering wheel of the vehicle by the driver, and the steering force information can include the steering torque size and the steering torque direction.

[0074] The main controller 203 can obtain the first yaw rate of the vehicle and the steering force information applied to the steering wheel by the driver; the first yaw rate is the yaw rate corresponding to the maximum steering angle of the steering wheel; determine the second yaw rate according to the steering force information; when the second yaw rate is greater than the first yaw rate, the difference between the second yaw rate and the first yaw rate is taken as the target yaw rate; determine the target driving force of the vehicle according to the target yaw rate; control the steering of the vehicle according to the target driving force of the vehicle.

[0075] In this embodiment, the main controller 203 may be a controller in a module or system such as an engine control module (ECM), an electric power steering system (EPS), or an electronic stability program (ESP).

[0076] The multi-motor unit 204 can control the vehicle steering based on the target driving torque corresponding to the target driving force. The left front wheel motor 2041, right front wheel motor 2042, left rear wheel motor 2043, and right rear wheel motor 2044 in the multi-motor unit 204 can be, for example, wheel-side motors or wheel hub motors.

[0077] Furthermore, the architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of the architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0078] The technical solutions shown in this application will now be described in detail through specific embodiments. It should be noted that the following embodiments may exist independently or in combination with each other; for the same or similar content, the description will not be repeated in different embodiments.

[0079] For example, Figure 3 A flowchart illustrating a steering control method provided in an embodiment of this application is shown. The execution entity of this embodiment can be... Figure 2 The main controller 203 in the code can be used as the specific execution entity, which can be determined based on the actual application scenario. For example... Figure 3 As shown, the method may include:

[0080] S301: Obtain the vehicle's first yaw rate and the steering force applied by the driver to the steering wheel. The first yaw rate is the yaw rate corresponding to the maximum steering wheel angle.

[0081] In this embodiment, the vehicle main controller can acquire the steering wheel angle from the steering angle sensor in real time or periodically, and then calculate the vehicle yaw rate based on the steering wheel angle using the vehicle's dynamic model. When the steering wheel is turned all the way to the bottom, the steering wheel angle is the maximum steering wheel angle, and the vehicle's first yaw rate is calculated based on this maximum steering wheel angle. The step of calculating the vehicle yaw rate based on the steering wheel angle using the vehicle's dynamic model is prior art and will not be described in detail here.

[0082] The vehicle main controller can also acquire steering force information of the driver acting on the steering wheel from the torque sensor in real time or periodically. The steering force information can include steering torque size and steering torque direction. The steering torque direction can be the same as the steering wheel angle direction or opposite to the steering wheel angle direction. For example, when the driver rotates the steering wheel 180 degrees to the left, that is, the steering wheel angle is 180 degrees, if the driver continues to increase the steering wheel angle, the steering torque direction of the driver acting on the steering wheel is the same as the steering wheel angle direction; if the driver makes the steering wheel return to zero, that is, the steering wheel angle decreases, the steering torque direction of the driver acting on the steering wheel is opposite to the steering wheel angle direction.

[0083] S302: determining the second yaw rate according to the steering force information.

[0084] In the embodiments of the present application, the second yaw rate changes with the change of the steering force information of the driver acting on the steering wheel.

[0085] For example, Figure 4 A yaw rate curve provided by the embodiments of the present application is shown, which can be obtained by calibration at a certain fixed vehicle speed. As shown in Figure 4 Curve 1 is a relationship curve of the yaw rate and the steering wheel angle, and curve 2 is a relationship curve of the second yaw rate and the steering force information. The vertical axis value of the turning point of curve 1 and the curve part after the turning point is the steering wheel hitting the bottom of the vehicle, that is, the steering angle of the steering wheel is the maximum steering angle corresponding to the yaw rate (that is, the first yaw rate). Generally, before the steering wheel of the vehicle hits the bottom, the second yaw rate determined according to the steering force information is smaller than the first yaw rate. When the steering wheel of the vehicle hits the bottom, if the driver continues to apply the steering torque in the same direction as the steering wheel angle, that is, the steering torque direction is the same as the preset steering torque direction, when the steering torque size is greater than the preset steering torque size, the second yaw rate is greater than the first yaw rate.

[0086] In a possible implementation, the second yaw rate is determined by a table lookup interpolation method.

[0087] In another possible implementation, the second yaw rate is determined by a proportional coefficient method.

[0088] It should be noted that the main controller can also determine the second yaw rate according to the steering force information in other possible implementations, and the embodiments of the present application do not make specific limitations.

[0089] S303: when the second yaw rate is greater than the first yaw rate, the difference between the second yaw rate and the first yaw rate is taken as the target yaw rate.

[0090] wherein the target yaw rate is used to distribute the front axle driving force and / or the rear axle driving force of the vehicle to obtain a target driving force of the vehicle. The specific distribution manner will be described in detail in subsequent steps, and will not be described here.

[0091] S304: determining a target driving force of the vehicle according to the target yaw rate.

[0092] wherein the target driving force can include a left front wheel target driving force and a right front wheel target driving force, and / or a left rear wheel target driving force and a right rear wheel target driving force. For example, when the vehicle is four-wheel drive, the target driving force can include a left front wheel target driving force, a right front wheel target driving force, a left rear wheel target driving force and a right rear wheel target driving force; when the vehicle is front axle drive, the target driving force can include a left front wheel target driving force and a right front wheel target driving force; when the vehicle is rear axle drive, the target driving force can include a left rear wheel target driving force and a right rear wheel target driving force.

[0093] It can be understood that when the vehicle accelerates, the target driving force is determined based on the target yaw rate; when the vehicle decelerates, the target braking force is determined based on the target yaw rate.

[0094] S305: controlling the vehicle to steer according to the target driving force of the vehicle.

[0095] In a possible implementation, the main controller sends the target driving force or a target driving torque obtained according to the target driving force to the multi-motor unit, so that the multi-motor unit performs the steering of the vehicle.

[0096] In the embodiment of the application, the first yaw rate of the vehicle and the steering hand force information of the driver acting on the steering wheel are obtained, the first yaw rate being a yaw rate corresponding to a maximum steering angle of the steering wheel; the second yaw rate is determined according to the steering hand force information; when the second yaw rate is greater than the first yaw rate, the difference between the second yaw rate and the first yaw rate is taken as the target yaw rate; the target driving force of the vehicle is determined according to the target yaw rate; the vehicle is controlled to steer according to the target driving force of the vehicle. When the second yaw rate determined by the steering hand force information of the driver acting on the steering wheel is greater than the first yaw rate determined by the steering angle of the steering wheel, the target yaw rate is determined based on the difference between the two. Compared with the driving force corresponding to the yaw rate determined according to the steering angle of the steering wheel, the target driving force determined according to the target yaw rate can make the vehicle have a torque along the Z-axis of the vehicle to control the vehicle to steer, so that the vehicle obtains greater steering ability than the steering ability provided by the steering system.

[0097] Optionally, in the step S304, the target driving force of the vehicle is determined according to the target yaw rate and the target driving force of the vehicle. Figure 3In a possible implementation, based on the corresponding embodiment, the step S302 can include: determining the second yaw rate based on the preset steering effort information and the second yaw rate corresponding table by using a table lookup interpolation method.

[0098] For example, the main controller stores the preset steering effort information and the second yaw rate corresponding table. After the main controller obtains the steering effort information, the main controller determines the corresponding second yaw rate of the steering effort information in the preset steering effort information and the second yaw rate corresponding table according to the steering effort information. The preset steering effort information and the second yaw rate corresponding table can correspond to the curve 2 in FIG. 1. Figure 4

[0099] For example, the preset steering effort information and the second yaw rate corresponding table can also include only the second yaw rate greater than the first yaw rate and the steering effort information corresponding to the second yaw rate greater than the first yaw rate.

[0100] In the embodiment of the application, the second yaw rate is determined by using the table lookup interpolation method, the method is simple, the steering sensitivity of the vehicle can be effectively improved, and only when the steering effort information of the driver acting on the steering wheel reaches the steering effort information in the preset steering effort information and the second yaw rate corresponding table, the target driving force is determined by using the target yaw rate, so that the risk caused by the misoperation of the driver during steering can be avoided.

[0101] In a possible implementation, the step S304 can include: distributing the front axle driving force and / or the rear axle driving force of the vehicle according to the target yaw rate to obtain the target driving force of the vehicle.

[0102] The front axle driving force and / or the rear axle driving force can be calculated according to the opening degree of the accelerator pedal of the vehicle, and the front axle braking force and / or the rear axle braking force can be calculated according to the opening degree of the brake pedal of the vehicle.

[0103] In a possible implementation, the target driving force of the vehicle is obtained by distributing the front axle driving force and / or the rear axle driving force of the vehicle according to the target yaw rate, that is, the sizes of the left front wheel target driving force and the right front wheel target driving force are changed according to the target yaw rate on the premise that the sum of the left front wheel target driving force and the right front wheel target driving force is the front axle driving force, and / or the sizes of the left rear wheel target driving force and the right rear wheel target driving force are changed according to the target yaw rate on the premise that the sum of the left rear wheel target driving force and the right rear wheel target driving force is the rear axle driving force.

[0104] For example, in the case of a four-wheel drive vehicle, the target driving force satisfies the formula:

[0105] F x1 +F​x2 =F f

[0106] F x3 +F x4 =F r

[0107]

[0108] wherein F f is the front axle driving force or front axle braking force of the vehicle, F f is the front axle driving force when accelerating, F f is the front axle braking force when decelerating; F r is the rear axle driving force or rear axle braking force of the vehicle, F r is the rear axle driving force when accelerating, F r is the rear axle braking force when decelerating; M Z is the yawing torque caused by the difference of the four-wheel longitudinal driving force / braking force; is the target yawing angular velocity; I is the whole vehicle moment of inertia; B is the wheel track of the vehicle; L f is the distance between the vehicle mass center and the front axle of the vehicle.

[0109] Taking four-wheel drive as an example, please refer to Figure 5a . Exemplarily, Figure 5a a target driving force diagram when the vehicle turns right is shown. As Figure 5a shown, F x1 is the right front wheel target driving force, F x2 is the left front wheel target driving force, F x3 is the right rear wheel target driving force, F x4 is the left rear wheel target driving force, δ1 is the right front wheel steering angle, and δ2 is the left front wheel steering angle. When the vehicle turns right, the front axle driving force and the rear axle driving force of the vehicle are distributed according to the target yawing angular velocity so that the left front wheel target driving force and the left rear wheel target driving force are greater, and the right front wheel target driving force and the right rear wheel target driving force are smaller, so that the vehicle obtains greater steering ability than the steering system provides to help the vehicle turn right.

[0110] Similarly, if the vehicle turns left, the front axle driving force and the rear axle driving force of the vehicle are distributed according to the target yawing angular velocity so that the right front wheel target driving force and the right rear wheel target driving force are greater, and the left front wheel target driving force and the left rear wheel target driving force are smaller, so that the vehicle obtains greater steering ability than the steering system provides to help the vehicle turn left.

[0111] Exemplarily, still taking four-wheel drive as an example, Figure 5bA target braking force diagram of a vehicle when turning right is shown. As shown, F Figure 5b x1 is a left front wheel target braking force, F x2 is a right front wheel target braking force, F x3 is a left rear wheel target braking force, and F x4 is a right rear wheel target braking force, δ1 is a left front wheel steering angle, and δ2 is a right front wheel steering angle. When the vehicle turns right, the front axle braking force and the rear axle braking force of the vehicle are distributed according to the target yaw angular velocity, so that the right front wheel target braking force and the right rear wheel target braking force are greater, and the left front wheel target braking force and the left rear wheel target braking force are smaller, so that the vehicle obtains greater steering ability than the steering system provides to help the vehicle turn right.

[0112] Similarly, if the vehicle turns left, the front axle braking force and the rear axle braking force of the vehicle are distributed according to the target yaw angular velocity, so that the left front wheel target braking force and the left rear wheel target braking force are greater, and the right front wheel target braking force and the right rear wheel target braking force are smaller, so that the vehicle obtains greater steering ability than the steering system provides to help the vehicle turn left.

[0113] Based on the above formula, the implementation of obtaining the target driving force is introduced below by taking the vehicle right turn as an example.

[0114] In a possible implementation, the target driving force of the vehicle is obtained by distributing the front axle driving force and / or the rear axle driving force of the vehicle according to the target yaw angular velocity, and the implementation includes the following steps.

[0115] A first parameter is determined according to the front axle driving force, the moment of inertia, the target yaw angular velocity, a preset contribution degree of the front axle driving force distribution to the target yaw angular velocity, a distance between the vehicle mass center and the front axle of the vehicle, the left front wheel steering angle, and the wheel track of the vehicle, a second parameter is determined according to the distance between the vehicle mass center and the front axle of the vehicle, the wheel track of the vehicle, the left front wheel steering angle, and the right front wheel steering angle, the right front wheel target driving force is obtained according to a ratio of the first parameter to the second parameter, the left front wheel target driving force is determined according to the ratio of the first parameter to the second parameter and the front axle driving force, a third parameter is determined according to the moment of inertia, the target yaw angular velocity, a preset contribution degree of the rear axle driving force distribution to the target yaw angular velocity, and the wheel track of the vehicle, the right rear wheel target driving force is determined according to a negative value of the third parameter and the rear axle driving force, and the left rear wheel target driving force is determined according to the third parameter and the rear axle driving force.

[0116] For example, the target driving force satisfies the formula:

[0117]

[0118] ​

[0119]

[0120]

[0121] wherein F f is the front axle driving force of the vehicle; F r is the rear axle driving force of the vehicle; F x1 is the right front wheel target driving force; F x2 is the left front wheel target driving force; F x3 is the right rear wheel target driving force; F x4 is the left rear wheel target driving force; δ1 is the right front wheel steering angle; δ2 is the left front wheel steering angle; M Z is the yawing torque caused by the difference between the four-wheel longitudinal driving force / braking force; is the target yawing angular velocity; I is the whole vehicle moment of inertia; B is the wheel track of the vehicle; a is the contribution degree of the rear axle driving force distribution to the target yawing angular velocity; 1-a is the contribution degree of the front axle driving force distribution to the target yawing angular velocity; L f is the distance between the vehicle mass center and the front axle of the vehicle.

[0122] In the embodiments of the present application, the front axle driving force and / or the rear axle driving force is distributed according to the target yawing angular velocity, the target driving force of the outer wheel is increased, and the target driving force of the inner wheel is decreased when the vehicle is turning, so that the vehicle can obtain greater turning ability on the basis of the existing hardware, the existing vehicle performance is enhanced, and additional hardware cost can be saved.

[0123] In a possible implementation, the step S305 can include: determining the target driving torque of the vehicle according to the target driving force of the vehicle; and sending the target driving torque to the multi-motor unit, so that the multi-motor unit controls the vehicle turning according to the target driving torque.

[0124] For example, the target driving torque of the vehicle is determined according to the target driving force of the vehicle, and the target driving torque satisfies the formula:

[0125] T x1 = F x1 * R

[0126] T x2 = F x2 * R

[0127] T x3 = F x3 * R

[0128] T x4 = F x4 * R

[0129] wherein T x1T is a target driving torque for the right front wheel x2 T is a target driving torque for the left front wheel x3 T is a target driving torque for the right rear wheel x4 T is a target driving torque for the left rear wheel, R is a radius of the wheel.

[0130] The main control unit can send the target driving torques to the multi-motor unit, so that the left front wheel motor, the right front wheel motor, the left rear wheel motor and the right rear wheel motor in the multi-motor unit control the vehicle to turn according to the corresponding target driving torques. Since the target driving force of the outer wheel is greater than that in the prior art when the vehicle turns, and the target driving force of the inner wheel is smaller than that in the prior art, the corresponding target driving torque of the outer wheel motor in the left front wheel motor, the right front wheel motor, the left rear wheel motor and the right rear wheel motor is also greater, and the corresponding target driving torque of the inner wheel motor is also smaller, so that the vehicle has a torque rotating along the Z axis of the vehicle to control the vehicle to turn, thereby making the vehicle obtain greater steering ability than the steering ability provided by the steering system.

[0131] Figure 6 A structural schematic diagram of a steering control device provided by the embodiment of the application is shown in FIG. 6, which includes an acquisition module 601, a first determination module 602, a processing module 603, a second determination module 604 and a control module 605. Figure 6

[0132] The acquisition module 601 is configured to acquire a first yaw rate of the vehicle and steering hand force information of the driver acting on the steering wheel, the first yaw rate being a yaw rate corresponding to a maximum turning angle of the steering wheel.

[0133] The first determination module 602 is configured to determine a second yaw rate according to the steering hand force information.

[0134] The processing module 603 is configured to, when the second yaw rate is greater than the first yaw rate, take a difference between the second yaw rate and the first yaw rate as a target yaw rate.

[0135] The second determination module 604 is configured to determine a target driving force of the vehicle according to the target yaw rate.

[0136] The control module 605 is configured to control the vehicle to turn according to the target driving force of the vehicle.

[0137] In a possible implementation, the second determination module 604 is specifically configured to:

[0138] distribute the front axle driving force and / or the rear axle driving force of the vehicle according to the target yaw rate to obtain the target driving force of the vehicle.

[0139] ​In a possible implementation, the target driving force includes a target driving force of a left front wheel and a target driving force of a right front wheel, and / or a target driving force of a left rear wheel and a target driving force of a right rear wheel.

[0140] In a possible implementation, the second determining module 604 is specifically configured to:

[0141] The first parameter is determined according to the front axle driving force, the moment of inertia, the target yaw rate, a preset contribution degree of the front axle driving force distribution to the target yaw rate, a distance between the vehicle mass center and the front axle of the vehicle, a left front wheel steering angle and a wheel track of the vehicle, the second parameter is determined according to the distance between the vehicle mass center and the front axle of the vehicle, the wheel track of the vehicle, the left front wheel steering angle and a right front wheel steering angle, and the target driving force of the right front wheel is obtained according to a ratio of the first parameter to the second parameter.

[0142] The target driving force of the left front wheel is determined according to the ratio of the first parameter to the second parameter and the front axle driving force.

[0143] The third parameter is determined according to the moment of inertia, the target yaw rate, a preset contribution degree of the rear axle driving force distribution to the target yaw rate and the wheel track of the vehicle, the target driving force of the right rear wheel is determined according to a negative value of the third parameter and the rear axle driving force.

[0144] The target driving force of the left rear wheel is determined according to the third parameter and the rear axle driving force.

[0145] In a possible implementation, the first determining module 602 is specifically configured to:

[0146] The second yaw rate is determined by a look-up table interpolation method based on the preset steering hand force information and a second yaw rate corresponding table.

[0147] In a possible implementation, the steering hand force information includes a steering torque size and a steering torque direction, when the second yaw rate is greater than the first yaw rate, the steering torque direction is the same as a preset steering torque direction, and the steering torque size is greater than a preset steering torque size.

[0148] In a possible implementation, the control module 605 is specifically configured to:

[0149] The target driving torque of the vehicle is determined according to the target driving force of the vehicle.

[0150] The target driving torque is sent to the multi-motor unit, so that the multi-motor unit controls the vehicle steering according to the target driving torque.

[0151] The steering control device 60 provided by the embodiment of the present application can perform the technical solutions shown in the above-mentioned steering control method embodiments, and the implementation principles and beneficial effects are similar, which will not be repeated here.

[0152] Figure 7 A structural schematic diagram of an electronic device is provided in the embodiments of the present application. Please refer to Figure 7 The electronic device 70 comprises a memory 701, a processor 702, a communication component 703 and a bus 704. The memory 701, the processor 702 and the communication component 703 are communicatively connected through the bus 704.

[0153] The memory 701 stores computer-executable instructions.

[0154] The processor 702 executes the computer-executable instructions stored in the memory 701, so that the processor 702 executes the above-mentioned turning control method.

[0155] The communication component 703 can be a transceiver device such as a transceiver, but is not limited thereto, to realize the communication between the electronic device 70 and other devices or communication networks.

[0156] The bus 704 can comprise a path for transmitting information between various components (for example, the memory 701, the processor 702 and the communication component 703) of the electronic device 70.

[0157] The electronic device 70 can be a chip, a module, an integrated development environment (IDE) or the like.

[0158] Figure 7 The electronic device shown in the embodiments can execute the technical solutions shown in the above-mentioned turning control method embodiments, and the implementation principles and beneficial effects are similar, which will not be described here in detail.

[0159] The embodiments of the present application further provide a computer-readable storage medium, and the computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are executed by a processor, the computer-executable instructions are used to implement the above-mentioned turning control method.

[0160] The embodiments of the present application further provide a computer program product, comprising a computer program. When the computer program is executed by a processor, the computer program can implement the above-mentioned turning control method.

[0161] The computer-readable storage medium and the computer program product of the embodiments of the present application can execute the above-mentioned turning control method, and the specific implementation process and beneficial effects are described above and will not be described here in detail.

[0162] All or a part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The aforementioned program can be stored in a readable memory. The program, when executed, performs steps including the above-mentioned method embodiments; and the aforementioned memory (storage medium) includes: read-only memory (ROM), random access memory (RAM), flash memory, hard disk, solid state disk, magnetic tape, floppy disk, optical disc, and any combination thereof.

[0163] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0164] It should be understood that the application is not limited to the precise construction that has been described above and shown in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is limited only by the appended claims.

Claims

1. A steering control method characterized by, The method comprises: obtaining a first yaw rate of a vehicle and steering effort information of a driver acting on a steering wheel, the first yaw rate being a yaw rate corresponding to a maximum turning angle of the steering wheel; determining a second yaw rate according to the steering effort information; when the second yaw rate is greater than the first yaw rate, taking a difference between the second yaw rate and the first yaw rate as a target yaw rate; determining a target driving force of the vehicle according to the target yaw rate; controlling the vehicle to turn according to the target driving force of the vehicle; the determining of the target driving force of the vehicle according to the target yaw rate comprises: calculating a right front wheel target driving force and a left front wheel target driving force based on the target yaw rate, a preset contribution degree of front axle driving force distribution to the target yaw rate, a distance between a vehicle mass center and a front axle of the vehicle, a left front wheel turning angle, and a wheelbase of the vehicle; calculating a right rear wheel target driving force and a left rear wheel target driving force based on the target yaw rate, a preset contribution degree of rear axle driving force distribution to the target yaw rate, and the wheelbase of the vehicle.

2. The method of claim 1, wherein, The calculating of the right front wheel target driving force and the left front wheel target driving force based on the target yaw rate, the preset contribution degree of front axle driving force distribution to the target yaw rate, the distance between the vehicle mass center and the front axle of the vehicle, the left front wheel turning angle, and the wheelbase of the vehicle, and the calculating of the right rear wheel target driving force and the left rear wheel target driving force based on the target yaw rate, the preset contribution degree of rear axle driving force distribution to the target yaw rate, and the wheelbase of the vehicle comprises: determining a first parameter according to a front axle driving force, a moment of inertia, the target yaw rate, the preset contribution degree of front axle driving force distribution to the target yaw rate, the distance between the vehicle mass center and the front axle of the vehicle, the left front wheel turning angle, and the wheelbase of the vehicle, determining a second parameter according to the distance between the vehicle mass center and the front axle of the vehicle, the wheelbase of the vehicle, the left front wheel turning angle, and a right front wheel turning angle, and obtaining the right front wheel target driving force according to a ratio of the first parameter to the second parameter; determining the left front wheel target driving force according to the ratio of the first parameter to the second parameter and the front axle driving force; determining a third parameter according to the moment of inertia, the target yaw rate, the preset contribution degree of rear axle driving force distribution to the target yaw rate, and the wheelbase of the vehicle, determining the right rear wheel target driving force according to a negative value of the third parameter and a rear axle driving force; determining the left rear wheel target driving force according to the third parameter and the rear axle driving force.

3. The method of claim 1, wherein, The determining of the second yaw rate according to the steering effort information comprises: determining the second yaw rate by a table lookup interpolation method based on a preset steering effort information-second yaw rate correspondence table.

4. The method according to any one of claims 1 to 3, characterized in that, The steering effort information comprises a steering torque size and a steering torque direction, and when the second yaw rate is greater than the first yaw rate, the steering torque direction is the same as a preset steering torque direction, and the steering torque size is greater than a preset steering torque size.

5. The method of claim 4, wherein, The controlling of the vehicle to turn according to the target driving force of the vehicle comprises: determining a target driving torque of the vehicle according to a target driving force of the vehicle; sending the target driving torque to a multi-motor unit, so that the multi-motor unit controls the vehicle to steer according to the target driving torque.

6. A steering control device characterized by comprising: comprising an acquisition module, a first determination module, a processing module, a second determination module and a control module, wherein, the acquisition module is configured to acquire a first yaw rate of the vehicle and steering hand force information of a driver acting on a steering wheel, the first yaw rate being a yaw rate corresponding to a maximum turning angle of the steering wheel; the first determination module is configured to determine a second yaw rate according to the steering hand force information; the processing module is configured to, when the second yaw rate is greater than the first yaw rate, take a difference between the second yaw rate and the first yaw rate as a target yaw rate; the second determination module is configured to determine a target driving force of the vehicle according to the target yaw rate; the control module is configured to control the vehicle to steer according to the target driving force of the vehicle; the second determination module is specifically configured to calculate a right front wheel target driving force and a left front wheel target driving force based on the target yaw rate, a preset contribution degree of a front axle driving force distribution to a target yaw rate, a distance between a vehicle mass center and a front axle of the vehicle, a left front wheel turning angle and a vehicle wheel track; calculate a right rear wheel target driving force and a left rear wheel target driving force based on the target yaw rate, a preset contribution degree of a rear axle driving force distribution to a target yaw rate and the vehicle wheel track.

7. An electronic device, comprising: comprising: a processor and a memory; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory, so that the processor executes the method in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer execution instructions, and the computer execution instructions are used to realize the method in any one of claims 1 to 5 when executed by the processor.

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